CN107472786A - A kind of double-deck AGV cars and its driving method and robot transportation system - Google Patents
A kind of double-deck AGV cars and its driving method and robot transportation system Download PDFInfo
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- CN107472786A CN107472786A CN201710668906.4A CN201710668906A CN107472786A CN 107472786 A CN107472786 A CN 107472786A CN 201710668906 A CN201710668906 A CN 201710668906A CN 107472786 A CN107472786 A CN 107472786A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
Abstract
The invention discloses a kind of double-deck AGV cars and its driving method and robot transportation system, the double-deck AGV cars include one layer of flat top body and another layer of platform promotes body, and the flat top body is installed multiple without driving omni-directional wheel including platform body and platform body lower section；The platform promotes body to include multiple Mecanum wheels of installation below AGV bodies and AGV bodies, and platform promotes promotes body to promote flat top body to realize that AGV track is run by platform delivery device between body and platform weight body for push connection, platform.The coupling body that AGV car bodies are split as being made up of the upper and lower by the present invention, push layer undertakes lightweight gravity, supporting course undertakes heavyweight gravity, promoted by the Mecanum wheel for only undertaking lightweight gravity and undertake being moved without driving omni-directional wheel for heavyweight, realize and walk to be changed into " push goods " from " lifting goods " and walk, it is changed into rolling friction from sliding friction, so as to effectively save energy consumption of electrical machinery and reduce motor cost.
Description
Technical field
The invention belongs to carry AGV technical fields, more particularly to a kind of double-deck AGV cars and its driving method and robot remove
Fortune system, it can be applied to the fields such as intelligent parking, warehouse logisticses.
Background technology
In recent years, the use of automatic guided vehicle (AGV) turns into the bright spot in equipment manufacture production link logistics scheme, right
Enterprises production efficiency is improved, cost is reduced, improves product quality and managerial skills and serve certain effect.
It is inadequate to solve traditional its kinematic dexterity of automatic guided vehicle (AGV), in less efficient, complex environment operation be stranded
It is difficult, many applications are restricted the problem of, professional is increasingly keen to substitute traditional AGV using Mecanum wheel
Wheel group structure.Mecanum wheel is a kind of special omni-directional wheel of structure, and its outer one helical gear of image, the gear teeth can rotate
Cydariform roller, the axis of roller and the axis taken turns are at an angle.Mecanum wheel great advantage is that its remarkable motion is flexible
Property, can realize Omni-mobile truly, and the conversion between Different Exercise Mode is rapid, be highly suitable for material,
The carrying work of part, goods, the occasion of higher (narrow space or movement locus are complicated) is especially required in space
With outstanding performance, such as the transhipment in space crowded warehouse, large parts, workpiece transport in place after accurate adjustment etc..
Although Mecanum wheel superior performance, people still can face a great problem in application process, that is,：
The height of reduction car body is wanted it is necessary to the small Mecanum human relations of selection diameter as far as possible, and selects the small Mecanum wheel of diameter, car
The loading capacity of body will diminish.To solve the problems, such as car body loading capacity, people are respectively provided with to each Mecanum wheel of small size
One, without driving omni-directional wheel, to share gravity, becomes eight wheel constructions, such as number of patent application by four wheel constructions：
201610398162.4th, " Omni-mobile formula AGV " is slipped into a kind of ultra-thin heavy duty lifting to patent name, and it solves Mecanum wheel and held
The method of problem is again：" also include omni-directional wheel on vehicle frame, the omni-directional wheel is arranged on the outside of every group of Mecanum wheel, forms one
The combining structure of individual 8 wheel." technical scheme using Mecanum wheel group and the combination stressed method of omni-directional wheel group, although so that
Mecanum wheel group bears gravity and reaches 23%, and still, this kind of method is still that " back of the body is carried on the back " gravity rather than " push " load, still
So it is not reaching to the effect that " push " load is walked.If the technical scheme walked according to " push " load calculates, moreover it is possible to than existing skill
Art mitigates more than one times of Mecanum wheel loading capacity, reduces power of motor again more than one times again.
The problem of prior art is present be：First, still without solving the problems, such as that " lifting goods " is walked, although adding wheel
Son, but whole gravity are still all pressed on these wheels, are still that multiple wheels " lifting goods " are walked, do not solve fundamentally
Problem；Second, due to being limited by AGV vehicle body spaces, it can not possibly unrestrictedly increase wheel and corresponding driving on AGV car bodies
Unit, so, the diameter of Mecanum wheel and the height of car body are limited in an irreconcilable scope, can not at this
In the range of mediation, the diameter of Mecanum wheel can not reduce again, and the height of car body will not also reduce again.
The content of the invention
The present invention is overcome the deficiencies in the prior art, proposes that a kind of double-deck AGV cars and its driving method and robot are carried
System, to solve the problems, such as that prior art " lifting goods " is walked and the height of car body is limited with load by wheel diameter.
The present invention solves existing technical problem and takes following technical scheme to realize：
A kind of double-deck AGV cars, including one layer of flat top body and another layer of platform promote body, the flat top body bag
Include the multiple without driving omni-directional wheel of installation below flat top body and flat top body；The platform promotes body to include AGV sheets
Multiple Mecanum wheels of installation below body and AGV bodies, the platform are promoted to push connection between body and platform weight body,
Platform promotes body to promote flat top body to realize that AGV track is run by platform delivery device.
The platform delivery device includes the supporting delivery device of the supporting delivery device of vertical direction and horizontal direction；Institute
State the supporting delivery device of vertical direction and use mode connecting platform weight body up and down and platform push body, the horizontal direction is matched somebody with somebody
The delivery device of set is using interior external square type connecting platform weight body and platform push body.
The supporting delivery device of the horizontal direction include being arranged on multiple thrust axle sleeves on flat top body frame with
And it is arranged on multiple thrust axis corresponding with each thrust axle sleeve on platform push body frame；The vertical direction is supporting to be pushed away
Send mechanism include being arranged on multiple thrust axle sleeves of flat top body lower surface and be arranged on platform push body upper surface with
The corresponding multiple thrust axis of each thrust axle sleeve；The multiple thrust axle sleeves being arranged on flat top body frame include but
It is not limited to the cylindricality that is horizontally set on car body frame or square groove, or the straight line being horizontally arranged on car body frame
Bearing；The thrust axis being arranged on platform push body frame includes but is not limited to the water corresponding with cylindricality or square groove
The flat raised circular or square pillar set, or be horizontally arranged at corresponding with linear bearing on car body upper side frame
Optical axis；Described platform push body or flat top body set groove or the frame of projection to include opposite side frame or surrounding
Frame.
The vertical direction, which is matched somebody with somebody, to be set on corresponding to multiple thrust axle sleeve lower ends to its of flat top body lower surface
The distance of the upper surface of AGV bottom plates is a non-contacting distance with appropriate gap；The vertical direction, which is matched somebody with somebody, to be set on
The distance of the flat top body top plate lower surface corresponding to multiple thrust axis tops to its on platform push body upper surface is one
The individual non-contacting distance with appropriate gap.
Multiple Mecanum wheels of installation are at least four below the AGV bodies, the multiple Mecanum wheel installation
Below AGV bodies, or on the side frame of AGV bodies；Multiple no drivings of installation below the flat top body
Omni-directional wheel is at least four and promoted installed in platform below body, or on the side frame that platform promotes body；It is described double
The whole height of layer AGV cars is less than cargo pallet lower surface to the height on ground so that the double-deck AGV cars can get into goods support
The goods walking on pallet and pallet is jacked up below disk.
Jacking apparatus, the described jacking apparatus that the flat top body also includes positioned at flat top body both ends include
Jacking apparatus casing, the motor for lifting body is also included in the jacking apparatus casing, for flat top body and platform
Promote the split-type accumulator of body；When flat top body and platform promote body to be vertically connected with, central control cabinet is lifted on platform and held
The central area of weight body top plate lower surface, entreats the central control board that the double-deck AGV cars are provided with control cabinet；Work as flat top
Body and platform promote body for inside and outside during connection, and central control cabinet is arranged on the central area of AGV bodies.
The AGV bodies also include being arranged on AGV bodies, along two groups before and after AGV bodies symmetrically arranged two wheats
Decelerating chassis at Ke Namu wheel lines, the interior Mike for including linking together by fixed plate and reductor of the case of reducer
Na Mu wheels, reductor and the servomotor to be linked together with reductor.
A kind of driving method of double-deck AGV cars, comprises the following steps：
Step 1: the intrinsic central controller controls platforms of AGV promote body in 360 degree of horizontal planes with arbitrary speed,
Angular speed and body gesture are moved.
Step 2: platform promotes body to promote flat top body in 360 degree of horizontal planes with arbitrary speed, angular speed and car
Figure state is moved.
It is described it is any hasten, angular speed refers to that car body changes the arbitrary speed not made any adjustments during motion mode and angle
Speed.
The intrinsic central controller controls platforms of described AGV promote body to refer to that AGV controllers control platform promotes body
Mecanum wheel so that with moving platform promote body；The platform promotes body to promote flat top body to refer to that platform promotes pushing away for body
Power axle promotes the thrust axle sleeve of flat top layer, drives flat top body in 360 degree of horizontal planes by promoting thrust axis set
It is interior to be moved with arbitrary speed angular speed and body gesture.
A kind of robot transportation system, including the double-deck AGV cars as described in claim 1-7 any one.
Advantages of the present invention effect
1st, the double-deck AGV cars based on Mecanum wheel of the invention by four or four with last Mecanum wheel rotating speed and
The Omni-mobile of carrier is realized in the accurate control that turns to, including front and rear straight trip, transverse moving left and right, no-radius are rotated in place, referred to
Determine semidiameter turn, any direction rectilinear movement etc..Its great advantage is its kinematic dexterity, can realize truly
Omni-mobile, and the conversion between Different Exercise Mode is rapid.Compare with the dual drive universal wheel group of prior art, transported in car body
Flowing mode change when, it is not necessary to first parking adjustment wheel group posture, restart operation timesharing action, but can not do it is any
Directly moved in the case of adjustment with arbitrary speed angular speed and body gesture, sport efficiency is higher, and is handed in two cars
Curve collision prevention can be walked during remittance.
2nd, instant invention overcomes this area for a long time application bottleneck, i.e., " wheel diameter is directly proportional to load weight ",
Innovatively by the way of load-bearing and driving are separated, to promote load running to substitute traditional back of the body camel load running, and then
Realize that the Mecanum wheel of minor diameter promotes the load for the maximum load that can bear times over the wheel footpath lower whorl group, be specially：
AGV car bodies are the coupling body being made up of the upper and lower, and upper strata is supporting course, and lower floor is push layer, and push layer only undertakes itself
The deadweight of wheel and motor, supporting course undertake entire cargo and most of car body weight, by the Mecanum wheel branch independently driven
Support push layer, by without driving omni-directional wheel support supporting course, the Mecanum wheel promotion for undertaking lightweight gravity undertakes heavyweight
Omni-directional wheel moves, and realizes and walks to be changed into " push goods " from " lifting goods " and walk, is changed into rolling friction from sliding friction, so as to have
Effect saves energy consumption of electrical machinery, and then reduces the demand of power of motor and battery capacity, so can be effectively reduced complete machine into
This.
3rd, instant invention overcomes the prejudice of those skilled in the art for a long time, i.e., " height of the carbody and pay(useful) load " is into just
The prejudice of ratio, namely：Pay(useful) load is big with regard to the prejudice that inevitable wheel diameter is big, the big inevitable car body of wheel diameter is high, due to this hair
The bright technical scheme using " push goods to walk " or " rolling friction ", as far as possible the Mecanum wheel of small size can be selected to be pushed to
The goods of heavyweight, compared to the prior art, in the case where bearing equal gravity, the height of car body is reduced, solve this
Art personnel are insoluble always for a long time to require that vehicle load is as far as possible big while it is low to require that height of car is tried one's best
Problem.
4th, the present invention uses Mecanum wheel, and its mechanical structure dual drive wheel group close compared to function seems very simple
It is single：Its whole mechanical structure, which is only embodied in, is connected each Mecanum wheel reductor corresponding with its, compared to equal function
Dual drive universal wheel group complex mechanical structure for example revolving support disk, rocking carrier, static housing, motor case body, strainer,
The a series of complex match mechanism such as transmission mechanism, Bearning mechanism, the undoubtedly thoroughly liberation in a design and processing and fabricating.
Simultaneously as the simplification of mechanical structure so that the reliability and maintainability of complete machine greatly increases
5th, coupling type car body and car body and wheel vertical friendship of the present invention using upper and lower two layers of the communal space of AGV car bodies
The design of mistake superposition so that the whole height of double-deck AGV cars is enterprising on original basis compared to the whole height of individual layer AGV cars
One step reduces, and provides the foundation and ensures for the dreamboat of " high capacity, short car body ".
Brief description of the drawings
Fig. 1 a are the front view of the double-deck AGV cars of the embodiment of the present invention one；
Fig. 1 b are the top view of the double-deck AGV cars of the embodiment of the present invention one；
Fig. 1 c are the A-A sectional views in figure；
Fig. 2 a are the front view of the double-deck AGV cars of the embodiment of the present invention two；
Fig. 2 b are the top view of the double-deck AGV cars of the embodiment of the present invention two；
Fig. 2 c are the A-A sectional views in figure；
Fig. 3 is the enlarged drawing of encircled portion (delivery device) in Fig. 1 a；
Fig. 4 a are decelerating chassis structural representation one of the present invention；
Fig. 4 b are decelerating chassis structural representation two of the present invention；
Fig. 5 a are the application effect figure of the embodiment of the present invention one；
Fig. 5 b are the application effect figure of the embodiment of the present invention two；
In figure：
0-1-1：Mecanum wheel；0-1-2：AGV bodies；0-1-3：Optical axis；0-1-4：Decelerating chassis；0-2-1：Platform branch
Support body；0-2-2：Without driving universal wheel；0-2-3：Linear bearing；0-2-4：Jacking apparatus；0-2-5：Central control cabinet；0-1-
1-1：Connecting plate；0-1-1-2：Reductor；0-1-1-3：Servomotor；
1-1-1：Mecanum wheel；1-1-2：AGV bodies；1-1-3：Thrust axis；1-1-4：Decelerating chassis；1-2-1：Platform
Load-bearing body；1-2-2：Without driving universal wheel；1-2-3：Thrust axle sleeve；1-2-4：Jacking apparatus；
2：Pallet；3：Goods on pallet.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings：
Design principle of the present invention is：
1st, " shove along " many principles lighter than " lifting ".Such example is many in daily life：If luggage
Case, it were it not for and wheel is installed to luggage case, then luggage case, which is placed directly on ground, to be dragged or manually lift luggage case
Will make one to feel very tired, it is this by luggage case put on the ground dragging be exactly a kind of sliding friction, if give luggage case installation
Wheel, sliding friction is just changed into rolling friction, rolling friction can it is than sliding friction lighter a lot.The reason of robot is also
Equally, when AGV is loaded more than 2 tons, and the High definition of car body is required when a short scope, merely to every group
Mecanum wheel increases omni-directional wheel, a very heavy chest chest is lifted instead of a people like by two people, although each
People alleviates weight, but can not fundamentally solve the problems, such as solution：Although prior art employ Mecanum wheel group with
The combination stressed method of omni-directional wheel group so that Mecanum wheel group bears gravity and reaches 23%, and still, this kind of method is still
" back of the body is carried on the back " gravity rather than " push " gravity, the effect that " push " gravity is walked still is not reaching to, because its method can not be from root
Solve the problems, such as that " lifting goods " is walked in sheet.Therefore, the present invention pushes goods using Mecanum wheel and walked, and undoubtedly one at all
The solution of property.
2nd, how to solve the problems, such as to shove along.The principle of " shoving along " is exactly that Mecanum wheel does not undertake flat top body and existed
Vertical direction brings Mecanum wheel gravity.The AGV double-deck bus bodies of the present invention have Dual-layer and inside and outside bilayer, when using AGV
, it is necessary to the platform delivery device coordinated using vertical direction during Dual-layer structure.Such as：The platform push that vertical direction coordinates
Mechanism is made up of the linear bearing of top and the optical axis of lower section, if the linear bearing on the car body roof plate of upper strata extends downwardly contact
The optical axis arrived on the bottom plate of lower floor's car body, or lower floor's bottom plate upwardly extends the top plate for having touched upper strata car body, whether
Which kind of situation, the gravity of upper strata car body can be all caused to be delivered to lower floor's car body by one of them and be namely delivered to Mike
On Na Mu wheels, therefore, the key of design is exactly to allow linear bearing to be not exposed to the bottom plate of lower floor's car body while optical axis does not contact
The top plate of layer car body.Namely each leave a gap apart from top plate or bottom plate.
3rd, how to solve the problems, such as car body height.Car body is divided into upper and lower two layers, if the design according to routine will make
The height for obtaining car body exceeds 1 times, and that will cause car body too high and can not use, lack practicality.The present invention is using coupling (one
As for, between certain two things if there is one kind interaction, interactional relation, then this relation just claims " coupling
Conjunction relation ") car body design, be exactly that upper strata car body eliminates bottom plate, lower floor's car body eliminates top plate, will two car bodies up and down detain
Together, and between upper and lower two layers certain gap is left, the size in this gap is by platform body and below
The omni-directional wheel of installation determines.The advantage of coupling car body is can be with the communal space, and in the present invention, platform delivery device is exactly profit
With the communal space of coupling car body, the height of platform delivery device accounts for more than the 70% of double-deck bus body whole height.The present invention
The design of miscellaneous part also with the communal space design principle, for example, central control cabinet, the jacking apparatus of upper strata car body
It is arranged on by conventional design on bottom plate and is improved to be lifted on the top plate of upper strata car body.So, each make full use of for upper and lower two layers
The communal space so that the height of car body meets design requirement.
The present invention also using the ectonexine car body be arrangeding in parallel, do not cause internal layer car body and outer layer car body in height mutually not
Overlap, an independent space is respectively in short transverse, so as to solve the problems, such as double-deck bus body height superposition.
4th, how to solve the problems, such as Mecanum wheel underloading.The major part of car body deadweight is put into flat top by the present invention
Layer, to reduce the burden of Mecanum wheel, for example, the battery, the jacking apparatus that undertake car body deadweight major part are put into
Flat top body.
Based on above design principle, the following double-deck AGV cars of present invention design：
A kind of double-deck AGV cars, including two layers, one layer is flat top body, and one layer is that platform promotes body, the flat top body
It is multiple without driving omni-directional wheel including what is installed below flat top body and flat top body；The platform promotes body to include AGV
Multiple Mecanum wheels of installation below body and AGV bodies, the platform promotes to be connected between body and platform weight body for push
Connect, platform promotes body to promote flat top body to realize that AGV track is run by platform delivery device.
In the present invention, " two layers " car body is including but not limited to vertically connected with or the mode of inside and outside connection.
Fig. 1 a, Fig. 1 b and the structure chart that Fig. 1 c are the embodiment of the present invention one, the mode being vertically connected with for double-deck AGV car bodies；
Upper strata car body is flat top body, and lower floor's car body is that platform promotes body；
Fig. 2 a, Fig. 2 b and the structure chart that Fig. 2 c are the embodiment of the present invention two, it is the mode of the inside and outside connection of double-deck AGV car bodies；
Outer layer car body is flat top body, and internal layer car body is that platform promotes body.
The platform delivery device includes the supporting delivery device (embodiment two) of horizontal direction or vertical direction is supporting
Delivery device (embodiment one).The supporting delivery device of the vertical direction (0-1-3,0-2-3 in Fig. 1 a) is used for embodiment
One flat top body and platform push body is the mode being vertically connected with, and the supporting delivery device of the horizontal direction is (in Fig. 2 b
1-1-3,1-2-3) the flat top body and the platform push body that are used for embodiment two be the mode of inside and outside connection.
As shown in Figure 1a, when the flat top body promotes body to be connected for levels car body with platform, flat top body
Promote body to be shared space in vertical direction with platform and there is the coupling body of certain interval in-between；As shown in Figure 2 b, when
When being connected between flat top body and platform the promotion body for ectonexine car body, ectonexine car body is each only in vertical direction
Vertical space.
The supporting delivery device of the horizontal direction includes the multiple thrust axle sleeves (figure being arranged on flat top body frame
1-2-3 in 2b), and thrust axis corresponding with each thrust axle sleeve on platform push body frame is arranged on (in Fig. 2 b
1-1-3)；The supporting delivery device of the vertical direction includes the multiple thrust axle sleeves (figure for being arranged on flat top body lower surface
0-2-3 in 1a), and thrust axis corresponding with each thrust axle sleeve on platform push body upper surface is arranged on (in Fig. 1 a
0-1-3)；The multiple thrust axle sleeves being arranged on flat top body frame include but is not limited to be horizontally set on car body side
The groove of cylindricality or square (1-2-3 in Fig. 2 b) on frame or the linear bearing being horizontally arranged on car body frame；
The thrust axis being arranged on platform push body frame includes but is not limited to the level corresponding with cylindricality or square groove and set
Raised circular or square (1-1-3 in Fig. 2 b) put pillar or be horizontally arranged on car body upper side frame with
The corresponding optical axis of linear bearing；Described platform push body or flat top body set groove or the frame of projection to include opposite side
Frame or circumferential side frame.Delivery device is set using circumferential side frame in this implementation.
The vertical direction, which is matched somebody with somebody, to be set on corresponding to multiple thrust axle sleeve lower ends to its of flat top body lower surface
The distance of the upper surface of AGV bottom plates is a non-contacting distance with appropriate gap；The vertical direction, which is matched somebody with somebody, to be set on
The distance of the flat top body top plate lower surface corresponding to multiple thrust axis tops to its on platform push body upper surface is one
The individual non-contacting distance with appropriate gap.It is exemplified below：
If Fig. 1 a encircled portions are delivery device, its structure as shown in figure 3, the supporting delivery device of the vertical direction by
Linear bearing 0-2-3 and optical axis 0-1-3 composition, the linear bearing be up/down perforation hollow tubular, the linear bearing be fixedly mounted with or
It is welded on the lower surface of flat top body 0-2-1 top plates；The optical axis is fixedly mounted with or is welded on AGV bottom plates 0-1-2 upper surface and set
In corresponding linear bearing 0-2-3 cannulated sleeve；As shown in figure 3, the AGV bottoms corresponding to linear bearing lower end to its
The distance of the upper surface of plate is a non-contacting distance with appropriate gap, the flat top corresponding to optical axis top to its
The distance of body top plate lower surface is a non-contacting distance with appropriate gap.
As shown in Fig. 1 a, Fig. 1 b, Fig. 1 c and Fig. 2 a, Fig. 2 b, Fig. 2 c, multiple Mikes of installation receive below the AGV bodies
Nurse wheel is at least four, in practical application, and as needed, it is more than 4 that can set Mecanum wheel, such as 6 wheel constructions, 8 wheels
Structure etc.；The plurality of Mecanum wheel may be mounted at below AGV bodies, can also be arranged on the side frame of AGV bodies.
In the present embodiment one, embodiment two, in order to reduce the height of car body, Mecanum wheel is installed on the side frame of car body,
Purpose is that the height of wheel does not occupy the height of car body so that the height of car body further reduces；Under the flat top body
Just install it is multiple without driving omni-directional wheel be at least four, in practical application, as needed, can set without driving omni-directional wheel be
More than 4, such as 6 wheel constructions, 8 wheel constructions, no driving omni-directional wheel may be mounted at platform and promote below body (in Fig. 1 a
Shown in 0-2-2), platform can also be arranged on and promoted on the side frame of body, the flat top body or platform promote the frame of body
It can be the outer rim of car body, can also be the interior frame or groove dug close to surrounding end face below car body (in Fig. 2 a
1-2-2 is without driving omni-directional wheel, and it is arranged on below car body along the groove of length over ends of body direction rear and front end)；Such as Fig. 5 a, 5b
It is shown, the embodiment one, embodiment two double-deck AGV cars whole height be less than cargo pallet lower surface to ground height
Degree so that the double-deck AGV cars can get into below cargo pallet the goods walking jacked up on pallet and pallet.
As shown in Fig. 1 a, Fig. 1 b, Fig. 1 c and Fig. 2 a, Fig. 2 b, Fig. 2 c, the flat top body also includes holding positioned at platform
The jacking apparatus at weight body both ends, in embodiment one, jacking apparatus 0-2-4, in embodiment two, jacking apparatus 1-2-4, institute
The jacking apparatus stated includes jacking apparatus casing, also includes being used for the motor of lifting body in the jacking apparatus casing and is used for
Flat top body and platform promote the split-type accumulator of body；Described double-deck AGV cars also include central control cabinet, when flat top body
When promoting body with platform to be vertically connected with (embodiment one), the central control cabinet 0-2-5 is lifted on flat top body 0-2-1 tops
The central area of plate lower surface, entreat the central control board that the double-deck AGV cars are provided with control cabinet；When flat top body peace
Platform promotes body for inside and outside during connection (embodiment two), and central control cabinet 1-1-5 is arranged on the central area of AGV bodies.
The AGV bodies also include being arranged on AGV bodies, along two groups before and after AGV bodies symmetrically arranged two wheats
Decelerating chassis (1-1-4 in 0-1-4, Fig. 2 b in Fig. 1 b) at Ke Namu wheel lines, the case of reducer (Fig. 4 a, Fig. 4 b)
Including the Mecanum wheel 0-1-1, the reductor 0-1-1-2 that are linked together by fixed plate 0-1-1-1 and reductor and slow down
The servomotor 0-1-1-3 that machine links together.
The driving method of the double-deck AGV cars of the present invention, comprises the following steps：
Step 1: the intrinsic central controller controls platforms of AGV promote body in 360 degree of horizontal planes with arbitrary speed,
Angular speed and body gesture are moved.
Step 2: platform promotes body to promote flat top body in 360 degree of horizontal planes with arbitrary speed, angular speed and car
Figure state is moved.
Described arbitrary speed angular speed refers to that car body changes the arbitrary speed that can not be made any adjustments during motion mode
And angular speed.
The intrinsic central controller controls platforms of described AGV promote body to refer to that central controller controls platform promotes body
Mecanum wheel so that with moving platform promote body；The platform promotes body to promote flat top body to refer to that platform promotes pushing away for body
Power axle promotes the thrust axle sleeve of flat top layer, drives flat top body in 360 degree of horizontal planes by promoting thrust axis set
It is interior to be moved with arbitrary speed angular speed and body gesture.
The present invention have also been devised a kind of robot transportation system, and the robot transportation system uses double-deck AGV of the invention
Car realizes that function is carried by robot.
It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore present invention bag
Include and be not limited to embodiment described in embodiment.
Claims (10)
- A kind of 1. double-deck AGV cars, it is characterised in that：Body is promoted including one layer of flat top body and another layer of platform, this is flat Platform weight body is multiple without driving omni-directional wheel including what is installed below flat top body and flat top body；The platform promotes body Include multiple Mecanum wheels of installation below AGV bodies and AGV bodies, the platform, which is promoted between body and platform weight body, is Push connection, platform promote body to promote flat top body to realize that AGV track is run by platform delivery device.
- A kind of 2. double-deck AGV cars according to claim 1, it is characterised in that：The platform delivery device includes vertical side The delivery device supporting to supporting delivery device and horizontal direction；The supporting delivery device of the vertical direction uses upper and lower Formula connecting platform weight body and platform push body, the supporting delivery device of the horizontal direction are held using interior external square type connecting platform Weight body and platform push body.
- A kind of 3. double-deck AGV cars according to claim 2, it is characterised in that：The supporting delivery device of the horizontal direction Including the multiple thrust axle sleeves being arranged on flat top body frame and it is arranged on platform push body frame and each thrust The corresponding multiple thrust axis of axle sleeve；The supporting delivery device of the vertical direction includes being arranged on flat top body lower surface Multiple thrust axle sleeves and it is arranged on multiple thrust axis corresponding with each thrust axle sleeve on platform push body upper surface；It is described The multiple thrust axle sleeves being arranged on flat top body frame include but is not limited to the cylindricality being horizontally set on car body frame or Square groove, or the linear bearing being horizontally arranged on car body frame；It is described to be arranged on platform push body frame Thrust axis includes but is not limited to the horizontally disposed raised circular or square pillar corresponding with cylindricality or square groove, or Person is the optical axis corresponding with linear bearing being horizontally arranged on car body upper side frame；Described platform push body or flat top Body sets groove or the frame of projection to include opposite side frame or circumferential side frame.
- A kind of 4. double-deck AGV cars according to claim 2, it is characterised in that：The vertical direction, which is matched somebody with somebody, is set on platform The distance of the upper surface of AGV bottom plates corresponding to multiple thrust axle sleeve lower ends to its of weight body lower surface, which is one, to be had suitably The non-contacting distance in gap；The vertical direction is matched somebody with somebody the multiple thrust axis tops being set on platform push body upper surface and arrived The distance of flat top body top plate lower surface corresponding to it is a non-contacting distance with appropriate gap.
- A kind of 5. double-deck AGV cars according to claim 1, it is characterised in that：Multiple wheats of installation below the AGV bodies Ke Namu wheels are at least four, and the multiple Mecanum wheel is arranged on below AGV bodies, or installed in the side of AGV bodies On frame；The multiple of installation are at least four without driving omni-directional wheel and promoted installed in platform under body below the flat top body Side, or on the side frame that platform promotes body；The whole height of the double-deck AGV cars arrives less than cargo pallet lower surface The height on ground so that the double-deck AGV cars can get into below cargo pallet the goods walking jacked up on pallet and pallet.
- A kind of 6. double-deck AGV cars according to claim 1, it is characterised in that：The flat top body also includes being located at Jacking apparatus, the described jacking apparatus at flat top body both ends include jacking apparatus casing, are gone back in the jacking apparatus casing The split-type accumulator of body is promoted including the motor for lifting body, for flat top body and platform；When flat top body peace Platform promotes body to entreat control cabinet for when being vertically connected with, central control cabinet is lifted on the central area of flat top body top plate lower surface Inside it is provided with the central control board of the double-deck AGV cars；When flat top body and platform promote body to be connected for inside and outside, center control Case processed is arranged on the central area of AGV bodies.
- A kind of 7. double-deck AGV cars according to claim 1, it is characterised in that：The AGV bodies also include being arranged on AGV On body, along the decelerating chassis at two groups before and after AGV bodies symmetrically arranged two Mecanum wheel lines, the reductor machine The Mecanum wheel that includes in case linking together with reductor by fixed plate, reductor and linked together with reductor Servomotor.
- A kind of a kind of 8. driving method of double-deck AGV cars based on described in claim 1-7 any one, it is characterised in that：Bag Include following steps：Step 1: the intrinsic central controller controls platforms of AGV promote body in 360 degree of horizontal planes with arbitrary speed, angle speed Degree and body gesture are moved.Step 2: platform promotes body to promote flat top body in 360 degree of horizontal planes with arbitrary speed, angular speed and vehicle body appearance State is moved.It is described it is any hasten, angular speed refers to that car body changes the arbitrary speed not made any adjustments during motion mode and angle speed Degree.
- A kind of 9. driving method of double-deck AGV cars according to claim 8, it is characterised in that：Described AGV is intrinsic Central controller controls platform promotes body to refer to that AGV controllers control platform promotes the Mecanum wheel of body and then pushed away with moving platform Kinetoplast；The platform promotes body to promote flat top body to refer to that platform promotes the thrust axis of body to promote the thrust axis of flat top layer Cover, drive flat top body in 360 degree of horizontal planes with arbitrary speed angular speed and vehicle body by promoting thrust axis set Posture is moved.
- A kind of 10. robot transportation system, it is characterised in that：The robot transportation system is included as claim 1-7 is any one Double-deck AGV cars described in.
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| CN201710668906.4A CN107472786B (en) | 2017-08-08 | 2017-08-08 | A kind of bilayer AGV vehicle and its driving method and robot transportation system |
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| CN108482521A (en) * | 2018-05-18 | 2018-09-04 | 杭州南江机器人股份有限公司 | A kind of docking mechanism for AGV trolley Transport cargo racks |
| CN108572597A (en) * | 2018-06-04 | 2018-09-25 | 汇专科技集团股份有限公司 | AGV trolley control boards |
| CN108584319A (en) * | 2018-03-09 | 2018-09-28 | 南安市创培电子科技有限公司 | A kind of efficient handling device of modern logistics |
| CN108944325A (en) * | 2018-07-05 | 2018-12-07 | 东莞理工学院 | A kind of lift Mecanum wheel drive assembly |
| CN109397981A (en) * | 2018-11-18 | 2019-03-01 | 大连四达高技术发展有限公司 | Omni-directional wheel cross asymmetric distribution structure |
| CN109573429A (en) * | 2018-11-23 | 2019-04-05 | 楚天科技股份有限公司 | A kind of double-layer combined double-station RGV trolley and Automated tridimensional warehousing system |
| CN110294415A (en) * | 2018-03-22 | 2019-10-01 | 株式会社大福 | Article carrying equipment |
| CN110644745A (en) * | 2019-09-29 | 2020-01-03 | 广东博智林机器人有限公司 | Wood floor mounting robot |
| CN111086572A (en) * | 2020-01-16 | 2020-05-01 | 深圳市科昭科技有限公司 | Intelligence lift post turns to AGV robot |
| CN113734680A (en) * | 2021-09-13 | 2021-12-03 | 南通理工学院 | Intelligent material storage management system based on big data |
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| CN110644745A (en) * | 2019-09-29 | 2020-01-03 | 广东博智林机器人有限公司 | Wood floor mounting robot |
| CN111086572A (en) * | 2020-01-16 | 2020-05-01 | 深圳市科昭科技有限公司 | Intelligence lift post turns to AGV robot |
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Effective date of registration: 20210625 Address after: B2014, building 9, zone 2, Shenzhen Bay science and technology ecological park, 3609 Baishi Road, high tech Zone community, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Puzhilianke (Shenzhen) Co.,Ltd. Address before: Room 503, Block A, Sangtai Building, Xili University Town, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY Co.,Ltd. |