CN107202044B - A kind of hydraulic system, trolley and its working method of AGV trolley - Google Patents
A kind of hydraulic system, trolley and its working method of AGV trolley Download PDFInfo
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- CN107202044B CN107202044B CN201610828719.3A CN201610828719A CN107202044B CN 107202044 B CN107202044 B CN 107202044B CN 201610828719 A CN201610828719 A CN 201610828719A CN 107202044 B CN107202044 B CN 107202044B
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- valve
- hydraulic
- lifting
- reversal valve
- support frame
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Classifications
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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Handcart (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of hydraulic system of AGV trolley, including hydraulic pump and hydraulic oil container, at least provided with four elevating loops, four steering circuits and four walking loops, elevating loop includes the first reversal valve hydraulic lock and lifting hydraulic cylinder for the outlet of hydraulic pump；Turning to circuit includes the second reversal valve, steering motor and the first balanced valve；Walking loop includes third reversal valve, running motor and the second balanced valve；Safety valve and unloading valve have also been arranged in parallel between the oil outlet and fuel tank of hydraulic pump.The invention also discloses the trolleies and its implementation of a kind of hydraulic system for installing AGV trolley, using all-hydraulic control, realize whole movements of AGV trolley, it is high to control precision, bearing capacity is strong, and structural volume is small, and also sets up pressure valve in the size chamber of each lifting hydraulic cylinder, damage mechanical mechanism is avoided, while unloading valve is set and reaches more energy-efficient effect.
Description
Technical field
The invention belongs to AGV carrier loader apparatus fields, and in particular to a kind of all-around mobile lifting AGV trolley it is hydraulic
System, trolley and its working method.
Background technique
Modern intelligent warehouse management system and intelligent parking garage demand are increasingly sharpened, and vehicle carrying AGV trolley is also fast
Speed development, AGV carrier loader become 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 to be widely applied, there are it is many still
The technological difficulties that do not capture.The kinematic dexterity of AGV trolley still has the biggish rising space, thus improve its kinematic dexterity with
And motion credibility, it is most important for its working efficiency, and an important directions of development, research.
Current existing AGV trolley mostly uses motor turning movement mechanism, and stability is good but its flexibility deficiency, efficiency compared with
Low, efficient in requirements such as storage, garages, there are certain applied defects for the limited place in space.On the other hand, three of use
The AGV trolley of universal wheel and two pairs of Mecanum wheels, it is at high cost, in the case where not being suitable for heavy duty, automobile can not be suitable for and transported
It carries, and is difficult to carry out accurate transverse and longitudinal and curvilinear path movement, which has limited its applications in vehicle carrying field.
Summary of the invention
The purpose of the invention is to overcome defect existing for above-mentioned vehicle carrying AGV trolley, a kind of AGV trolley is provided
Hydraulic system.
Hydraulic system provided by the invention, using all-hydraulic control, whole movements of the AGV trolley of realization control precision
Height, bearing capacity is strong, and structural volume is small, and uses the trolley of this hydraulic system, dexterously uses adjusted device and lifting disk
Mechanism carries out driving by the traveling wheel that lifting disc mechanism lower end is arranged and carries out body traveling, is provided with liter on lifting disc mechanism
Descending liquid cylinder pressure is constituted triangle mechanism with traveling wheel support rod and driven large gear disk, the lifting of body is realized with this.It adjusts
All-around mobile is realized by changing the traveling wheel direction of motion of lifting disc mechanism lower end to mechanism.Lifting is integrated in steering
One, keeps structure more compact, realizes modularization, convenient for the expansion of function.Body is at runtime, each by individually controlling
Adjusted device and traveling wheel realize the body offset movement of multi-angle operating and complexity, channel that can be narrow in environment
In freely advance.
In order to achieve the above object, the present invention realizes that technical solution used by purpose is:
A kind of hydraulic system of AGV trolley, including hydraulic pump and hydraulic oil container, the outlet of the hydraulic pump at least provided with
Four elevating loops, four steering circuits and four walking loops, the elevating loop include the first reversal valve hydraulic lock and liter
Descending liquid cylinder pressure, first reversal valve be 3-position 4-way solenoid-operated proportional reversal valve, Median Function be y-function, described first
The oil inlet of reversal valve is connected to the outlet of the hydraulic pump, oil return opening is connected to the fuel tank, two actuator ports pass through institute respectively
State rod chamber and rodless cavity that hydraulic lock is connected to the lifting hydraulic cylinder；The steering circuit 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, Median Function be y-function, institute
The oil inlet for stating the second reversal valve is connected to the outlet of the hydraulic pump, oil return opening is connected to the fuel tank, two actuator port difference
The actuator port of the steering motor is connected to by first balanced valve；The walking loop includes third reversal valve, walking
Motor and the second balanced valve, the third reversal valve are 3-position 4-way solenoid-operated proportional reversal valve, and Median Function is y-function,
The oil inlet of the third reversal valve is connected to the outlet of the hydraulic pump, oil return opening is connected to the fuel tank, two actuator ports point
Be not connected to the actuator port of the running motor by second balanced valve, the oil outlet of the hydraulic pump and the fuel tank it
Between be also arranged in parallel safety valve and unloading valve.
Further, the rod chamber of the lifting hydraulic cylinder and rodless cavity 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 mobiles for being equipped with above-mentioned hydraulic system to go up and down AGV trolley: setting including top
It is equipped with the body support frame of comb teeth loading plate, is provided at least four liftings with adjusted device below the body support frame
Disc mechanism, it is described lifting disc mechanism include side be equipped with flange driven large gear disk, the driven large gear disk it is described convex
Edge passes through the lifting disk mounting hole being arranged on the body support frame, and the mounting flange by being set to the flange end
Disk and the body support frame are articulated and connected, the row that the lower hinge of the driven large gear disk has its lower end to be provided with traveling wheel
It walks and takes turns support rod, the lifting hydraulic cylinder is also hinged between the traveling wheel support rod and the driven large gear disk, it is described
Adjusted device includes the driver pinion being meshed with the driven large gear disk and is fixed on above the body support frame
Steering motor, the driver pinion and the steering motor are sequentially connected, and the side of the traveling wheel is equipped with described be used for
Drive the running motor of the traveling wheel.
Further, the quantity of the traveling wheel support rod is two, is separately positioned on the two sides of the traveling wheel.
Further, the body support frame includes the I-beam support frame and superposed fixed bottom plate of lower part, described
One end of body support frame is additionally provided with electric cabinet.
Further, between the driven large gear disk and the body support frame, the fixed flange and the body
Lubrication copper ring is equipped between support frame.
The present invention also provides a kind of working methods of above-mentioned all-around mobile lifting AGV trolley: by controlling the lifting
Hydraulic cylinder realizes the lifting and decline of each lifting disc mechanism, and then realizes the lifting and decline of entire trolley；Pass through control
The tuning that the steering motor realizes the traveling wheel of each lifting disc mechanism is made, and then realizes the tune of trolley entirety
To the speed regulation of entire trolley is realized in the speed regulation by controlling the traveling wheel.
The present invention is mainly compared with feature possessed by the prior art and beneficial effect:
1, the present invention is using all-hydraulic control is used, and whole movements of the AGV trolley of realization, control precision is high, carries energy
Power is strong, and structural volume is small, and pressure valve is arranged in the size chamber of each lifting hydraulic cylinder, avoids damage mechanical mechanism, simultaneously
It is more energy saving that unloading valve is set.
2, the present invention cleverly uses lifting disc mechanism and adjusted device cooperates, by the turning horse for controlling adjusted device
Reach, each lifting disc mechanism can independent tuning, suitable for heavy duty in the case where narrow environment channel freely turn to and rise
Drop.
3, the present invention can carry out as needed the adjustment in transporting cars direction by the differential and tuning of traveling wheel, improve
Delivery stability and versatility；Omni-mobile can be carried out in the case where transporting cars direction is constant, improved it and loaded energy
Power.
4, the lifting disc mechanism that the present invention uses realizes the elevating movement of comb teeth loading plate or even body, further increases
Movement flexibility ratio and working efficiency.
Detailed description of the invention
Fig. 1 is the hydraulic scheme of the embodiment of the present invention；
Fig. 2 is that the all-around mobile of the embodiment of the present invention goes up and down the structural schematic diagram of AGV trolley；
Fig. 3 is that the all-around mobile of the embodiment of the present invention goes up and down the main view of AGV trolley；
Fig. 4 is that the all-around mobile of the embodiment of the present invention goes up and down the cross-sectional view one of AGV trolley；
Fig. 5 is the partial enlarged view of the lifting disc mechanism of the embodiment of the present invention；
Fig. 6 is that the all-around mobile of the embodiment of the present invention goes up and down AGV trolley cross-sectional view two；
Fig. 7 is that the all-around mobile of the embodiment of the present invention goes up and down AGV trolley cross-sectional view three
Fig. 8 is the cross-sectional view of the fixed flange of the embodiment of the present invention；
Fig. 9 is that the all-around mobile of the embodiment of the present invention goes up and down the fixation bottom plate top view of AGV trolley；
Figure 10 is that the all-around mobile of the embodiment of the present invention goes up and down AGV trolley control flow chart；
In figure: 1, electric cabinet；2, comb teeth loading plate；3, disc mechanism is gone up and down；4, body support frame；5, adjusted device；3-1,
Fixed flange；3-2, holding screw；3-3, lubrication copper ring；3-4, driven large gear disk；3-5, traveling wheel support rod；3-6, liter
Descending liquid cylinder pressure；3-7, traveling wheel；3-8, traveling wheel fixture nut.4-1, fixed bottom plate；4-2, I-beam support frame；5-1, active
Pinion gear；5-2, steering motor；6-1, hydraulic oil container；6-2, elevating loop；6-3, the first reversal valve；6-4, circuit is turned to；6-
5, 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 valve；3-4-1, flange；4-1-1, lifting disk peace
Fill hole；4-1-2, comb teeth fixation hole；4-1-3, steering motor fixation hole.
Specific embodiment
With reference to the accompanying drawings and detailed description, invention is further described in detail, but the scope of the present invention
Following embodiments are not limited to, all technical solutions obtained using equivalent substitution or equivalent transformation form protect model in the present invention
Within enclosing.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used in the present invention (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.
When the meaning of heretofore described " inside and outside " refers to reader's face attached drawing, it is directed toward the direction of car interior
It to be interior, otherwise is outer, rather than the specific restriction to trolley of the invention.
When the meaning of heretofore described " upper and lower " refers to reader's face attached drawing, "upper" refers to position aloft
, i.e. top opposite with "lower"；"lower" refer to position in lower, i.e. lower layer opposite with "upper".Rather than to of the invention small
The specific restriction of vehicle.
When the meaning of heretofore described " left and right " refers to reader's face attached drawing, the left side of reader is a left side,
The right of reader is the right side, rather than the specific restriction to trolley of the invention.
When the meaning of heretofore described " forward and backward " refers to reader's face attached drawing, before close from reader is,
After remote from reader is, rather than the specific restriction to the device of the invention.
One, hydraulic system embodiment
It is as shown in Fig. 1: a kind of hydraulic system of AGV trolley, including hydraulic pump 6-31 and hydraulic oil container 6-1, the liquid
The outlet of press pump 6-31 is described at least provided with four elevating loop 6-2, four steering circuit 6-4 and four walking loop 6-5
Elevating loop 6-2 includes the first reversal valve 6-3, hydraulic lock 6-9 and lifting hydraulic cylinder 3-6, the first reversal valve 6-3 are three
Four-way electromagnetic proportional reversing valve, Median Function are y-function, and the oil inlet connection of the first reversal valve 6-3 is described hydraulic
Pump the outlet of 6-31, oil return opening is connected to the fuel tank 6-1, two actuator ports respectively by described in hydraulic lock 6-9 connection
The rod chamber and rodless cavity of lifting hydraulic cylinder 3-6；The steering circuit 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 Median Function is y-function,
The oil inlet of the second reversal valve 6-6 is connected to the outlet of the hydraulic pump 6-31, oil return opening is connected to the fuel tank 6-1, two
Actuator port passes through the actuator port that the first balanced valve 6-8 is connected to the steering motor 5-2 respectively；The walking loop 6-
5 include third reversal valve 6-9, running motor 6-10 and the second balanced valve 6-11, the third reversal valve 6-9 is 3-position 4-way electricity
Magnetic proportional reversing valve, Median Function are y-function, and the oil inlet of the third reversal valve 6-9 is connected to the hydraulic pump 6-31
Outlet, oil return opening is connected to the fuel tank 6-1, two actuator ports pass through the second balanced valve 6-11 respectively and are connected to the row
The actuator port of motor 6-10 is walked, has also been arranged in parallel safety between the oil outlet 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 set as needed in above-mentioned hydraulic system
Part, with the cleannes and radiating requirements of safeguards system.
Two, trolley embodiment
If attached drawing 2 is to shown in Fig. 9, a kind of all-around mobile lifting AGV trolley, including top are provided with comb teeth loading plate 2
Body support frame 4, the body support frame 4 is rectangle, the I-beam support frame 4- of the body support frame 4 including lower part
2 and top fixation bottom plate 4-1, 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 of fixed bottom plate 4-1 is stated along its longitudinal center plane lifting disc mechanism 3 with adjusted device 5 that is symmetrically arranged with eight.
The comb teeth loading plate 2 is placed through the fixed bottom plate 4-1 longitudinal centre line by three boss below
On three comb teeth fixation hole 4-1-2 be fixed on the I-beam support frame 4-2.
The lifting disc mechanism 3 includes driven large gear disk 3-4, and the upper surface of the driven large gear disk 3-4 is close to tooth
Flange 3-4-1 is circumferentially equipped at root, the flange 3-4-1 passes through the fixed bottom plate that the body support frame 4 is arranged in
Lifting disk mounting hole 4-1-1 on 4-1, and the fixed flange 3-1 by being set to the end the flange 3-4-1 and the machine
Body support frame 4 is articulated and connected.
Between the driven large gear disk 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 lower end face contact of the upper surface of the driven large gear disk 3-4 and first lubrication copper ring 3-3, it is described solid
Determine lower surface and the upper end face contact of first lubrication copper ring 3-3 of bottom plate 4-1；The lower end of the fixed flange 3-1
The upper end face contact in face and second lubrication copper ring 3-3, the upper surface of the fixed bottom plate 4-1 and second lubrication
The lower end face contact of copper ring 3-3, the fixed flange 3-1 are 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, lubrication copper ring 3-3, fixed bottom plate 4-1, lubrication copper ring 3-3, driven large gear disk 3-
4。
The lower part of the driven large gear disk 3-4 is along the symmetrical hinged two traveling wheel support rods 3-5 of central shaft, two institutes
It states and is hinged with traveling wheel 3-7 between the end electronic support rod 3-5, and the row by being located at the traveling wheel 3-7 central axis end
It walks to take turns fixture nut 3-8 limit to fix, be also hinged between the traveling wheel support rod 3-5 and the driven large gear disk 3-4
Lifting hydraulic cylinder 3-6.The stroke of the lifting hydraulic cylinder 3-6 is 317mm.The side of the traveling wheel 3-7 is equipped with the use
In the running motor 6-10 for driving the traveling wheel 3-7.
The adjusted device 5 includes and the driven large gear disk 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 transmission connection of 4 top of body support frame.
The steering motor 5-2 is fixedly mounted by the steering motor fixation hole 4-1-3 on the fixed bottom plate 4-1.
Three, trolley control method embodiment
The present invention also provides above-mentioned all-around mobile lifting AGV trolley working method,
The lifting and decline of each lifting disc mechanism are realized by controlling the lifting hydraulic cylinder, and then are realized entire
The lifting and decline of trolley；The tune for realizing the traveling wheel of each lifting disc mechanism by controlling the steering motor
To, and then realize the tuning of trolley entirety, the speed regulation of entire trolley is realized in the speed regulation by controlling the traveling wheel.
Trolley is supported and is moved by eight traveling wheel 3-8, using the lifting disc mechanism 3 and the tune
Cooperate to mechanism 5, realize all-around mobile and lifting, specifically include: body lifting and decline；Transverse square is marched forward and is retreated；It is vertical
Advance and retreat in direction；Direction of travel is adjusted along curvilinear path traveling and original place.
After the control flow chart of the embodiment of the present invention is shown in that Figure 10, server obtain start-up operation instruction, initial position is set
After Move Mode, order is passed to AGV motion controller (MCU), it is suitable that AGV motion controller judges whether body reaches
On the one hand its pose judges whether body goes up and down in place, then control the lifting hydraulic cylinder 3-6 work if necessary to lifting and realize
Lifting, another aspect judge whether body turns in place, and then control the steering motor 5-2 work if necessary to steering and realize tune
To, then judge whether body reaches designated place, it is if necessary to control the running motor 6-10 for driving the traveling wheel 3-7
Work realizes that body is advanced, reaches designated position, and utilizes encoder, angle displacement sensor and displacement sensor in the process
Realize closed-loop control, whether real-time detection, which arrives instruction, requires.
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, without departing substantially from the principle of the invention and its essence, anyone skilled in the art, when can according to this
Various corresponding equivalent change and modification are made in invention, all should fall within the scope of protection of the appended claims of the present invention.
Claims (2)
1. a kind of all-around mobile goes up and down AGV trolley, described including the hydraulic system for all-around mobile lifting AGV trolley
All-around mobile goes up and down AGV trolley, and the body support frame (4) of comb teeth loading plate (2), the body support are provided with including top
At least four lifting disc mechanisms (3) with adjusted device (5) are provided with below frame (4), the lifting disc mechanism (3) includes one
Side is equipped with the driven large gear disk (3-4) of flange (3-4-1), and the flange (3-4-1) of the driven large gear disk (3-4) is worn
The lifting disk mounting hole (4-1-1) being arranged on the body support frame (4) is crossed, and by being set to the flange (3-4-1)
The fixed flange (3-1) of end and the body support frame (4) are articulated and connected, the lower part of the driven large gear disk (3-4)
Be hinged with the traveling wheel support rod (3-5) that its lower end is provided with traveling wheel (3-7), the traveling wheel support rod (3-5) with it is described
Also be hinged with lifting hydraulic cylinder (3-6) between driven large gear disk (3-4), the adjusted device (5) include with it is described driven big
The driver pinion (5-1) that toothed disc (3-4) is meshed and the steering motor (5- being fixed on above the body support frame (4)
2), the driver pinion (5-1) and the steering motor (5-2) are sequentially connected, and the side of the traveling wheel (3-7) is equipped with
For driving the running motor (6-10) of the traveling wheel (3-7)；The quantity of the traveling wheel support rod (3-5) is two, point
It She Zhi not be in the two sides of the traveling wheel (3-7)；The body support frame (4) include lower part I-beam support frame (4-2) and
One end of superposed fixed bottom plate (4-1), the body support frame (4) is additionally provided with electric cabinet (1)；The driven canine tooth
Between wheel disc (3-4) and the body support frame (4), between the fixed flange (3-1) and the body support frame (4)
Equipped with lubrication copper ring (3-3)；It is characterized by: the hydraulic system for all-around mobile lifting AGV trolley includes hydraulic
(6-31) and hydraulic oil container (6-1) are pumped, the outlet of the hydraulic pump (6-31) is at least provided with four elevating loops (6-2), four
A steering circuit (6-4) and four walking loops (6-5), the elevating loop (6-2) include the first reversal valve (6-3), hydraulic
(6-9) and lifting hydraulic cylinder (3-6) are locked, first reversal valve (6-3) is 3-position 4-way solenoid-operated proportional reversal valve, middle-position machine
It can be y-function, the oil inlet of first reversal valve (6-3) is connected to the outlet of the hydraulic pump (6-31), oil return opening connection
The fuel tank (6-1), two actuator ports are connected to having for lifting hydraulic cylinder (3-6) by the hydraulic lock (6-9) respectively
Rod cavity and rodless cavity；The steering circuit (6-4) includes the second reversal valve (6-6), steering motor (5-2) and the first balanced valve
(6-8), second reversal valve (6-6) are 3-position 4-way solenoid-operated proportional reversal valve, and Median Function is y-function, described the
The oil inlet of two reversal valves (6-6) is connected to the outlet of the hydraulic pump (6-31), oil return opening is connected to the fuel tank (6-1), two
Actuator port passes through the actuator port that first balanced valve (6-8) is connected to the steering motor (5-2) respectively；It is described to walk back
Road (6-5) includes third reversal valve (6-9), running motor (6-10) and the second balanced valve (6-11), the third reversal valve (6-
It 9) is 3-position 4-way solenoid-operated proportional reversal valve, Median Function is y-function, and the oil inlet of the third reversal valve (6-9) connects
Lead to the outlet of the hydraulic pump (6-31), oil return opening is connected to the fuel tank (6-1), two actuator ports pass through described second respectively
Balanced valve (6-11) is connected to the actuator port of the running motor (6-10), the oil outlet and the oil of the hydraulic pump (6-31)
Safety valve (6-33) and unloading valve (6-12) have also been arranged in parallel between case (6-1)；The rod chamber of the lifting hydraulic cylinder (3-6)
Pressure valve (6-14) is provided with rodless cavity.
2. a kind of all-around mobile according to claim 1 goes up and down AGV trolley, it is characterised in that: the lifting hydraulic cylinder
The stroke of (3-6) is 192~317mm.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| 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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| CN107202044B true CN107202044B (en) | 2019-02-12 |
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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 |
| CN111852966B (en) * | 2020-06-18 | 2021-10-22 | 山东大学 | Hydraulic system of hydraulically-driven double steering wheels and heavy-load AGV |
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| JPH09286338A (en) * | 1996-04-23 | 1997-11-04 | Shinmei Kogyo Kk | Self-propelled carrier car |
| CN201009929Y (en) * | 2007-02-05 | 2008-01-23 | 北京科技大学 | Independent steering apparatus of dynamic flat plate carrying vehicle based on gear train with fixed axes |
| CN201559501U (en) * | 2009-11-05 | 2010-08-25 | 大连四达高技术发展有限公司 | Liftable automatic wheel |
| CN101823504A (en) * | 2010-04-15 | 2010-09-08 | 东华理工大学 | Device for assisting automobile in movement |
| CN103821398A (en) * | 2013-10-19 | 2014-05-28 | 梁崇彦 | Car contained panel plane longitudinal and transverse moving system |
| CN203593589U (en) * | 2013-10-21 | 2014-05-14 | 合肥搬易通科技发展有限公司 | Hydraulic system of electric double-drive omnidirectional forward movement-type fork truck |
| CN105507635A (en) * | 2016-01-22 | 2016-04-20 | 大洋泊车股份有限公司 | Lateral-moving and rotating carrier and three-dimensional garage |
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| CN107202044A (en) | 2017-09-26 |
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