CN107202044A - A kind of hydraulic system, dolly and its method for work of AGV dollies - Google Patents
A kind of hydraulic system, dolly and its method for work of AGV dollies Download PDFInfo
- Publication number
- CN107202044A CN107202044A CN201610828719.3A CN201610828719A CN107202044A CN 107202044 A CN107202044 A CN 107202044A CN 201610828719 A CN201610828719 A CN 201610828719A CN 107202044 A CN107202044 A CN 107202044A
- Authority
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- China
- Prior art keywords
- lifting
- valve
- hydraulic
- reversal valve
- support frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
Abstract
The invention discloses a kind of hydraulic system of AGV dollies, including hydraulic pump and hydraulic oil container, the outlet of hydraulic pump turns to loop and four walking loops at least provided with four elevating loops, four, and elevating loop includes the first reversal valve hydraulic lock and lifting hydraulic cylinder；Turning to loop includes the second reversal valve, steering motor and the first balanced valve；Walking loop includes the 3rd reversal valve, running motor and the second balanced valve；Safety valve and unloading valve have also been arranged in parallel between the oil-out and fuel tank of hydraulic pump.The invention also discloses a kind of dolly of hydraulic system of installation AGV dollies and its implementation, using all-hydraulic control, realize whole actions of AGV dollies, control accuracy is high, bearing capacity is strong, and structural volume is small, and also sets up pressure valve in the size chamber of each lifting hydraulic cylinder, avoid damaging mechanical mechanism, while setting unloading valve to reach the effect more saved.
Description
Technical field
The invention belongs to AGV carrier loader apparatus fields, and in particular to a kind of all-around mobile lifts the hydraulic pressure of AGV dollies
System, dolly and its method of work.
Background technology
Modern intelligent warehouse management system and intelligent parking garage demand are increasingly sharpened, and vehicle carrying AGV dollies are also fast
Speed development, AGV carrier loaders turn into the important implementation of modern intelligent parking garage, also have to modern intelligent warehouse management system
Play the role of very important.Current intelligent storage and intelligent parking garage both domestic and external still fail extensive use, exist it is many still
The technological difficulties do not captured.The kinematic dexterity of AGV dollies still has a larger rising space, thus improve its kinematic dexterity with
And motion credibility, it is most important for its operating efficiency, it is also development, an important directions of research.
Using motor turning motion current existing AGV dollies, stability is good but its flexibility deficiency more, efficiency compared with
Low, in storage, garage etc., requirement is efficient, and the limited place in space has certain applied defect.On the other hand, three of use
The AGV dollies of universal wheel and two pairs of Mecanum wheels, cost is high, in the case of not being suitable for heavy duty, it is impossible to transported suitable for automobile
Carry, and be difficult to accurate transverse and longitudinal and curvilinear path movement, which has limited its vehicle carrying field application.
The content of the invention
The invention aims to the defect for overcoming above-mentioned vehicle carrying AGV dollies presence, there is provided a kind of AGV dollies
Hydraulic system.
The hydraulic system that the present invention is provided, using all-hydraulic control, whole actions of the AGV dollies of realization, control accuracy
Height, bearing capacity is strong, and structural volume is small, and uses the dolly of this hydraulic system, dexterously employs adjusted device and lifting disk
Mechanism, the road wheel set by lifting disc mechanism lower end is driven progress body traveling, and liter is provided with lifting disc mechanism
Descending liquid cylinder pressure, with road wheel support bar and the driven triangle mechanism of canine tooth wheel disc, the lifting of body is realized with this.Adjust
To mechanism all-around mobile is realized by changing the road wheel direction of motion of lifting disc mechanism lower end.Lifting is integrated in steering
One, makes structure compacter, realizes modularization, be easy to the expansion of function.Body is operationally, each by individually controlling
Adjusted device and road wheel, realize the body offset movement of multi-angle operating and complexity, can be in the narrow and small passage of environment
In freely advance.
In order to achieve the above object, the present invention realizes that the technical scheme that purpose is used is：
A kind of hydraulic system of AGV dollies, including hydraulic pump and hydraulic oil container, the outlet of the hydraulic pump at least provided with
Four elevating loops, four steering loops and four walking loops, the elevating loop include the first reversal valve hydraulic lock and liter
Descending liquid cylinder pressure, first reversal valve is 3-position 4-way solenoid-operated proportional reversal valve, and its Median Function is y-function, described first
The outlet of the oil inlet connection hydraulic pump of reversal valve, oil return opening connect the fuel tank, two actuator ports and pass through institute respectively
State rod chamber and rodless cavity that hydraulic lock connects the lifting hydraulic cylinder；The steering loop includes the second reversal valve, turning horse
Up to the first balanced valve, second reversal valve be 3-position 4-way solenoid-operated proportional reversal valve, its Median Function be y-function, institute
The oil inlet for stating the second reversal valve connects the outlet of the hydraulic pump, the oil return opening connection fuel tank, two actuator ports difference
The actuator port of the steering motor is connected by first balanced valve；The walking loop includes the 3rd reversal valve, walking
Motor and the second balanced valve, the 3rd reversal valve are 3-position 4-way solenoid-operated proportional reversal valve, and its Median Function is y-function,
The oil inlet of 3rd reversal valve connects the outlet of the hydraulic pump, oil return opening and connects the fuel tank, two actuator ports point
Connect the actuator port of the running motor by second balanced valve, the oil-out of the hydraulic pump and the fuel tank it
Between be also arranged in parallel safety valve and unloading valve.
Further, the rod chamber and rodless cavity of the lifting hydraulic cylinder are provided with pressure valve.
Further, the stroke of the lifting hydraulic cylinder is 192~317mm.
The present invention also provides a kind of all-around mobile lifting AGV dollies for being provided with above-mentioned hydraulic system：Set including top
It is equipped with below the body support frame of broach loading plate, the body support frame and is provided with least four liftings with adjusted device
Disc mechanism, the lifting disc mechanism include side be provided with flange driven canine tooth wheel disc, the driven canine tooth wheel disc it is described convex
Edge passes through the lifting disk mounting hole being arranged on the body support frame, and by being arranged at the mounting flange of the flange end
Disk is articulated and connected with the body support frame, and the lower hinge of the driven canine tooth wheel disc has its lower end to be provided with the row of road wheel
Walk and take turns support bar, the lifting hydraulic cylinder is also hinged between the road wheel support bar and the driven canine tooth wheel disc, it is described
Adjusted device includes the driver pinion being meshed with the driven canine tooth wheel disc and is fixed on above the body support frame
Steering motor, the driver pinion is connected with the steering motor, and the side of the road wheel is provided with described be used for
Drive the running motor of the road wheel.
Further, the quantity of the road wheel support bar is two, is separately positioned on the both sides of the road wheel.
Further, the body support frame includes the I-beam support frame and superposed fixed bottom plate of bottom, described
One end of body support frame is additionally provided with electric cabinet.
Further, between the driven canine tooth wheel disc and the body support frame, the fixed flange and the body
Lubrication copper ring is equipped between support frame.
The present invention also provides the method for work that a kind of above-mentioned all-around mobile lifts AGV dollies：By controlling the lifting
Hydraulic cylinder realizes the lifting and decline of each lifting disc mechanism, and then realizes the lifting and decline of whole dolly；Pass through control
The tuning that the steering motor realizes the road wheel of each lifting disc mechanism is made, and then realizes the overall tune of dolly
To by controlling the speed governing of the road wheel to realize the speed governing of whole dolly.
The present invention has the special feature that compared with prior art to be mainly with beneficial effect：
1st, the present invention is using all-hydraulic control is used, and whole actions of the AGV dollies of realization, control accuracy is high, carries energy
Power is strong, and structural volume is small, and sets pressure valve in the size chamber of each lifting hydraulic cylinder, it is to avoid damage mechanical mechanism, simultaneously
Unloading valve is set more to save.
2nd, the present invention cleverly employs lifting disc mechanism and adjusted device coordinates, by the turning horse for controlling adjusted device
Reach, each lifting disc mechanism can independent tuning, it is adaptable to which narrow and small environment passage freely turns to and rise in the case of heavily loaded
Drop.
3rd, the present invention by the differential and tuning of road wheel, can carry out the adjustment in transporting cars direction as needed, improve
Delivery stability and versatility；Omni-mobile can be carried out in the case where transporting cars direction is constant, improve it and load energy
Power.
4th, the lifting disc mechanism that the present invention is used realizes the elevating movement of broach loading plate or even body, further improves
Motion flexibility ratio and operating efficiency.
Brief description of the drawings
Fig. 1 is the hydraulic scheme of the embodiment of the present invention；
Fig. 2 lifts the structural representation of AGV dollies for the all-around mobile of the embodiment of the present invention；
Fig. 3 lifts the front view of AGV dollies for the all-around mobile of the embodiment of the present invention；
Fig. 4 lifts the sectional view one of AGV dollies for the all-around mobile of the embodiment of the present invention；
Fig. 5 is the partial enlarged view of the lifting disc mechanism of the embodiment of the present invention；
Fig. 6 lifts AGV dollies sectional view two for the all-around mobile of the embodiment of the present invention；
Fig. 7 lifts AGV dollies sectional view three for the all-around mobile of the embodiment of the present invention
Fig. 8 is the sectional view of the fixed flange of the embodiment of the present invention；
Fig. 9 lifts the fixation bottom plate top view of AGV dollies for the all-around mobile of the embodiment of the present invention；
Figure 10 lifts AGV dolly control flow charts for the all-around mobile of the embodiment of the present invention；
In figure：1st, electric cabinet；2nd, broach loading plate；3rd, disc mechanism is lifted；4th, body support frame；5th, adjusted device；3-1、
Fixed flange；3-2, holding screw；3-3, lubrication copper ring；3-4, driven canine tooth wheel disc；3-5, road wheel support bar；3-6, liter
Descending liquid cylinder pressure；3-7, road wheel；3-8, road wheel fixing nut.4-1, fixed bottom plate；4-2, I-beam support frame；5-1, active
Little gear；5-2, steering motor；6-1, hydraulic oil container；6-2, elevating loop；6-3, the first reversal valve；6-4, steering loop；6-
5th, walking loop；6-6, the second reversal valve；6-8, the first balanced valve；6-9, hydraulic lock；6-10, running motor；It is 6-11, second flat
Weigh valve；6-12, unloading valve；6-14, pressure valve；6-31, hydraulic pump；6-33 safety valves；3-4-1, flange；4-1-1, lifting disk peace
Fill hole；4-1-2, broach fixing hole；4-1-3, steering motor fixing hole.
Embodiment
With reference to the accompanying drawings and detailed description, the present invention is described in further detail, but the scope of the present invention
Following embodiments are not limited to, the technical scheme that all use equivalent substitution or equivalent transformation form are obtained protects model in the present invention
Within enclosing.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms for being used in the present invention (including skill
Art term and scientific terminology) with the general understanding identical meaning with the those of ordinary skill in art of the present invention.
When the implication of heretofore described " inside and outside " refers to reader just to accompanying drawing, the direction of car interior is pointed to
To be interior, otherwise be outer, rather than the specific restriction to dolly of the invention.
When the implication of heretofore described " upper and lower " refers to reader just to accompanying drawing, " on " refer to position aloft
, with " under " relatively, i.e. top；" under " refer to position in lower, with " on " relatively, i.e. lower floor.Rather than to the small of the present invention
The specific restriction of car.
When the implication of heretofore described " left and right " refers to reader just to accompanying drawing, the left side of reader is a left side,
The right of reader is the right side, rather than the specific restriction to dolly of the invention.
When the implication of heretofore described " forward and backward " refers to reader just to accompanying drawing, from reader closely be before,
From reader far be after, rather than to the present invention device specific restriction.
First, hydraulic system embodiment
As shown in Figure 1：A kind of hydraulic system of AGV dollies, including hydraulic pump 6-31 and hydraulic oil container 6-1, the liquid
Press pump 6-31 outlet turns to loop 6-4 and four walking loop 6-5 at least provided with four elevating loop 6-2, four, described
It is three that elevating loop 6-2, which includes the first reversal valve 6-3, hydraulic lock 6-9 and lifting hydraulic cylinder 3-6, the first reversal valve 6-3,
Four-way electromagnetic proportional reversing valve, its Median Function is y-function, and the oil inlet of the first reversal valve 6-3 connects the hydraulic pressure
Pump 6-31 outlet, oil return opening connect the fuel tank 6-1, two actuator ports and connect described by the hydraulic lock 6-9 respectively
Lifting hydraulic cylinder 3-6 rod chamber and rodless cavity；The steering loop 6-4 include the second reversal valve 6-6, steering motor 5-2 and
First balanced valve 6-8, the second reversal valve 6-6 is 3-position 4-way solenoid-operated proportional reversal valve, and its Median Function is y-function,
The oil inlet of the second reversal valve 6-6 connect the outlet of the hydraulic pump 6-31, oil return opening connect the fuel tank 6-1, two
Actuator port connects the actuator port of the steering motor 5-2 by the first balanced valve 6-8 respectively；The walking loop 6-
5 include the 3rd reversal valve 6-9, running motor 6-10 and the second balanced valve 6-11, and the 3rd reversal valve 6-9 is 3-position 4-way electricity
Magnetic proportional reversing valve, its Median Function is y-function, and the oil inlet of the 3rd reversal valve 6-9 connects the hydraulic pump 6-31
Outlet, oil return opening connects the fuel tank 6-1, two actuator ports and passes through the second balanced valve 6-11 respectively and connect the row
Motor 6-10 actuator port is walked, safety has also been arranged in parallel between the oil-out of the hydraulic pump 6-31 and the fuel tank 6-1
Valve 6-33 and unloading valve 6-12.
The rod chamber and rodless cavity of the lifting hydraulic cylinder 3-6 is provided with pressure valve 6-14.
The stroke of the lifting hydraulic cylinder 3-6 is 300mm.
In addition, first device such as common filter radiator of hydraulic system can also be arranged as required in above-mentioned hydraulic system
Part, with the cleannes and radiating requirements of safeguards system.
2nd, dolly embodiment
As shown in accompanying drawing 2 to Fig. 9, a kind of all-around mobile lifts AGV dollies, including top is provided with broach loading plate 2
Body support frame 4, the body support frame 4 is rectangle, and the body support frame 4 includes the I-beam support frame 4- of bottom
The 2 and fixation bottom plate 4-1 on top, one end of the body support frame 4 is additionally provided with electric cabinet 1, the institute of the body support frame 4
The lower section for stating fixed bottom plate 4-1 is symmetrically arranged with eight lifting disc mechanisms 3 with adjusted device 5 along its longitudinal center plane.
The broach loading plate 2 is placed through the fixed bottom plate 4-1 longitudinal centre lines by three boss below
On three broach fixing hole 4-1-2 be fixed on the I-beam support frame 4-2.
The lifting disc mechanism 3 includes driven canine tooth wheel disc 3-4, and the upper surface of the driven canine tooth wheel disc 3-4 is close to tooth
Circumferentially the fixed bottom plate for being arranged on the body support frame 4 is passed through at root provided with flange 3-4-1, the flange 3-4-1
Lifting disk mounting hole 4-1-1 on 4-1, and by being arranged at the fixed flange 3-1 and the machine of the flange 3-4-1 ends
Body support frame 4 is articulated and connected.
Between the driven canine tooth wheel disc 3-4 and the body support frame 4, the fixed flange 3-1 and the body
Lubrication copper ring 3-3 is equipped between support frame 4.
The upper surface of the driven canine tooth wheel disc 3-4 is contacted with first lubrication copper ring 3-3 lower surface, described solid
The lower surface for determining bottom plate 4-1 is contacted with first lubrication copper ring 3-3 upper surface；The lower end of the fixed flange 3-1
Face is contacted with second lubrication copper ring 3-3 upper surface, the upper surface of the fixed bottom plate 4-1 and second lubrication
Copper ring 3-3 lower surface contact, the fixed flange 3-1 is installed on the end of the flange 3-4-1 by holding screw 3-2
Portion.It is from top to bottom fixed flange 3-1, lubricate copper ring 3-3, fixes bottom plate 4-1, lubricates copper ring 3-3, driven canine tooth wheel disc 3-
4。
The bottom of the driven canine tooth wheel disc 3-4 is symmetrically hinged two road wheel support bar 3-5, two institutes along central shaft
State and be hinged with road wheel 3-7 between electronic support bar 3-5 ends, and pass through the row positioned at the road wheel 3-7 centers shaft end
Walk to take turns the spacing fixations of fixing nut 3-8, be also hinged between the road wheel support bar 3-5 and the driven canine tooth wheel disc 3-4
Lifting hydraulic cylinder 3-6.The stroke of the lifting hydraulic cylinder 3-6 is 317mm.The side of the road wheel 3-7 is provided with the use
In the running motor 6-10 for driving the road wheel 3-7.
The adjusted device 5 includes and the driven canine tooth wheel disc 3-4 driver pinion 5-1 being meshed and is fixed on institute
State steering motor 5-2, the driver pinion 5-1 and the steering motor 5-2 drive connection of the top of body support frame 4.
The steering motor 5-2 is fixedly mounted by the steering motor fixing hole 4-1-3 on the fixed bottom plate 4-1.
3rd, dolly control method embodiment
The present invention also provides the method for work that above-mentioned all-around mobile lifts AGV dollies,
The lifting and decline of each lifting disc mechanism are realized by controlling the lifting hydraulic cylinder, and then is realized whole
The lifting and decline of dolly；By controlling the steering motor to realize the tune of each road wheel for lifting disc mechanism
To, and then the overall tuning of dolly is realized, by controlling the speed governing of the road wheel to realize the speed governing of whole dolly.
Dolly is supported and moved by eight road wheel 3-8, using the lifting disc mechanism 3 and the tune
Coordinate to mechanism 5, realize all-around mobile and lifting, specifically include：Body lifting is with declining；Transverse direction advances with retreating；It is vertical
Advance with retreating in direction；Direct of travel is adjusted along curvilinear path traveling and original place.
The control flow chart of the embodiment of the present invention is shown in Figure 10, and server is obtained after start-up operation instruction, sets original position
After Move Mode, order is passed into AGV motion controllers (MCU), AGV motion controllers judge whether body reaches suitably
Its pose, on the one hand judges whether body lifts in place, then controls the lifting hydraulic cylinder 3-6 work to realize if necessary to lifting
Lifting, on the other hand judges whether body turns in place, and then controls the steering motor 5-2 work to realize if necessary to steering and adjusts
To then judging whether body reaches appointed place, if necessary control driving road wheel 3-7 running motor 6-10
Work, realizes that body is advanced, and reaches specified location, and utilizes encoder, angle displacement sensor and displacement transducer in the process
Closed-loop control is realized, detects whether that instruction is required in real time.
The foregoing is intended to be a preferred embodiment of the present invention.Certainly, the present invention can also have other a variety of implementations
Example, in the case of without departing substantially from the principle of the invention and its essence, any one skilled in the art, when can according to this
Various corresponding equivalent changes and deformation are made in invention, should all belong to the protection domain of appended claims of the invention.
Claims (8)
1. a kind of hydraulic system of AGV dollies, including hydraulic pump (6-31) and hydraulic oil container (6-1), it is characterised in that：The liquid
The outlet of press pump (6-31) turns to loop (6-4) and four walking loops at least provided with four elevating loops (6-2), four
(6-5), the elevating loop (6-2) includes the first reversal valve (6-3), hydraulic lock (6-9) and lifting hydraulic cylinder (3-6), described
First reversal valve (6-3) is 3-position 4-way solenoid-operated proportional reversal valve, and its Median Function is y-function, the first reversal valve (6-
3) oil inlet connects the outlet of the hydraulic pump (6-31), oil return opening and connects the fuel tank (6-1), two actuator port difference
The rod chamber and rodless cavity of the lifting hydraulic cylinder (3-6) are connected by the hydraulic lock (6-9)；The steering loop (6-4)
Including the second reversal valve (6-6), steering motor (5-2) and the first balanced valve (6-8), second reversal valve (6-6) is three
Four-way electromagnetic proportional reversing valve, its Median Function is y-function, and the oil inlet of second reversal valve (6-6) connects the liquid
The outlet of press pump (6-31), oil return opening connect the fuel tank (6-1), two actuator ports and pass through first balanced valve respectively
(6-8) connects the actuator port of the steering motor (5-2)；The walking loop (6-5) includes the 3rd reversal valve (6-9), OK
Motor (6-10) and the second balanced valve (6-11) are walked, the 3rd reversal valve (6-9) is 3-position 4-way solenoid-operated proportional reversal valve, its
Median Function is y-function, and the oil inlet of the 3rd reversal valve (6-9) connects outlet, the oil return of the hydraulic pump (6-31)
The mouth connection fuel tank (6-1), two actuator ports pass through second balanced valve (6-11) and connect the running motor respectively
The actuator port of (6-10), safety has also been arranged in parallel between the oil-out and the fuel tank (6-1) of the hydraulic pump (6-31)
Valve (6-33) and unloading valve (6-12).
2. a kind of hydraulic system of AGV dollies according to claim 1, it is characterised in that：The lifting hydraulic cylinder (3-6)
Rod chamber and rodless cavity be provided with pressure valve (6-14).
3. a kind of hydraulic system of AGV dollies according to claim 1, it is characterised in that：The lifting hydraulic cylinder (3-6)
Stroke be 192~317mm.
4. a kind of all-around mobile lifting for installing the hydraulic system just like the AGV dollies described in claims 1 to 3 any one
AGV dollies, it is characterised in that：The body support frame (4) of broach loading plate (2), the body support frame are provided with including top
(4) at least four lifting disc mechanisms (3) with adjusted device (5) are provided with below, the lifting disc mechanism (3) includes side
Driven canine tooth wheel disc (3-4) provided with flange (3-4-1), the flange (3-4-1) of the driven canine tooth wheel disc (3-4) is passed through
The lifting disk mounting hole (4-1-1) on the body support frame (4) is arranged on, and is held by being arranged at the flange (3-4-1)
The fixed flange (3-1) in portion is articulated and connected with the body support frame (4), the bottom hinge of the driven canine tooth wheel disc (3-4)
Be connected to the road wheel support bar (3-5) that its lower end is provided with road wheel (3-7), the road wheel support bar (3-5) with it is described from
Also be hinged with the lifting hydraulic cylinder (3-6) between dynamic canine tooth wheel disc (3-4), the adjusted device (5) include with it is described driven
Driver pinion (5-1) that canine tooth wheel disc (3-4) is meshed and the steering motor being fixed on above the body support frame (4)
(5-2), the driver pinion (5-1) is connected with the steering motor (5-2), the side peace of the road wheel (3-7)
Equipped with the running motor (6-10) for being used to drive the road wheel (3-7).
5. a kind of all-around mobile lifting AGV dollies according to claim 4, it is characterised in that：The road wheel support
The quantity of bar (3-5) is two, is separately positioned on the road wheel (3-7) both sides.
6. a kind of all-around mobile lifting AGV dollies according to claim 4, it is characterised in that：The body support frame
(4) the I-beam support frame (4-2) and superposed fixed bottom plate (4-1) of bottom, the one of the body support frame (4) are included
End is additionally provided with electric cabinet (1).
7. a kind of all-around mobile lifting AGV dollies according to claim 4, it is characterised in that：The driven gear wheel
It is all provided between disk (3-4) and the body support frame (4), between the fixed flange (3-1) and the body support frame (4)
There is lubrication copper ring (3-3).
8. a kind of all-around mobile as described in any one of claim 4 to 6 lifts the method for work of AGV dollies, its feature exists
In：The lifting and decline of each lifting disc mechanism (3) are realized by controlling the lifting hydraulic cylinder (3-6), and then is realized
The lifting and decline of whole dolly；By controlling the steering motor (5-2) to realize the described of each lifting disc mechanism (3)
The tuning of road wheel (3-7), and then the overall tuning of dolly is realized, it is whole by controlling the speed governing of the road wheel (3-7) to realize
The speed governing of individual dolly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828719.3A CN107202044B (en) | 2016-09-18 | 2016-09-18 | A kind of hydraulic system, trolley and its working method of AGV trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828719.3A CN107202044B (en) | 2016-09-18 | 2016-09-18 | A kind of hydraulic system, trolley and its working method of AGV trolley |
Publications (2)
| Publication Number | Publication Date |
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| CN107202044A true CN107202044A (en) | 2017-09-26 |
| CN107202044B CN107202044B (en) | 2019-02-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927800A (en) * | 2019-03-22 | 2019-06-25 | 北京德威佳业科技有限公司 | A kind of balancing device for AGV trolley |
| CN111852966A (en) * | 2020-06-18 | 2020-10-30 | 山东大学 | Hydraulic system of hydraulically-driven double steering wheels and heavy-load AGV |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109927800A (en) * | 2019-03-22 | 2019-06-25 | 北京德威佳业科技有限公司 | A kind of balancing device for AGV trolley |
| CN111852966A (en) * | 2020-06-18 | 2020-10-30 | 山东大学 | Hydraulic system of hydraulically-driven double steering wheels and heavy-load AGV |
| CN111852966B (en) * | 2020-06-18 | 2021-10-22 | 山东大学 | Hydraulic system of hydraulically-driven double steering wheels and heavy-load AGV |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107202044B (en) | 2019-02-12 |
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Effective date of registration: 20191224 Address after: Room 207, main office building, No.118 Longxing Road, Haining Economic Development Zone, Haining City, Jiaxing City, Zhejiang Province Patentee after: Haining Economic Development Industrial Park Development and Construction Co.,Ltd. Address before: 234000 incubation center of shoe city management committee at the intersection of Qingyun South Road and shoe city third road, Suzhou City, Anhui Province Patentee before: ANHUI PHETOM INTELLIGENT TRAFFIC TECHNOLOGY Co.,Ltd. Effective date of registration: 20191224 Address after: 234000 incubation center of shoe city management committee at the intersection of Qingyun South Road and shoe city third road, Suzhou City, Anhui Province Patentee after: ANHUI PHETOM INTELLIGENT TRAFFIC TECHNOLOGY Co.,Ltd. Address before: 212003, No. 2, Mengxi Road, Zhenjiang, Jiangsu Patentee before: Jiangsu University of Science and Technology |