CN107839788A - A kind of jacking type AGV - Google Patents
A kind of jacking type AGV Download PDFInfo
- Publication number
- CN107839788A CN107839788A CN201711092385.9A CN201711092385A CN107839788A CN 107839788 A CN107839788 A CN 107839788A CN 201711092385 A CN201711092385 A CN 201711092385A CN 107839788 A CN107839788 A CN 107839788A
- Authority
- CN
- China
- Prior art keywords
- jacking
- car body
- type agv
- lifting
- steering wheel
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
- B66F7/18—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks by a single central jack
Abstract
The present invention relates to a kind of jacking type AGV.The present invention uses driving part of the hydraulic cylinder as jacking type AGV lifting mechanism, relative to the type of drive of conventionally employed feed screw nut and linear electric motors, hydraulic cylinder can provide bigger lifting force under conditions of equal space-consuming, so that need to meet that lifting requires when lifting the weight of tonnage rank by one or two of hydraulic cylinder in workshop and factory etc., and traditional feed screw nut mode then needs to set more, and drive or set complicated transmission mechanism to realize by multiple motors, so the jacking type AGV of the present invention has simple in construction, it is easy to maintenance, control is simple, without synchronism it is bad the problem of, the height for jacking oil cylinder on the premise of identical height is relatively low, it is applicable to the jacking of the lower goods in chassis, the advantages that applicability is good.
Description
Technical field
The present invention relates to a kind of jacking type AGV.
Background technology
AGV dollies, i.e. automatic guided vehicle/automatical pilot transportation vehicle, belong to wheeled mobile robot field, can be in control
Under the monitoring of system, travelled automatically along defined path of navigation by set algorithm, reach appointed place, complete a series of operation
Task, is one of main equipment that material transportation automation is realized in factory, the warehousing industry that is particularly suitable for use in, manufacturing industry, medicine with
And extraordinary hazardous area.Jacking type AGV refers to lifting body, for jacking the AGV of goods, traditional jacking type AGV's
Lifting body uses feed screw nut, such as the AGV dollies disclosed in the Chinese patent that Authorization Notice No. is CN206358799U, should
Dolly is provided with jacking apparatus, and jacking apparatus includes jacking frame and drives the lifting mechanism of jacking frame lifting, and lifting mechanism includes
Two sets of screw pairs being synchronized with the movement, and driven by double output shaft electric machines, jacking apparatus also includes preventing jacking frame from lifting
During beat guider.The object that the AGV dollies are used to jack lighter in weight is fine, but in factory or workshop
The situation of Lack of support then occurs during one ton or heavier of goods, certainly, can by increase multi-filament thick stick, change it is larger
Number motor drive to meet to require, simultaneously as multi-filament thick stick needs synchronization lifting, it is therefore desirable to increase more drivers
Structure to ensure that the synchronism of multi-filament thick stick, or the multiple motors of increase drive multi-filament thick stick respectively, also can by the increase of number of motors
Cause system architecture complicated, therefore the jacking for heavier goods can cause the structure of lifting body very numerous and jumbled, Er Qieji
The probability that tool component breaks down when excessive dramatically increases.
The content of the invention
It is an object of the invention to provide the jacking type AGV that jacking apparatus is simple in construction, top lift is big.
To achieve the above object, jacking type AGV of the invention is adopted the following technical scheme that：
Technical scheme 1：Jacking type AGV includes car body and the jacking apparatus on car body, and jacking apparatus includes being used to jack
The jacking frame of goods and the lifting mechanism for driving jacking frame lifting, in addition to prevent the guiding of jacking frame beat in lifting process
Device, lifting mechanism include hydraulic cylinder, and the piston rod and cylinder body of hydraulic cylinder are connected with jacking frame and car body respectively.
Beneficial effect：The present invention uses driving part of the hydraulic cylinder as jacking type AGV lifting mechanism, relative to tradition
Using the type of drive of feed screw nut and linear electric motors, hydraulic cylinder can provide bigger lifting under conditions of equal space-consuming
Power so that need to meet that lifting will when lifting the weight of tonnage rank by one or two of hydraulic cylinder in workshop and factory etc.
Ask, and traditional feed screw nut mode then needs to set more, and the transmission mechanism of complexity is driven or set by multiple motors
To realize, so the jacking type AGV of the present invention has, simple in construction, easy to maintenance, control is simple, asks without synchronism is bad
The height of inscribing, jack oil cylinder on the premise of identical height is relatively low, is applicable to the lower goods in chassis jacking, applicability are good etc.
Advantage.
Technical scheme 2：On the basis of technical scheme 1, the jacking apparatus has two sets, and two sets of jacking apparatus are along car body
Length direction is arranged symmetrically.
Technical scheme 3：On the basis of technical scheme 2, battery case is also equipped between two sets of jacking apparatus on car body.
Technical scheme 4：On the basis of technical scheme 1-3 any one, guider has two sets, is respectively symmetrically arranged in
Hydraulic cylinder both sides.
Technical scheme 5：On the basis of technical scheme 4, guider includes guide sleeve and the phase fixed relative to car body
The lead fixed for jacking frame.
Technical scheme 6：On the basis of technical scheme 1-3 any one, car body is provided with and used in AGV rechargings
Elasticity charging sliding block.
Technical scheme 7：On the basis of technical scheme 6, elasticity charging sliding block is arranged on lower car body.
Technical scheme 8：On the basis of technical scheme 1-3 any one, at least two driving steering wheels are installed on car body
And the universal wheel for Auxiliary support car body.
Technical scheme 9：On the basis of technical scheme 8, drive steering wheel and universal wheel to have two, two driving steering wheels and
Two universal wheels are arranged diagonal.
Technical scheme 10：On the basis of technical scheme 9, drive and be correspondingly provided with what drive driving steering wheel rotated at steering wheel
The steering motor that motor and driving steering wheel turn to.
Brief description of the drawings
Fig. 1 is the polycrystalline substance schematic diagram of the jacking type AGV of present invention specific embodiment；
Fig. 2 is the structural representation of the lifting mechanism in Fig. 1；
In figure：1- steering indicating lights, 2- driving steering wheels, 3- obstacle avoidance aiding sensors, 4- avoidance master references, 5-PGV sensors, 6- ten thousand
To wheel, 7- lifting mechanisms, 8- battery cases, 9- elasticity charging sliding blocks, 10- jacking installing plates, 11- moves guide pin bushing, 12- guide pillars, and 13- is fixed
Guide pin bushing, 14- oil cylinders, 15- jacking frames（Plate）.
Embodiment
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
The jacking type AGV of present invention specific embodiment, as shown in figure 1, jacking type AGV includes car body and on car body
Lifting mechanism 7, two lifting mechanisms are arranged symmetrically along the length direction of car body, and the vertical car body length of jacking frame of lifting mechanism
Direction is spent to set, battery case is arranged between two lifting mechanisms, two of the bottom of car body it is diagonal on be respectively equipped with universal wheel 6
With driving steering wheel 2, i.e. two driving steering wheels 2 are located on a diagonal of rectangle car body, two universal wheels 6 are located at car body
On another diagonal, four wheels are located on rectangular four angles, wherein driving steering wheel 2 mainly plays driving effect, it is universal
Take turns 6 its Auxiliary support effect, drive steering wheel 2 at motor and steering motor are installed, drive respectively driving steering wheel 2 roll and
Turn to, and can realize that body gesture moves on the premise of constant towards any direction, drive the specific of steering wheel 2 and universal wheel 6
Structure is prior art, is repeated no more.
The middle position of the front and rear sides of car body is provided with avoidance master reference 4, and the both sides of avoidance master reference 4 are set respectively
There are two obstacle avoidance aiding sensors 3, to carry out detection of obstacles, three meters of decelerations, distance barrier can be shifted to an earlier date when running into barrier
Stop and alarm when hindering one meter of thing, above-mentioned avoidance sensor selects ultrasonic sensor.
Steering indicating light 1 is respectively equipped with four angles of car body, can be controlled when car body turns to by system controller corresponding
The steering indicating light 1 of side flashes.The bottom of car body is provided with PGV master references 5, for reading ground code band.The bottom of car body is remote
The flexible charging sliding block 9 of side installation of the installation side of PGV master references 5, elasticity charging sliding block 9 can fill with fixed on ground
Brush plate Elastic Contact coordinates the charging realized to the battery case 8 on AGV, and battery case 8 is fixed on the near middle of car body.
As shown in Fig. 2 lifting mechanism 7 includes the jacking installing plate 10 fixed relative to car body and is fixed on jacking installation
Oil cylinder 14 and guider on plate 10 in addition to the jacking frame for jacking goods（Plate）15.Jacking installing plate 10 is long slab
There is bolt penetration hole to be used to be bolted with car body for shape, both ends, and being additionally provided with two on jacking installing plate 10 supplies jacking apparatus
The through hole that passes through of guide pillar 12 and mounting hole for installation oil cylinder 14, dynamic guide pin bushing 11 etc..Guider includes two sets of guiding
Mechanism, guiding mechanism include the dynamic guide pin bushing 11 relative to the jacking fixation of installing plate 10, relative to jacking frame（Plate）15 fixations are led
Post 12, one end of the close jacking frame 15 of guide pillar 12, which is additionally provided with, determines guide pin bushing 13, and oil cylinder 14 is arranged between two guide pillars 12, and oil
Cylinder 14 and two guide pillars 12 are arranged along the length direction of jacking installing plate 10.The cylinder body of oil cylinder 14 is fixedly mounted on jacking installation
On plate 10, the piston rod end of oil cylinder 14 is fixedly connected with jacking frame, be additionally provided with car body be connected with oil cylinder 14 fluid pressure line,
The hydraulic control systems such as control valve.
The jacking type AGV of the present invention is when in use：Any of car body is realized by the cooperation of universal wheel 6 and driving steering wheel 2
The movement in direction is simultaneously supported to car body；Can be along the code that ground is laid with autonomous row by the AGV of PGV master references 5
Enter；Automatic stopping avoids when can have barrier in front of traveling by the setting of each avoidance sensor；When needing charging, AGV
Autonomous operation is to charge position and passes through the elasticity charging sliding block 9 of lower car body and the cooperation realization of the charging brush board on ground to car
The charging of battery case 8 on body；Jacking type AGV in the present embodiment is mainly used in shifting goods between the production line of workshop factory
Thing is used, and its lifting mechanism 7 is driven using oil cylinder 14, it is possible to provide larger lifting force, so as to meet the lifting requirement of weight, work
AGV is through below goods when making, and jacking frame is located at the underface of goods, by controlling hydraulic system drive cylinder 14 to act,
The piston rod of oil cylinder 14 rises and lifts jacking frame, and goods is lifted, in lifting process, the He of guide pillar 12 on the both sides of oil cylinder 14
Dynamic guide pin bushing 11, which cooperates, realizes guide effect, it is ensured that lifting process is stable without deflection, when jacking frame falls, piston rod retraction oil
Cylinder 14, guide pillar 12 are moved down and passed from the corresponding through hole on jacking installing plate 10.
In other embodiments：Guider may also set up more sets, and guider is also not necessarily limited to the mode of guide pillars and bushes,
Also it can be replaced the mode of chute and sliding block；The arrangement of oil cylinder and guider can be adjusted suitably, such as oil cylinder is located at
Side, guider are located at opposite side.
Claims (10)
1. jacking type AGV, including car body and the jacking apparatus on car body, jacking apparatus includes being used for the top for jacking goods
Rise frame and drive the lifting mechanism of jacking frame lifting, in addition to prevent the guider of jacking frame beat in lifting process, its
It is characterized in, lifting mechanism includes hydraulic cylinder, and the piston rod and cylinder body of hydraulic cylinder are connected with jacking frame and car body respectively.
2. jacking type AGV according to claim 1, it is characterized in that, the jacking apparatus has two sets, two sets of jacking apparatus edges
The length direction of car body is arranged symmetrically.
3. jacking type AGV according to claim 2, it is characterized in that, it is also equipped with car body between two sets of jacking apparatus
Battery case.
4. according to the jacking type AGV described in claim 1-3 any one, it is characterized in that, guider has two sets, respectively symmetrically
It is arranged in hydraulic cylinder both sides.
5. jacking type AGV according to claim 4, it is characterized in that, guider includes the guiding fixed relative to car body
Set and the lead fixed relative to jacking frame.
6. according to the jacking type AGV described in claim 1-3 any one, it is characterized in that, car body is provided with AGV rechargings
When use elasticity charging sliding block.
7. jacking type AGV according to claim 6, it is characterized in that, elasticity charging sliding block is arranged on lower car body.
8. according to the jacking type AGV described in claim 1-3 any one, it is characterized in that, at least two drives are installed on car body
Dynamic steering wheel and the universal wheel for Auxiliary support car body.
9. jacking type AGV according to claim 8, it is characterized in that, drive steering wheel and universal wheel there are two, two drivings
Steering wheel and two universal wheels are arranged diagonal.
10. jacking type AGV according to claim 9, it is characterized in that, drive and drive driving steering wheel is correspondingly installed at steering wheel
The steering motor that the motor and driving steering wheel of rotation turn to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711092385.9A CN107839788A (en) | 2017-11-08 | 2017-11-08 | A kind of jacking type AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711092385.9A CN107839788A (en) | 2017-11-08 | 2017-11-08 | A kind of jacking type AGV |
Publications (1)
| Publication Number | Publication Date |
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| CN107839788A true CN107839788A (en) | 2018-03-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201711092385.9A Pending CN107839788A (en) | 2017-11-08 | 2017-11-08 | A kind of jacking type AGV |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108751040A (en) * | 2018-07-02 | 2018-11-06 | 无锡恺韵来机器人有限公司 | A kind of vehicle-mounted synchronization lifting mechanisms of AGV and AGV vehicles |
| CN108861399A (en) * | 2018-07-20 | 2018-11-23 | 苏州格莱富机械科技有限公司 | Contactlessly powered intelligent heavy-load mold transfer car(buggy) and its fortune mould die exchange |
| CN109435917A (en) * | 2018-12-01 | 2019-03-08 | 中国科学院宁波材料技术与工程研究所 | A kind of mobile robot automatic locking apparatus in place |
| CN111071958A (en) * | 2019-12-12 | 2020-04-28 | 江苏金珹智能储存设备有限公司 | Automatic guide transport vechicle |
| CN111845947A (en) * | 2020-07-23 | 2020-10-30 | 东莞理工学院 | Chassis with lifting ladder stand structure for inspection robot |
| CN112172959A (en) * | 2019-07-05 | 2021-01-05 | 坎德拉（深圳）科技创新有限公司 | Outdoor robot |
| CN113711746A (en) * | 2021-10-18 | 2021-11-30 | 无锡悦田农业机械科技有限公司 | Seedling ejecting device of automatic plug seedling transplanter |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108751040A (en) * | 2018-07-02 | 2018-11-06 | 无锡恺韵来机器人有限公司 | A kind of vehicle-mounted synchronization lifting mechanisms of AGV and AGV vehicles |
| CN108861399A (en) * | 2018-07-20 | 2018-11-23 | 苏州格莱富机械科技有限公司 | Contactlessly powered intelligent heavy-load mold transfer car(buggy) and its fortune mould die exchange |
| CN109435917A (en) * | 2018-12-01 | 2019-03-08 | 中国科学院宁波材料技术与工程研究所 | A kind of mobile robot automatic locking apparatus in place |
| CN112172959A (en) * | 2019-07-05 | 2021-01-05 | 坎德拉（深圳）科技创新有限公司 | Outdoor robot |
| CN112172959B (en) * | 2019-07-05 | 2023-09-29 | 坎德拉（深圳）科技创新有限公司 | Outdoor robot |
| CN111071958A (en) * | 2019-12-12 | 2020-04-28 | 江苏金珹智能储存设备有限公司 | Automatic guide transport vechicle |
| CN111845947A (en) * | 2020-07-23 | 2020-10-30 | 东莞理工学院 | Chassis with lifting ladder stand structure for inspection robot |
| CN113711746A (en) * | 2021-10-18 | 2021-11-30 | 无锡悦田农业机械科技有限公司 | Seedling ejecting device of automatic plug seedling transplanter |
| CN113711746B (en) * | 2021-10-18 | 2022-10-21 | 无锡悦田农业机械科技有限公司 | Seedling ejecting device of automatic plug seedling transplanter |
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