CN107472786B - A kind of bilayer AGV vehicle and its driving method and robot transportation system - Google Patents
A kind of bilayer AGV vehicle and its driving method and robot transportation system Download PDFInfo
- Publication number
- CN107472786B CN107472786B CN201710668906.4A CN201710668906A CN107472786B CN 107472786 B CN107472786 B CN 107472786B CN 201710668906 A CN201710668906 A CN 201710668906A CN 107472786 B CN107472786 B CN 107472786B
- Authority
- CN
- China
- Prior art keywords
- platform
- agv
- flat top
- push
- ontology
- 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.)
- Active
Links
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of bilayer AGV vehicle and its driving method and robot transportation systems, bilayer AGV vehicle includes one layer of flat top body and another layer of platform pushes body, which includes the multiple without driving omni-directional wheel of installation below platform ontology and platform ontology；It includes the multiple Mecanum wheels installed below AGV ontology and AGV ontology that the platform, which pushes body, and platform pushes the track operation for pushing body to push flat top body to realize AGV by platform delivery device for push connection, platform between body and platform weight body.AGV car body is split as the coupling body being made of the upper and lower by the present invention, push layer undertakes lightweight gravity, supporting course undertakes heavyweight gravity, Mecanum wheel by only undertaking lightweight gravity, which pushes, undertakes moving without driving omni-directional wheel for heavyweight, it realizes and walks to become " push cargo " from " lifting cargo " and walk, become rolling friction from sliding friction, to effectively save energy consumption of electrical machinery and reduce motor cost.
Description
Technical field
The invention belongs to carry AGV technical field more particularly to a kind of bilayer AGV vehicle and its driving method and robot to remove
Fortune system can be applied to the fields such as intelligent parking, warehouse logistics.
Background technique
In recent years, the use of automatic guided vehicle (AGV) becomes the bright spot in equipment manufacture production link logistics scheme, right
Enterprises production efficiency is improved, cost is reduced, improves product quality and management level and play certain effect.
Inadequate to solve traditional automatic guided vehicle (AGV) its kinematic dexterity, efficiency is lower, operation is tired in complex environment
Hardly possible applies the problem of being restricted in many occasions, and insider is increasingly keen to substitute tradition AGV using Mecanum wheel
Wheel group structure.Mecanum wheel is a kind of omni-directional wheel that structure is special, one helical gear of outer image, and the gear teeth can rotate
Cydariform roller, the axis of roller and the axis of wheel are at angle α.Mecanum wheel great advantage is that its brilliant movement is flexible
Property, can be realized Omni-mobile truly, and the conversion between Different Exercise Mode is rapid, be highly suitable for material,
The handling work of part, cargo, the especially occasion in space more demanding (narrow space or motion profile are complicated)
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 in application process, still can face a great problem, that is:
To reduce the height of car body it is necessary to the Mecanum human relations that select diameter small as far as possible, and the Mecanum wheel for selecting diameter small, vehicle
The loading capacity of body will become smaller.To solve the problems, such as car body loading capacity, people are respectively provided with to each Mecanum wheel of small size
One becomes eight wheel constructions, such as number of patent application by four wheel constructions to share gravity without driving omni-directional wheel:
201610398162.4, patent name " Omni-mobile formula AGV is slipped into the ultra-thin heavy duty lifting of one kind ", solves Mecanum wheel and holds
The method of weight problem is: " further including omni-directional wheel on vehicle frame, which is arranged in the outside of every group of Mecanum wheel, constitutes one
The composite structure of a 8 wheel." technical solution is using Mecanum wheel group and the combination stressed method of omni-directional wheel group, although making
Mecanum wheel group bears gravity and reaches 23%, and still, this kind of method is still " back is carried on the back " gravity rather than " push " loads, still
Do not achieve the effect that " push " load is walked so.If calculated according to the technical solution that " push " load is walked, moreover it is possible to than existing skill
Art mitigates one times of Mecanum wheel loading capacity or more again, reduces one times of power of motor or more again.
Problem of the existing technology is: first, still without solving the problems, such as that " lifting cargo " is walked, although increasing wheel
Son, but whole gravity are still all pressed on these wheels, are still that multiple wheels " lifting cargo " are walked, are not solved fundamentally
Problem；Second, can not unlimitedly increase wheel and corresponding driving on AGV car body due to being limited by AGV vehicle body space
Unit, so, the diameter of Mecanum wheel and the height of car body are limited in an irreconcilable range, this can not
In the range of reconciliation, the diameter of Mecanum wheel cannot reduce again, and the height of car body will not reduce again.
Summary of the invention
The present invention in order to overcome the deficiencies of the prior art, proposes that a kind of bilayer AGV vehicle and its driving method and robot are carried
System, to solve the problems, such as that the prior art " lifting cargo " is walked and the height of car body and load are limited by wheel diameter.
The present invention solves existing technical problem and adopts the following technical solutions to achieve:
A kind of bilayer AGV vehicle pushes body, the flat top body packet including one layer of flat top body and another layer of platform
Include installed below flat top ontology and flat top ontology it is multiple without driving omni-directional wheel；It includes AGV sheet that the platform, which pushes body,
The multiple Mecanum wheels installed below body and AGV ontology, the platform push to push connection between body and platform weight body,
The track operation that platform pushes body to push flat top body to realize AGV by platform delivery device.
The platform delivery device includes the matched delivery device of vertical direction and the matched delivery device of horizontal direction；Institute
The matched delivery device of vertical direction is stated using upper and lower mode connecting platform weight body and platform push body, the horizontal direction is matched
The delivery device of set pushes body using interior external square type connecting platform weight body and platform.
The matched delivery device of the horizontal direction include multiple thrust axle sleeves for being arranged on flat top body frame with
And setting multiple thrust axis corresponding with each thrust axle sleeve on platform push body frame；The vertical direction is matched to be pushed away
Send mechanism include be arranged in flat top body lower surface multiple thrust axle sleeves and setting platform push body upper surface on
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 being horizontally set on car body frame or rectangular 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 water corresponding with cylindricality or square groove
The round or rectangular pillar of the protrusion of flat setting, or be horizontally arranged at corresponding with linear bearing on car body upper side frame
Optical axis；The platform push body or flat top body setting groove or the frame of protrusion include opposite side frame or surrounding
Frame.
The vertical direction, which is matched, is set on multiple thrust axle sleeves lower end of flat top body lower surface to corresponding to it
The distance of the upper surface of AGV bottom plate is the non-contacting distance with appropriate gap；The vertical direction, which is matched, to be set on
The distance that platform pushes multiple thrust axis tops on body upper surface to the flat top body top plate lower surface corresponding to it is one
A non-contacting distance with appropriate gap.
The multiple Mecanum wheels installed below the AGV ontology are at least four, the multiple Mecanum wheel installation
Below AGV ontology, or it is mounted on the side frame of AGV ontology；The multiple no drivings installed below the flat top body
Omni-directional wheel, which is at least four and is mounted on platform, to be pushed below body, or is mounted on platform and is pushed on the side frame of body；It is described double
The whole height of layer AGV vehicle is less than cargo pallet lower surface to the height on ground, and bilayer AGV vehicle is enabled to get into cargo support
The cargo walking on pallet and pallet is jacked up below disk.
The flat top ontology further includes that jacking apparatus, the jacking apparatus positioned at flat top body both ends include
Jacking apparatus cabinet further includes for the motor of lifting body, for flat top body and platform in the jacking apparatus cabinet
Push the split-type accumulator of body；When it is to be vertically connected with that flat top body and platform, which push body, central control cabinet is lifted on platform and holds
The central area of weight body top plate lower surface, entreats the central control board that the bilayer AGV vehicle is provided in control cabinet；Work as flat top
When body and platform promotion body are inside and outside connection, central control cabinet is mounted on the central area of AGV ontology.
The AGV ontology further includes being mounted on AGV ontology, along two groups of symmetrically arranged two wheats before and after AGV ontology
Ke Namu takes turns the decelerating chassis at line, includes the Mike to be linked together by fixed plate and speed reducer in the case of reducer
Na Mu wheel, speed reducer and the servo motor to link together with speed reducer.
A kind of driving method of bilayer AGV vehicle, comprising the following steps:
Step 1: the intrinsic central controller controls platform of AGV push body in 360 degree of horizontal planes with arbitrary speed,
Angular speed and body gesture are moved.
Step 2: platform pushes body to push flat top body in 360 degree of horizontal planes with arbitrary speed, angular speed and vehicle
Figure state is moved.
It is described arbitrarily hasten, angular speed refers to the arbitrary speed not made any adjustments when car body changes motion mode and angle
Speed.
The intrinsic central controller controls platform of the AGV pushes body to refer to that AGV controller control platform pushes body
Mecanum wheel so that with moving platform push body；The platform pushes body that flat top body is pushed to refer to that platform pushes pushing away for body
Power axis pushes the thrust axle sleeve of flat top layer, by pushing thrust axis set to drive flat top body in 360 degree of horizontal planes
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 vehicle as described in claim 1-7 any one.
Advantages of the present invention effect
1, the present invention is based on the double-deck AGV vehicle of Mecanum wheel by four or four with last Mecanum wheel revolving speed and
The Omni-mobile of carrier is realized in the accurate control turned to, including front and back straight trip, transverse moving left and right, no-radius rotate in place, refer to
Determine semidiameter turn, any direction linear movement etc..Its great advantage is its kinematic dexterity, can be realized truly
Omni-mobile, and the conversion between Different Exercise Mode is rapid.It compares with the double drive steering wheel group of the prior art, is transported in car body
Flowing mode convert when, not needing first to stop adjusts wheel group posture, restart operation timesharing movement, but can not do it is any
It is directly moved in the case where adjustment with arbitrary speed angular speed and body gesture, sport efficiency is higher, and hands in two vehicles
Curve collision prevention can be walked when remittance.
2, the present invention overcomes the bottlenecks of the application of this field for a long time, i.e., " wheel diameter is directly proportional to load weight ",
Innovatively in such a way that load-bearing is mutually separated with driving, to push load running to substitute traditional back camel load running, in turn
Realize that the Mecanum wheel of minor diameter pushes the load for the maximum load that can bear times over the wheel footpath lower whorl group, specifically:
AGV car body is the coupling body being made of the upper and lower, and upper layer is supporting course, and lower layer is push layer, and push layer only undertakes itself
The self weight of wheel and motor, supporting course undertakes entire cargo and most of car body weight, by the Mecanum wheel branch independently driven
Support push layer, by supporting supporting course without driving omni-directional wheel, the Mecanum wheel promotion for undertaking lightweight gravity undertakes heavyweight
Omni-directional wheel movement, realizes and walks to become " push cargo " from " lifting cargo " and walk, become rolling friction from sliding friction, to have
Effect save energy consumption of electrical machinery, thereby reduce the demand of power of motor and battery capacity, so can be effectively reduced complete machine at
This.
3, the present invention overcomes the prejudice of those skilled in the art for a long time, i.e., " height of the carbody and payload " is at just
The prejudice of ratio, namely: the payload prejudice that just inevitable wheel diameter is big greatly, the big inevitable car body of wheel diameter is high, due to this hair
The bright technical solution using " push cargo to walk " or " rolling friction ", can select as far as possible the Mecanum wheel of small size to be pushed to
Compared to the prior art the cargo of heavyweight in the case where bearing same gravity, reduces the height of car body, solve this
Field technical staff is insoluble always for a long time to be required vehicle load big as far as possible while requiring height of car low as far as possible
Problem.
4, the present invention uses Mecanum wheel, and the mechanical structure dual drive wheel group close compared to function seems very simple
Single: its whole mechanical structure, which is only embodied in, is connected each Mecanum wheel speed reducer corresponding with its, compares same function
Double drive steering wheel group complex mechanical structure for example revolving support disk, rocking carrier, static housing, motor case body, strainer,
The a series of complex mating mechanism such as transmission mechanism, Bearning mechanism, the undoubtedly thorough 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
5, the present invention is using the coupling type car body and car body of the AGV car body upper layer and lower layer communal space and the vertical friendship of wheel
The design scheme of mistake superposition, so that the whole height of bilayer AGV vehicle is enterprising on original basis compared to the whole height of single layer AGV vehicle
One step reduces, and provides the foundation and ensures for the dreamboat of " high load, short car body ".
Detailed description of the invention
Fig. 1 a is the main view of the double-deck AGV vehicle of the embodiment of the present invention one；
Fig. 1 b is the top view of the double-deck AGV vehicle of the embodiment of the present invention one；
Fig. 1 c is the A-A cross-sectional view in figure；
Fig. 2 a is the main view of the double-deck AGV vehicle of the embodiment of the present invention two；
Fig. 2 b is the top view of the double-deck AGV vehicle of the embodiment of the present invention two；
Fig. 2 c is the A-A cross-sectional view in figure；
Fig. 3 is the enlarged drawing of encircled portion (delivery device) in Fig. 1 a；
Fig. 4 a is decelerating chassis structural schematic diagram one of the present invention；
Fig. 4 b is decelerating chassis structural schematic diagram two of the present invention；
Fig. 5 a is the application effect figure of the embodiment of the present invention one；
Fig. 5 b is the application effect figure of the embodiment of the present invention two；
In figure:
0-1-1: Mecanum wheel；0-1-2:AGV ontology；0-1-3: optical axis；0-1-4: decelerating chassis；0-2-1: platform branch
Support ontology；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: speed reducer；0-1-1-3: servo motor；
1-1-1: Mecanum wheel；1-1-2:AGV ontology；1-1-3: thrust axis；1-1-4: decelerating chassis；1-2-1: platform
Load-bearing ontology；1-2-2: without driving universal wheel；1-2-3: thrust axle sleeve；1-2-4: jacking apparatus；
2: pallet；3: the cargo on pallet.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing:
Design principle of the present invention are as follows:
1, " shove along " many principles lighter than " lifting ".There are many such example in daily life: if luggage
Case were it not for and install wheel to luggage case, drag or manually lift luggage case then luggage case is placed directly on ground
Will make one to feel very tired, it is this by luggage case put it on the ground dragging be exactly a kind of sliding friction, if give luggage case installation
Sliding friction is just become rolling friction by wheel, rolling friction can it is than sliding friction lighter very much.The reason of robot is also
Equally, when AGV is loaded more than 2 tons and requires the High definition of car body when a short range, merely to every group
Mecanum wheel increases omni-directional wheel, replaces a people to lift a very heavy chest chest like by two people, although each
People alleviates weight, cannot fundamentally solve the problems, such as solution: although the prior art use Mecanum wheel group with
The combination stressed method of omni-directional wheel group, so that Mecanum wheel group bears gravity and reaches 23%, still, this kind of method is still
" back is carried on the back " gravity rather than " push " gravity, still do not achieve the effect that " push " gravity is walked, because its method cannot be from root
Solve the problems, such as that " lifting cargo " is walked in sheet.Therefore, the present invention is push cargo and is walked using Mecanum wheel, undoubtedly one it is basic
The solution of property.
2, 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 exists
Vertical direction brings Mecanum wheel gravity.AGV double-deck bus body of the invention has Dual-layer and inside and outside bilayer, when using AGV
When Dual-layer structure, the platform delivery device using vertical direction cooperation is needed.Such as: the platform push of vertical direction cooperation
Mechanism is made 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 layer extends downwardly contact
The optical axis arrived on the bottom plate or lower layer's bottom plate of lower layer's car body upwardly extends the top plate for having touched upper layer car body, whether
Which kind of situation can all make the gravity of upper layer car body be transmitted to lower layer's car body by one of them and namely be transmitted to Mike
On Na Mu wheel, therefore, the key of design be exactly allow linear bearing be not exposed to lower layer's car body bottom plate, simultaneously optical axis do not contact
The top plate of layer car body.Namely respectively apart from top plate or bottom plate, there are a gaps.
3, car body height how is solved the problems, such as.Car body is divided into upper and lower two layers, if will make according to conventional design
The height of car body exceeds 1 times, it is excessively high and cannot use, lack practicability that will will cause car body.The present invention is using coupling (one
As for, between certain two things if there is it is a kind of interaction, interactional relationship, then this relationship just claims " coupling
Conjunction relationship ") car body design, be exactly that upper layer car body eliminates bottom plate, lower layer's car body eliminates top plate, will two car bodies up and down detain
Together, and between upper layer and lower layer there are certain gaps, and the size in this gap is by platform ontology and below
The omni-directional wheel of installation determines.The advantage of coupling car body is can be with the communal space, in the present invention, and platform delivery device is exactly benefit
With the communal space of coupling car body, the height of platform delivery device accounts for 70% or more of double-deck bus body whole height.The present invention
The design of other component also with the communal space design principle, for example, central control cabinet, the jacking apparatus of upper layer car body
It is mounted on the top plate for being improved to be lifted on upper layer car body on bottom plate by conventional design.In this way, upper layer and lower layer respectively make full use of
The communal space, so that the height of car body meets design requirement.
The present invention also using ectonexine car body disposed in parallel, make internal layer car body and outer layer car body in height mutually not
It overlaps, is respectively an independent space in short transverse, to solve the problems, such as the superposition of double-deck bus body height.
4, how to solve the problems, such as that Mecanum wheel is lightly loaded.The major part that car body is self-possessed 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 self weight major part are put into
Flat top body.
Based on the above design principle, the present invention designs following bilayer AGV vehicle:
A kind of bilayer AGV vehicle, including two layers, one layer is flat top body, and one layer pushes body, the flat top body for platform
It is multiple without driving omni-directional wheel including what is installed below flat top ontology and flat top ontology；It includes AGV that the platform, which pushes body,
The multiple Mecanum wheels installed below ontology and AGV ontology, the platform, which pushes, to be connected between body and platform weight body for push
It connects, the track operation that platform pushes body to push flat top body to realize AGV 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 Fig. 1 c are the structure chart of the embodiment of the present invention one, the mode being vertically connected with for bilayer AGV car body；
Upper layer car body is flat top body, and lower layer's car body is that platform pushes body；
Fig. 2 a, Fig. 2 b and Fig. 2 c are the structure chart of the embodiment of the present invention two, are the inside and outside mode connected of bilayer AGV car body；
Outer layer car body is flat top body, and internal layer car body is that platform pushes body.
The platform delivery device includes that the matched delivery device of horizontal direction (embodiment two) or vertical direction are matched
Delivery device (embodiment one).The matched delivery device (0-1-3,0-2-3 in Fig. 1 a) of the vertical direction is used for embodiment
One flat top body and platform push body is the mode being vertically connected with, and the matched delivery device of the horizontal direction is (in Fig. 2 b
1-1-3,1-2-3) for embodiment two flat top body and platform push body be inside and outside connection mode.
As shown in Figure 1a, when the flat top body pushes body to connect for upper and lower level car body with platform, flat top body
It pushes 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 connecting between the flat top body and platform promotion body for ectonexine car body, ectonexine car body is respectively only in vertical direction
Vertical space.
The matched 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 is set on platform push body frame (in Fig. 2 b
1-1-3)；The matched delivery device of the vertical direction includes multiple thrust axle sleeves (figure that flat top body lower surface is arranged in
0-2-3 in 1a), and thrust axis corresponding with each thrust axle sleeve is set on platform push body upper surface (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 rectangular (1-2-3 in Fig. 2 b) on frame, is also possible to 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 that level corresponding with cylindricality or square groove is set
Set protrusion round or rectangular (1-1-3 in Fig. 2 b) pillar, be also possible to be horizontally arranged on car body upper side frame with
The corresponding optical axis of linear bearing；The platform push body or flat top body setting groove or the frame of protrusion include opposite side
Frame or circumferential side frame.Delivery device is arranged using circumferential side frame in this implementation.
The vertical direction, which is matched, is set on multiple thrust axle sleeves lower end of flat top body lower surface to corresponding to it
The distance of the upper surface of AGV bottom plate is the non-contacting distance with appropriate gap；The vertical direction, which is matched, to be set on
The distance that platform pushes multiple thrust axis tops on body upper surface to the flat top body top plate lower surface corresponding to it is one
A non-contacting distance with appropriate gap.It is exemplified below:
As Fig. 1 a encircled portion be delivery device, structure as shown in figure 3, the matched delivery device of the vertical direction by
Linear bearing 0-2-3 and optical axis 0-1-3 composition, the linear bearing are hollow tubular up and down, the linear bearing be fixedly mounted with or
It is welded on the lower surface of flat top body 0-2-1 top plate；The optical axis is fixedly mounted with or is welded on the upper surface of AGV bottom plate 0-1-2 and set
In the cannulated sleeve of corresponding linear bearing 0-2-3；As shown in figure 3, linear bearing lower end to the bottom AGV corresponding to it
The distance of the upper surface of plate is the non-contacting distance with appropriate gap, optical axis top to the flat top corresponding to it
The distance of body top plate lower surface is the 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, the multiple Mikes installed below the AGV ontology are received
Nurse wheel is at least four, in practical application, and as needed, it is 4 or more that Mecanum wheel, which can be set, such as 6 wheel constructions, 8 wheels
Structure etc.；Multiple Mecanum wheel may be mounted at below AGV ontology, also may be mounted on the side frame of AGV ontology.
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 decreases；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 be set without driving omni-directional wheel be
4 or more, such as 6 wheel constructions, 8 wheel constructions, no driving omni-directional wheel may be mounted at platform and push below body (in such as Fig. 1 a
Shown in 0-2-2), it also may be mounted at platform and push on the side frame of body, the frame of the flat top body or platform promotion body
Interior frame or groove below can be the outer rim of car body, being also possible to car body close to the cutting of surrounding end face is (in such as Fig. 2 a
1-2-2 is to be arranged in below car body along the groove of vehicle body longitudinal direction rear and front end without driving omni-directional wheel)；Such as Fig. 5 a, 5b
It is shown, the embodiment one, embodiment two the double-deck AGV vehicle whole height be less than cargo pallet lower surface to ground height
Degree enables bilayer AGV vehicle to get into below cargo pallet the cargo 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 ontology further includes holding positioned at platform
The jacking apparatus at weight body both ends, in example 1, jacking apparatus 0-2-4, in embodiment two, jacking apparatus 1-2-4, institute
The jacking apparatus stated includes jacking apparatus cabinet, further includes the motor for lifting body in the jacking apparatus cabinet and is used for
Flat top body and platform push the split-type accumulator of body；The double-deck AGV vehicle further includes central control cabinet, when flat top body
Pushing body with platform is (embodiment one) when being vertically connected with, and the center control cabinet 0-2-5 is lifted on the top flat top body 0-2-1
The central control board that the bilayer AGV vehicle is provided in control cabinet is entreated in the central area of plate lower surface；When flat top body peace
When platform promotion body is inside and outside connection (embodiment two), central control cabinet 1-1-5 is mounted on the central area of AGV ontology.
The AGV ontology further includes being mounted on AGV ontology, along two groups of symmetrically arranged two wheats before and after AGV ontology
Ke Namu takes turns the decelerating chassis (1-1-4 in 0-1-4, Fig. 2 b in Fig. 1 b) at line, the case of reducer (Fig. 4 a, Fig. 4 b)
Including the Mecanum wheel 0-1-1, the speed reducer 0-1-1-2 that are linked together by fixed plate 0-1-1-1 and speed reducer and slow down
The servo motor 0-1-1-3 that machine links together.
The driving method of the double-deck AGV vehicle of the invention, comprising the following steps:
Step 1: the intrinsic central controller controls platform of AGV push body in 360 degree of horizontal planes with arbitrary speed,
Angular speed and body gesture are moved.
Step 2: platform pushes body to push flat top body in 360 degree of horizontal planes with arbitrary speed, angular speed and vehicle
Figure state is moved.
The arbitrary speed angular speed refers to the arbitrary speed that can not be made any adjustments when car body changes motion mode
And angular speed.
The intrinsic central controller controls platform of the AGV pushes body to refer to that central controller controls platform pushes body
Mecanum wheel so that with moving platform push body；The platform pushes body that flat top body is pushed to refer to that platform pushes pushing away for body
Power axis pushes the thrust axle sleeve of flat top layer, by pushing thrust axis set to drive flat top body in 360 degree of horizontal planes
It is interior to be moved with arbitrary speed angular speed and body gesture.
A kind of robot transportation system has also been devised in the present invention, which uses the double-deck AGV of the invention
Vehicle realizes that function is carried by robot.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore packet of the present invention
It includes and is not limited to embodiment described in specific embodiment.
Claims (8)
1. a kind of bilayer AGV vehicle, it is characterised in that: push body including one layer of flat top body and another layer of platform, this is flat
Platform weight body includes the multiple nothings installed below flat top ontology and flat top ontology or on the side frame of flat top body
Drive omni-directional wheel；The platform push body include install below AGV ontology and AGV ontology or on the side frame of AGV ontology it is multiple
Mecanum wheel, the platform are pushed and are connected between body and platform weight body for push, and platform pushes body to pass through platform pusher
Structure pushes flat top body to realize that the track of AGV is run；
The platform delivery device includes the matched delivery device of vertical direction and the matched delivery device of horizontal direction；It is described perpendicular
Histogram pushes body using upper and lower mode connecting platform weight body and platform to matched delivery device, and the horizontal direction is matched
Delivery device pushes body using interior external square type connecting platform weight body and platform;
The matched delivery device of the horizontal direction includes the multiple thrust axle sleeves being arranged on flat top body frame and sets
Set multiple thrust axis corresponding with each thrust axle sleeve on platform push body frame；The matched pusher of the vertical direction
Structure includes multiple thrust axle sleeves that flat top body lower surface is arranged in and setting on platform push body upper surface and each
The corresponding multiple thrust axis of thrust axle sleeve；The multiple thrust axle sleeves being arranged on flat top body frame include but unlimited
In the cylindricality or rectangular groove that are horizontally set on car body frame, or the linear axis being horizontally arranged on car body frame
It holds；The thrust axis being arranged on platform push body frame includes but is not limited to level corresponding with cylindricality or square groove
The round or rectangular pillar of the protrusion of setting, or be horizontally arranged at corresponding with linear bearing on car body upper side frame
Optical axis；The platform push body or flat top body setting groove or the frame of protrusion include opposite side frame or circumferential side frame.
2. a kind of bilayer AGV vehicle according to claim 1, it is characterised in that: the vertical direction, which is matched, is set on platform
The distance of multiple thrust axle sleeves lower end of weight body lower surface to the upper surface of the AGV bottom plate corresponding to it be one have it is appropriate
The non-contacting distance in gap；The vertical direction is matched the multiple thrust axis tops being set on platform push body upper surface and is arrived
The distance of flat top body top plate lower surface corresponding to it is the non-contacting distance with appropriate gap.
3. a kind of bilayer AGV vehicle according to claim 1, it is characterised in that: the multiple wheats installed below the AGV ontology
Ke Namu wheel is at least four, and the multiple Mecanum wheel is mounted below AGV ontology, or is mounted on the side of AGV ontology
On frame；The multiple of installation are at least four without driving omni-directional wheel and are mounted under flat top body below the flat top body
Side, or be mounted on the side frame of flat top body；The whole height of the bilayer AGV vehicle is less than cargo pallet lower surface and arrives
The height on ground enables bilayer AGV vehicle to get into below cargo pallet the cargo walking jacked up on pallet and pallet.
4. a kind of bilayer AGV vehicle according to claim 1, it is characterised in that: the flat top ontology further includes being located at
Jacking apparatus, the jacking apparatus at flat top body both ends include jacking apparatus cabinet, in the jacking apparatus cabinet also
Including for lifting body motor, push for flat top body and platform the split-type accumulator of body；When flat top body peace
It is when being vertically connected with that platform, which pushes body, and central control cabinet is lifted on the central area of flat top body top plate lower surface, entreats control cabinet
Inside it is provided with the central control board of the bilayer AGV vehicle；When it is inside and outside connection that flat top body and platform, which push body, center control
Case processed is mounted on the central area of AGV ontology.
5. a kind of bilayer AGV vehicle according to claim 1, it is characterised in that: the AGV ontology further includes being mounted on AGV
On ontology, along the decelerating chassis at two groups of symmetrically arranged two Mecanum wheel lines before and after AGV ontology, the speed reducer machine
In case include the Mecanum wheel to link together by fixed plate with speed reducer, speed reducer and links together with speed reducer
Servo motor.
6. a kind of driving method based on a kind of bilayer AGV vehicle described in claim 1-5 any one, it is characterised in that: packet
Include following steps:
Step 1: the intrinsic central controller controls platform of AGV pushes body in 360 degree of horizontal planes with arbitrary speed, angle speed
Degree and body gesture are moved;
Step 2: platform pushes body to push flat top body in 360 degree of horizontal planes with arbitrary speed, angular speed and vehicle body
Posture is moved;
It is described arbitrarily hasten, angular speed refers to the arbitrary speed not made any adjustments when car body changes motion mode and angle speed
Degree.
7. a kind of driving method of bilayer AGV vehicle according to claim 6, it is characterised in that: the AGV is intrinsic
Central controller controls platform pushes body to refer to that AGV controller control platform pushes the Mecanum wheel of body and then pushes away with moving platform
Kinetoplast；The thrust axis that the platform pushes body that flat top body is pushed to refer to that platform pushes the thrust axis of body to push flat top layer
Set drives flat top body in 360 degree of horizontal planes with arbitrary speed angular speed and vehicle body by pushing thrust axis to cover
Posture is moved.
8. a kind of robot transportation system, it is characterised in that: the robot transportation system includes such as claim 1-5 any one
The double-deck AGV vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710668906.4A CN107472786B (en) | 2017-08-08 | 2017-08-08 | A kind of bilayer AGV vehicle and its driving method and robot transportation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710668906.4A CN107472786B (en) | 2017-08-08 | 2017-08-08 | A kind of bilayer AGV vehicle and its driving method and robot transportation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107472786A CN107472786A (en) | 2017-12-15 |
| CN107472786B true CN107472786B (en) | 2019-01-18 |
Family
ID=60599165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710668906.4A Active CN107472786B (en) | 2017-08-08 | 2017-08-08 | A kind of bilayer AGV vehicle and its driving method and robot transportation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107472786B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584319B (en) * | 2018-03-09 | 2019-12-20 | 青岛正泰物流器械有限公司 | Modern commodity circulation is with high-efficient handling device |
| JP6919610B2 (en) * | 2018-03-22 | 2021-08-18 | 株式会社ダイフク | Goods transport equipment |
| 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 |
| 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 |
| CN109573429B (en) * | 2018-11-23 | 2020-10-23 | 楚天科技股份有限公司 | Double-layer combined double-station RGV (reduced gauge volume) trolley and automatic three-dimensional warehousing system |
| CN110644745B (en) * | 2019-09-29 | 2020-12-01 | 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 |
| CN113734680B (en) * | 2021-09-13 | 2022-03-25 | 南通理工学院 | Intelligent material storage management system based on big data |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1498177A (en) * | 2001-03-12 | 2004-05-19 | 杰维斯・B・韦布国际公司 | Floating drive for vehicle |
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN103332236A (en) * | 2013-07-11 | 2013-10-02 | 青岛海通机器人系统有限公司 | Moving device of robot |
| CN203318867U (en) * | 2013-06-04 | 2013-12-04 | 无锡普智联科高新技术有限公司 | Automobile transportation pallet based on mobile robot trolley |
| CN203332264U (en) * | 2013-07-11 | 2013-12-11 | 青岛海通机器人系统有限公司 | Mobile robot driving wheel supporting mechanism |
| DE102013002860A1 (en) * | 2013-02-20 | 2014-08-21 | Sew-Eurodrive Gmbh & Co Kg | Vehicle e.g. automatic guided vehicle has object recorded actuator which is pushed on drive unit depending on weight force of vehicle, so that drive wheel is pressed on ground with corresponding drive pressure |
| CN106006466A (en) * | 2016-06-07 | 2016-10-12 | 广州普华灵动机器人技术有限公司 | Super-thin heavy-duty lifting and diving omni-bearing movable AGV |
| CN106515900A (en) * | 2016-10-10 | 2017-03-22 | 深圳市共进电子股份有限公司 | AGV mobile device |
-
2017
- 2017-08-08 CN CN201710668906.4A patent/CN107472786B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1498177A (en) * | 2001-03-12 | 2004-05-19 | 杰维斯・B・韦布国际公司 | Floating drive for vehicle |
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| DE102013002860A1 (en) * | 2013-02-20 | 2014-08-21 | Sew-Eurodrive Gmbh & Co Kg | Vehicle e.g. automatic guided vehicle has object recorded actuator which is pushed on drive unit depending on weight force of vehicle, so that drive wheel is pressed on ground with corresponding drive pressure |
| CN203318867U (en) * | 2013-06-04 | 2013-12-04 | 无锡普智联科高新技术有限公司 | Automobile transportation pallet based on mobile robot trolley |
| CN103332236A (en) * | 2013-07-11 | 2013-10-02 | 青岛海通机器人系统有限公司 | Moving device of robot |
| CN203332264U (en) * | 2013-07-11 | 2013-12-11 | 青岛海通机器人系统有限公司 | Mobile robot driving wheel supporting mechanism |
| CN106006466A (en) * | 2016-06-07 | 2016-10-12 | 广州普华灵动机器人技术有限公司 | Super-thin heavy-duty lifting and diving omni-bearing movable AGV |
| CN106515900A (en) * | 2016-10-10 | 2017-03-22 | 深圳市共进电子股份有限公司 | AGV mobile device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107472786A (en) | 2017-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107472786B (en) | A kind of bilayer AGV vehicle and its driving method and robot transportation system | |
| CN105947506B (en) | A kind of warehouse Intelligent transfer robot | |
| CN105479433B (en) | A kind of Mecanum wheel Omni-mobile transfer robot | |
| CN203006259U (en) | Four-wheel drive shuttle | |
| CN205652713U (en) | All -round active transport car | |
| CN107217892A (en) | Multilayer garage AGV vehicle carriers | |
| CN205589050U (en) | Half auto -control handling carriage | |
| CN104370242B (en) | Fixed-shaft rotating lifting mechanism used for AGV robot and AGV robot | |
| CN105858034A (en) | Omni-directional automatic transporter | |
| CN207748386U (en) | A kind of Double-stroke shuttle Shen Cha mechanisms | |
| CN107816238A (en) | Broach elevating and telescopic type intelligent carrier | |
| CN205151269U (en) | Airport platform bears transmission device | |
| CN109308071A (en) | A kind of floor truck and its control method with lifting rotation mechanism | |
| CN207032990U (en) | Multilayer garage AGV vehicle carriers | |
| CN102900258A (en) | Automatic car lengthways handling device | |
| CN101758986B (en) | Stacker and method for fixing and feeding wheel set | |
| CN208868847U (en) | Change the lifting device to road for four-way shuttle | |
| CN206900379U (en) | A kind of electric remote control monorail transport cart | |
| CN206344129U (en) | A kind of manipulator that electric charging station is moved for intelligent integration | |
| CN108560979A (en) | A kind of comb-tooth-type numerical control carrier | |
| CN202464645U (en) | Accumulation conveyor and bearing trolley | |
| CN112978181A (en) | Four-way shuttle | |
| CN102529987B (en) | Car-type carrying device and its rotating direction control method | |
| CN208964467U (en) | A kind of lifting floor truck | |
| CN109204596B (en) | Universal travelling mechanism, universal transportation trolley and logistics warehouse matched with universal travelling mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
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. |