CN107627803B - Automatic guiding vehicle tail end lifting device and automatic guiding vehicle - Google Patents
Automatic guiding vehicle tail end lifting device and automatic guiding vehicle Download PDFInfo
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Abstract
The invention relates to an automatic guided vehicle tail end lifting device and an automatic guided vehicle, and belongs to the technical field of machine manufacturing. Comprises a floating universal wheel arranged at one end of the bottom of the vehicle body; the floating universal wheel is arranged at the outer end of the horizontal supporting plate, the inner end of the horizontal supporting plate is hinged at the bottom of the vehicle body, the middle part of the horizontal supporting plate is hinged with the lower end of the electric push rod, the electric push rod is fixedly connected with a pressure sensor, the upper end of the pressure sensor is hinged with the vehicle body, the signal output end of the pressure sensor is connected with the controlled end of the electric push rod through a control circuit, and the control circuit is used for controlling the electric push rod according to the comparison of the pressure sensing value with the upper limit threshold value and the lower limit threshold value, so that the fixed universal wheel, the driving wheel and the wheel bottom of the floating universal wheel are kept on the same horizontal line. After the invention is adopted, the invention can adapt to large gradient or severe concave-convex pits, effectively inhibit the phenomena of overhead and slipping of a driving wheel, ensure that the output force is stable and continuous, effectively inhibit the overhead of a universal wheel and the nodding swing of a vehicle body, avoid overturning and have ideal adaptability.
Description
Technical Field
The invention relates to an automatic guiding vehicle tail end lifting device, and simultaneously relates to an automatic guiding vehicle adopting the device, belonging to the technical field of automatic conveying equipment.
Background
Currently, flexible manufacturing systems and automated stereoscopic warehouses are increasingly used in machine manufacturing enterprises. The automatic conveying system used as the logistics execution link is widely applied to the conveying and management of materials as a conveying robot due to high automation degree, safety and flexibility. The automatic guided vehicle is used as a main execution tool of an automatic conveying system, a storage battery is used as a power supply, and an automatic intelligent carrying tool for controlling a running route in a certain navigation mode is used.
In the prior art, the automatic guided vehicle has high requirements on the ground flatness, and the driving wheel or the universal wheel is generally added with the up-and-down freedom degree of the elastic suspension release supporting wheel so as to solve the flatness problem of the working conditions such as uneven ground or up-and-down slope. However, in practical use, the prior art disclosed in several tens of related patent documents searched by the applicant is only suitable for road surface conditions of small-gradient or gentle concave-convex pits, and is not suitable for large-gradient or severe concave-convex pits because the rigidity of the elastic suspension is difficult to grasp. When the elastic suspension is added on the driving wheel, too small rigidity can cause too small pressure with the ground, and the driving wheel is easy to slip; the rigidity is too large, so that the floating amount of the driving wheel is small, and the universal wheel is easy to overhead. When the elastic suspension is added on the universal wheel, the rigidity is too high, so that the universal wheel has small up-down floating quantity, and the driving wheel is easy to be overhead; too little rigidity can cause nodding or shaking of the vehicle body, which results in unstable and even toppling of the vehicle body. This is especially true under varying load conditions, and because there is no spring rate value that accommodates various loads, a universal spring suspension cannot be designed.
Typical prior art is disclosed in China patent application number 201610805254.X entitled AGV Trolley with obstacle crossing function, especially application number 201410267603.8 entitled AGV Trolley tail swing mechanism and AGV Trolley. As can be seen from the analysis of intensive studies, the technical scheme has the following defects: 1) Adopt two directional wheels to fix the afterbody of automobile body through rotatory support, lead to the automobile body also can rotate relative rotatory support, bring the problem: even if the vehicle walks on a flat ground, the vehicle can swing left and right, which is not beneficial to the stable running of the vehicle body and even has the danger of overturning; 2) The AGV trolley cannot rotate around the center of the vehicle due to the arrangement mode of at least two universal driving wheels at the front end and at least two directional wheels at the rear end, and the turning radius becomes large, so that the requirement on the laying of the curve radius of the line is high; 3) Because the rotary support is passively adapted to the ground, the mechanism is required to be redesigned according to different ground concave-convex degrees or gradients, so that the universality is lacking, the space between the rotary support and a vehicle body is difficult to ensure, and vehicle body equipment such as a navigation device and a safety component can be mistakenly touched; 4) The installation requirement and the maintenance requirement of the directional wheels on the two sides of the rotary support are very high, when the two wheels are installed with errors or have different wear degrees after being used for a period of time, the rotary support can deviate when running on the flat ground, the situation can aggravate the wear, and the asymmetry is more and more severe; 5) The installation space under the vehicle is limited, and the situation that a severe concave-convex pit is encountered is quite likely, and the limit is not met, so that the danger of overhead driving wheels exists.
Disclosure of Invention
The purpose of the invention is that: aiming at the problems existing in the prior art, the automatic guiding vehicle tail end lifting device which can adapt to a large gradient or a severe concave-convex pit and is safe and reliable is provided.
In order to achieve the above purpose, the basic technical scheme of the automatic guided vehicle tail end lifting device of the invention is as follows: comprises a floating universal wheel which is installed at one end of the bottom of the vehicle body after being assembled; the middle and the other end of the bottom of the vehicle body are respectively provided with a driving wheel and a positioning universal wheel; the floating universal wheel is arranged at the outer end of the horizontal supporting plate, the inner end of the horizontal supporting plate is hinged at the bottom of the vehicle body, the middle part of the horizontal supporting plate is hinged with the lower end of the electric push rod, the electric push rod is fixedly connected with a pressure sensor, the upper end of which is hinged with the vehicle body, the signal output end of the pressure sensor is connected with the controlled end of the electric push rod through a control circuit, and the control circuit is used for
When the pressure sensing value is smaller than the upper limit threshold value and larger than the lower limit threshold value, controlling and locking the electric push rod, and keeping the bottoms of the fixed universal wheel, the driving wheel and the floating universal wheel at the same horizontal line;
when the pressure sensing value is larger than the upper limit threshold, controlling the electric push rod to shrink until the pressure sensing value is smaller than the upper limit threshold and larger than the lower limit threshold;
and when the pressure sensing value is smaller than the lower limit threshold value, controlling locking electric extension until the pressure sensing value is smaller than the upper limit threshold value and larger than the lower limit threshold value.
Further, the electric push rod is fixedly connected with a pressure sensor, the upper end of which is hinged with the vehicle body through a mounting seat.
Still further, the electric putter mount pad comprises door shape frame construction of both sides and roof and bottom plate that links firmly both sides door shape frame together.
The automatic guided vehicle with the tail end lifting device comprises a vehicle body, a driving wheel positioned in the middle of the bottom of the vehicle body, and a positioning universal wheel and a floating universal wheel which are respectively positioned at two ends of the bottom of the vehicle body; the floating universal wheel is arranged at the outer end of the horizontal supporting plate, the inner end of the horizontal supporting plate is hinged at the bottom of the vehicle body, the middle part of the horizontal supporting plate is hinged with the lower end of the electric push rod, the electric push rod is fixedly connected with a pressure sensor, the upper end of which is hinged with the vehicle body, the signal output end of the pressure sensor is connected with the controlled end of the electric push rod through a control circuit, and the control circuit is used for
When the pressure sensing value is smaller than the upper limit threshold value and larger than the lower limit threshold value, controlling and locking the electric push rod, and keeping the bottoms of the fixed universal wheel, the driving wheel and the floating universal wheel at the same horizontal line;
when the pressure sensing value is larger than the upper limit threshold, controlling the electric push rod to shrink until the pressure sensing value is smaller than the upper limit threshold and larger than the lower limit threshold;
and when the pressure sensing value is smaller than the lower limit threshold value, controlling locking electric extension until the pressure sensing value is smaller than the upper limit threshold value and larger than the lower limit threshold value.
After the invention is adopted, when the ground is basically flat, and the pressure of the supporting action of the floating universal wheel fed back by the electric push rod to the pressure sensor on the ground is between the set minimum value and the set maximum value, the electric push rod can be controlled to be in a locking state, and the stable state of positioning the universal wheel, the driving wheel and the front, middle and rear three wheels of the floating universal wheel in landing is kept; when the flatness changes due to the ascending slope or the pits on the ground, the suspension trend occurs due to the fact that the pressure on the ground is not between the set minimum value and the set maximum value, the electric push rod can be controlled to shorten or lengthen until the pressure value falls into the allowable range, so that the suspension trend is eliminated in time, and the front, middle and rear three wheels are ensured to land. Therefore, the invention adopts a stable working principle which is completely different from the prior art, is not limited by the elastic suspension rigidity, is suitable for conveying various loads, can adapt to large-gradient or severe concave-convex pits, effectively inhibits the phenomena of overhead and slipping of a driving wheel, ensures that the output force is stable and continuous, effectively inhibits the overhead of a universal wheel and the nodding swing of a vehicle body, avoids overturning, and has ideal adaptability.
Further, a pair of coaxial driving wheels are arranged in the middle of the bottom of the vehicle body, and a positioning universal wheel and a floating universal wheel are respectively arranged in the middle of two ends of the vehicle body.
Further, the gravity center of the vehicle body is positioned on the connecting line between the midpoint of the connecting line of the two driving wheels and the installation center of the positioning universal wheel.
Further, the electric push rod is fixedly connected with a pressure sensor, the upper end of which is hinged with the vehicle body through a mounting seat, and the mounting seat of the electric push rod is composed of door-shaped frame structures on two sides and a top plate and a bottom plate which are fixedly connected with the door-shaped frames on two sides.
Further, a navigation component is arranged at the bottom of the vehicle body.
Further, the middle part of the vehicle body bears an electric cabinet and a battery.
Further, the front end of the vehicle body is provided with an obstacle avoidance assembly.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the following figures of the preferred embodiments are given.
Fig. 1 is a schematic perspective view of an automatic guided vehicle according to a first embodiment of the present invention.
Fig. 2 is a schematic perspective view of the tail lifting device in fig. 1.
Fig. 3 is a control circuit block diagram of the embodiment of fig. 1.
Fig. 4 is a schematic diagram illustrating an uphill condition of an automated guided vehicle according to a first embodiment of the invention.
Fig. 5 is a schematic diagram of an ascending status of an automatic guided vehicle according to a first embodiment of the present invention.
Fig. 6 is a schematic diagram of an automatic guided vehicle passing pit status according to a first embodiment of the present invention.
Fig. 7 is a schematic diagram of an automatic guided vehicle passing through concave state according to a first embodiment of the present invention.
Detailed Description
Example 1
The basic structure of the automatic guided vehicle with the tail end lifting device in the embodiment is shown in fig. 1, a pair of driving wheels 2 are arranged in the middle of the bottom of the vehicle body 1, and a positioning universal wheel 3 and a floating universal wheel 11 are respectively arranged at two ends of the bottom. The bottom of the car body 1 is also provided with a navigation component 4, the middle part of the car body is provided with an electric cabinet 5 and a battery 6, the front end of the car body is provided with an obstacle avoidance component 7, and the whole car has compact structure, saves space and is convenient to use.
As shown in fig. 2, the floating universal wheel 11 is mounted at the outer end of the horizontal support plate 8-2 of the floating support 8, the inner end of the horizontal support plate 8-2 is directly hinged at the bottom of the vehicle body 1, the middle part of the horizontal support plate 8-2 is hinged with the lower end of the electric push rod 10, and the electric push rod 10 is fixedly connected with the pressure sensor 9 (in particular to a column type weighing sensor) of which the upper end is hinged with the vehicle body 1 through the mounting seat 8-1. The structure has the function of amplifying the displacement of the electric push rod 10 into the lifting distance of the floating universal wheel 11, so that the structure has higher sensitivity and quicker response than the structure adopting a vertical moving pair to directly control the lifting of the floating universal wheel.
The electric push rod mounting seat 8-1 is composed of a door-shaped frame structure on two sides and a top plate and a bottom plate which fixedly connect the door-shaped frames on two sides together. Therefore, the connection is stable, and the installation and the adjustment are convenient.
As shown in FIG. 3, the signal output end of the pressure sensor 9 is connected with the controlled end of the electric push rod 10 through a control circuit composed of an AD conversion module (Siemens 8 channel 14 bit model number is 6ES7-331-7KF 02-OABO) and a PLC (Siemens CPU314 model number is 6ES7-314-1AG 14-OABO), wherein the control circuit is used for
When the pressure sensing value is smaller than the upper limit threshold value and larger than the lower limit threshold value, controlling and locking the electric push rod, and keeping the bottoms of the fixed universal wheel, the driving wheel and the floating universal wheel at the same horizontal line;
when the pressure sensing value is larger than the upper limit threshold, controlling the electric push rod to shrink until the pressure sensing value is smaller than the upper limit threshold and larger than the lower limit threshold;
and when the pressure sensing value is smaller than the lower limit threshold value, controlling locking electric extension until the pressure sensing value is smaller than the upper limit threshold value and larger than the lower limit threshold value.
After the invention is adopted, the supporting function of the floating universal wheel presses the ground
The sensing value is obtained by feeding back the electric push rod to the pressure sensor>
. The PLC performs comparison operation on the obtained AD converted sensing value, and then outputs a corresponding control signal according to the result to control the action of the electric push rod, so that the pressure is adjusted, and a closed-loop control process is formed. Specifically, when->
Between the set minimum value->
Maximum->
When the ground is basically flat, the electric push rod is controlled not to act in a locking state, and the front, middle and rear three wheels of the positioning universal wheel, the driving wheel and the floating universal wheel are kept in a stable state; when the flatness of the ground is changed due to whether the ground is upslope or concave pits, the following two situations are not required: 1) The driving wheel has a suspension trend, which causes +.>
At this time, the contraction of the electric push rod is controlled, so that +.>
Until it falls within the allowable range, realizing the front, middle and rear three-wheel landing (see fig. 4 and 5); 2) The floating universal wheel has a suspension trend, which causes +.>
At this time, the electric push rod is controlled to extend, and the +.>
Until it falls within the allowable rangeFront, middle and rear three-wheel grounding is realized (see fig. 6 and 7).
The automatic guided vehicle of the embodiment adopts a wheel group structure of combining two driving wheels 2 with front and rear universal wheels, the two driving wheels are coaxial, the floating universal wheels 11 of the positioning universal wheels 3 are respectively arranged between the front end and the rear end of the vehicle body 1, the center of gravity of the vehicle body is positioned on the connecting line between the midpoint of the connecting line of the two driving wheels 2 and the installation center of the positioning universal wheels 3, and therefore the whole vehicle weight is supported by the positioning universal wheels 3 and the two driving wheels 2 as much as possible, and the floating universal wheels 11 only serve as auxiliary supports. The axes of the driving wheel 2 and the positioning universal wheel 3 are fixed relative to the height of the bottom plate of the vehicle body 1, and the floating universal wheel 11 can float and change relative to the height of the bottom plate of the vehicle body due to the self-adaptive lifting device at the tail end of the automatic guided vehicle, so that all wheels can be attached to the ground when the ground has gradient or uneven.
Experiments prove that the automatic guided vehicle of the embodiment has the advantages of realizing convenient disassembly and installation by a simple and reliable structure, and comprehensively overcoming the 5-point defect existing in the prior art. In particular, even when the ground has a large gradient or obvious unevenness, the phenomenon of overhead driving wheels and slipping of the driving wheels can be timely eliminated, so that the output driving force is stable and continuous, overhead of universal wheels and nodding swing of a vehicle body are reduced, the vehicle body is prevented from overturning, and the vehicle can adapt to various complex road conditions. In a word, overcome current 1) adopt two directive wheel to fix the automobile body afterbody through rotatory support, lead to the automobile body also can rotate relative rotatory support, the problem of bringing is: even if the vehicle walks on a flat ground, the vehicle can swing left and right, which is not beneficial to the stable running of the vehicle body and even has the danger of overturning; 2) The AGV trolley cannot rotate around the center of the vehicle due to the arrangement mode of at least two universal driving wheels at the front end and at least two directional wheels at the rear end, and the turning radius becomes large, so that the requirement on the laying of the curve radius of the line is high; 3) Because the rotary support is passively adapted to the ground, the mechanism is required to be redesigned according to different ground concave-convex degrees or gradients, so that the universality is lacking, the space between the rotary support and a vehicle body is difficult to ensure, and vehicle body equipment such as a navigation device and a safety component can be mistakenly touched; 4) The installation requirement and the maintenance requirement of the directional wheels on the two sides of the rotary support are very high, when the two wheels are installed with errors or have different wear degrees after being used for a period of time, the rotary support can deviate when running on the flat ground, the situation can aggravate the wear, and the asymmetry is more and more severe; 5) The installation space under the vehicle is limited, and the situation that a severe concave-convex pit is encountered is quite likely, and the limit is not met, so that the danger of overhead driving wheels exists.
Claims (10)
1. The tail end lifting device of the automatic guided vehicle comprises a floating universal wheel which is installed at one end of the bottom of the vehicle body after being assembled, wherein a driving wheel and a positioning universal wheel are respectively installed in the middle of the bottom of the vehicle body and at the other end of the bottom of the vehicle body; the method is characterized in that: the floating universal wheel is arranged at the outer end of the horizontal supporting plate, the inner end of the horizontal supporting plate is hinged at the bottom of the vehicle body, the middle part of the horizontal supporting plate is hinged with the lower end of the electric push rod, the electric push rod is fixedly connected with a pressure sensor, the upper end of which is hinged with the vehicle body, the signal output end of the pressure sensor is connected with the controlled end of the electric push rod through a control circuit, and the control circuit is used for
When the pressure sensing value is smaller than the upper limit threshold value and larger than the lower limit threshold value, controlling and locking the electric push rod, and keeping the bottoms of the fixed universal wheel, the driving wheel and the floating universal wheel at the same horizontal line;
when the pressure sensing value is larger than the upper limit threshold, controlling the electric push rod to shrink until the pressure sensing value is smaller than the upper limit threshold and larger than the lower limit threshold;
and when the pressure sensing value is smaller than the lower limit threshold value, controlling locking electric extension until the pressure sensing value is smaller than the upper limit threshold value and larger than the lower limit threshold value.
2. The automated guided vehicle tail end lifting device of claim 1, wherein: the electric push rod is fixedly connected with a pressure sensor, and the upper end of the pressure sensor is hinged with the vehicle body through a mounting seat.
3. The automated guided vehicle tail end lifting device of claim 2, wherein: the mounting seat of the electric push rod consists of a door-shaped frame structure at two sides and a top plate and a bottom plate which fixedly connect the door-shaped frames at two sides together.
4. An automatic guided vehicle with a tail end lifting device comprises a vehicle body, a driving wheel positioned in the middle of the bottom of the vehicle body, and a positioning universal wheel and a floating universal wheel which are respectively positioned at two ends of the bottom of the vehicle body; the floating universal wheel is arranged at the outer end of the horizontal supporting plate, the inner end of the horizontal supporting plate is hinged at the bottom of the vehicle body, the middle part of the horizontal supporting plate is hinged with the lower end of the electric push rod, the electric push rod is fixedly connected with a pressure sensor, the upper end of which is hinged with the vehicle body, the signal output end of the pressure sensor is connected with the controlled end of the electric push rod through a control circuit, and the control circuit is used for
When the pressure sensing value is smaller than the upper limit threshold value and larger than the lower limit threshold value, controlling and locking the electric push rod, and keeping the bottoms of the fixed universal wheel, the driving wheel and the floating universal wheel at the same horizontal line;
when the pressure sensing value is larger than the upper limit threshold, controlling the electric push rod to shrink until the pressure sensing value is smaller than the upper limit threshold and larger than the lower limit threshold;
and when the pressure sensing value is smaller than the lower limit threshold value, controlling locking electric extension until the pressure sensing value is smaller than the upper limit threshold value and larger than the lower limit threshold value.
5. The automated guided vehicle of claim 4, wherein: a pair of coaxial driving wheels are arranged in the middle of the bottom of the car body, and a positioning universal wheel and a floating universal wheel are respectively arranged in the middle of two ends of the car body.
6. The automated guided vehicle of claim 5, wherein: the gravity center of the vehicle body is positioned on the connecting line between the midpoint of the connecting line of the two driving wheels and the installation center of the positioning universal wheel.
7. The automated guided vehicle of claim 6, wherein: the electric push rod is fixedly connected with a pressure sensor, the upper end of which is hinged with the vehicle body through a mounting seat, and the mounting seat of the electric push rod consists of a door-shaped frame structure on two sides and a top plate and a bottom plate which are fixedly connected with the door-shaped frames on two sides.
8. The automated guided vehicle of claim 7, wherein: the bottom of the car body is provided with a navigation component.
9. The automated guided vehicle of claim 8, wherein: the middle part of the vehicle body bears an electric cabinet and a battery.
10. The automated guided vehicle of claim 9, wherein: the front end of the vehicle body is provided with an obstacle avoidance assembly.
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| CN201710903087.7A CN107627803B (en) | 2017-09-29 | 2017-09-29 | Automatic guiding vehicle tail end lifting device and automatic guiding vehicle |
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| CN201710903087.7A CN107627803B (en) | 2017-09-29 | 2017-09-29 | Automatic guiding vehicle tail end lifting device and automatic guiding vehicle |
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| CN108683103B (en) * | 2018-05-29 | 2019-07-12 | 高原(山东)机电设备有限公司 | A kind of intelligent electric cabinet for one-shot job |
| CN110803235A (en) * | 2019-11-16 | 2020-02-18 | 朱首红 | Automatic guide transport vechicle |
| CN115503509B (en) * | 2022-10-13 | 2023-11-14 | 宁波韦尔德斯凯勒智能科技有限公司 | Multi-motor driving system of heavy-duty mobile robot and control and abnormality judgment method thereof |
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| JP4297634B2 (en) * | 2001-07-18 | 2009-07-15 | Ｔｃｍ株式会社 | Automated guided vehicle |
| TWI255177B (en) * | 2005-03-10 | 2006-05-21 | Kwang Yang Motor Co | Chassis mechanism of electric wheelchair |
| CN202213649U (en) * | 2011-08-25 | 2012-05-09 | 佛山市顺德区嘉腾电子有限公司 | Automatic guided vehicle with automatic lifting wheel mechanisms |
| CN205818841U (en) * | 2016-06-07 | 2016-12-21 | 深圳动进智能科技有限公司 | A kind of AGV directly drives structure |
| CN207875325U (en) * | 2017-09-29 | 2018-09-18 | 常州市瑞泰工程机械有限公司 | A kind of homing guidance vehicle tail end lifting gear and automatic guided vehicle |
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