CN109019434B - Small-size heavy load qxcomm technology AGV dolly that can lift - Google Patents

Small-size heavy load qxcomm technology AGV dolly that can lift Download PDF

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Publication number
CN109019434B
CN109019434B CN201810998809.6A CN201810998809A CN109019434B CN 109019434 B CN109019434 B CN 109019434B CN 201810998809 A CN201810998809 A CN 201810998809A CN 109019434 B CN109019434 B CN 109019434B
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CN
China
Prior art keywords
seat
lifting
wheel
supporting
screw
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Active
Application number
CN201810998809.6A
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Chinese (zh)
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CN109019434A (en
Inventor
王心成
吴玉永
包尊萍
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Jiangsu Hagong Lianhe Precision Transmission Co ltd
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Jiangsu Hagong Lianhe Precision Transmission Co ltd
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Priority to CN201810998809.6A priority Critical patent/CN109019434B/en
Publication of CN109019434A publication Critical patent/CN109019434A/en
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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • 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
    • 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
    • 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
    • B66F9/065—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 non-masted
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/07513—Details concerning the chassis
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/07586—Suspension or mounting of wheels on chassis
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Abstract

The utility model discloses a liftable small heavy-load omni-directional AGV, and belongs to the technical field of industrial automation and logistics storage. Four wheel set suspension systems are arranged on the vehicle body frame, a wheel module is arranged below each wheel set suspension system, and the lifting mechanism is arranged in the vehicle body frame; this small-size heavy load qxcomm technology AGV dolly that can lift is applied to the wheel module with accurate cycloidal pin gear reduction gear, has improved the bearing capacity and the moment of torsion of wheel, reduces the shared installation space of wheel simultaneously for there is enough big space in the automobile body frame to be used for installing lifting mechanism, and lifting mechanism is special duplex lifting mechanism, compact structure, and the lifting force that a plurality of supporting arms simultaneous working obtained is great, and the lifting action is very steady, is applicable to automation and logistics storage.

Description

Small-size heavy load qxcomm technology AGV dolly that can lift
Technical Field
The utility model relates to a liftable small heavy-load omni-directional AGV, and belongs to the technical field of industrial automation and logistics storage.
Background
Now, with the development of industrial automation industry, AGV gradually becomes a core element in a logistics storage automation scheme. At present, most of traditional AGVs have no lifting function, and materials can be carried only by combining other automatic products such as mechanical arms, and the AGVs with the lifting function are complex in structure and huge in size, so that miniaturization design cannot be achieved. And the AGV car in-service use can meet the narrow and small and complicated working space, so the Mecanum wheel AGV car capable of realizing the omnibearing movement is more and more favored by users.
Disclosure of Invention
Aiming at the problems, the utility model aims to provide a small lifting heavy-load omni-directional AGV.
The utility model discloses a lifting small-sized heavy-load omni-directional AGV, which comprises a vehicle body frame, wheel set suspension systems, wheel modules and a lifting mechanism, wherein the vehicle body frame is provided with four wheel set suspension systems, the wheel module is arranged below each wheel set suspension system, and the lifting mechanism is arranged in the vehicle body frame;
the automobile body frame comprises a top plate, side plates A, side plates B, bottom plates and supporting plates, wherein the side plates A are symmetrically arranged on two sides below the top plate, the supporting plates are arranged between the side plates A, the supporting plates are positioned below the top plate, a plurality of bottom plates are arranged between the supporting plates and the top plate, and the side plates B are symmetrically arranged on two sides below the supporting plates;
the wheel set suspension system comprises a supporting seat, a hinge mechanism, a shock absorber and a fixed lug seat, wherein the supporting seat is hinged with the hinge mechanism, the shock absorber is arranged above the supporting seat, the shock absorber is hinged with the fixed lug seat, the shock absorber is hinged with the supporting seat below the shock absorber, the hinge mechanism is fixedly connected with a side plate A, a side plate B and a bottom plate respectively, and the fixed lug seat is fixedly connected with a top plate;
the wheel module comprises a wheel hub, rollers, a speed reducer and a motor A, wherein a plurality of rollers are arranged on the wheel hub, one side end surface of the wheel hub is fixedly connected with the speed reducer, and the speed reducer is fixedly arranged on a supporting seat and is directly connected with an output shaft of the motor A;
the lifting mechanism comprises a lifting supporting plate, a driving scissor type supporting arm, a driven scissor type supporting arm, a bearing seat A, a bearing seat B, a ball screw, a guide post, a motor B, a screw and a screw seat, wherein two groups of driving scissor type supporting arms and two groups of driven scissor type supporting arms are installed below the lifting supporting plate, the bearing seat A is installed between the driving scissor type supporting arms of the two groups, the bearing seat B is installed between the driven scissor type supporting arms of the two groups, the ball screw and the two guide posts are installed on the bearing seat A and the bearing seat B, the motor B is connected with the ball screw through a synchronous pulley and a synchronous belt, the screw is fixedly installed on the screw seat, and the screw seat is fixedly installed between the two groups of driving scissor type supporting arms and moves along the guide posts.
Preferably, the speed reducer of the wheel module is a precise cycloidal pin gear speed reducer.
Preferably, the lifting mechanism is a duplex scissor type lifting mechanism, and four positioning bosses are arranged on the lifting supporting plate.
Compared with the prior art, the utility model has the beneficial effects that: this small-size heavy load qxcomm technology AGV dolly that can lift is applied to the wheel module with accurate cycloidal pin gear reduction gear, has improved the bearing capacity and the moment of torsion of wheel, reduces the shared installation space of wheel simultaneously for there is enough big space in the automobile body frame to be used for installing lifting mechanism, and lifting mechanism is special duplex lifting mechanism, compact structure, and the lifting force that a plurality of supporting arms simultaneous working obtained is great, and the lifting action is very steady, is applicable to automation and logistics storage.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a schematic view of a vehicle body frame structure of the present utility model;
FIG. 3 is a schematic view of a wheelset suspension system of the present utility model;
FIG. 4 is a schematic view of a wheel module according to the present utility model;
fig. 5 is a schematic structural view of a lifting mechanism according to the present utility model.
Reference numerals: the vehicle body frame 1, the top plate 101, the side plate a102, the side plate B103, the bottom plate 104, the support plate 105, the wheel group suspension system 2, the support base 201, the hinge mechanism 202, the shock absorber 203, the fixed ear base 204, the wheel module 3, the hub 301, the roller 302, the speed reducer 303, the motor a304, the lifting mechanism 4, the lifting pallet 401, the driving scissor support arm 402, the driven scissor support arm 403, the bearing seat a404, the bearing seat B405, the ball screw 406, the guide post 407, the motor B408, the nut 409, and the nut base 410.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1 to 5, the present embodiment adopts the following technical scheme: the wheel set suspension system comprises a vehicle body frame 1, wheel set suspension systems 2, wheel modules 3 and a lifting mechanism 4, wherein the vehicle body frame 1 is provided with four wheel set suspension systems 2, the wheel modules 3 are arranged below each wheel set suspension system 2, and the lifting mechanism 4 is arranged inside the vehicle body frame 1.
The automobile body frame 1 contain roof 101, curb plate A102, curb plate B103, bottom plate 104 and backup pad 105, roof 101 below bilateral symmetry put curb plate A102, and be provided with backup pad 105 between curb plate A102, backup pad 105 be located roof 101 below, be provided with a plurality of bottom plate 104 between backup pad 105 and the roof 101, backup pad 105 below bilateral symmetry be provided with curb plate B103.
The wheelset suspension system 2 include supporting seat 201, hinge mechanism 202, shock absorber 203 and fixed ear seat 204, supporting seat 201 and hinge mechanism 202 articulated, and the supporting seat 201 top is provided with shock absorber 203, shock absorber 203 top and fixed ear seat 204 articulated, shock absorber 203 below and supporting seat 201 articulated, hinge mechanism 202 respectively with curb plate A102, curb plate B103 and bottom plate 104 fixed connection, fixed ear seat 204 and roof 101 fixed connection.
The wheel module 3 include wheel hub 301, roller 302, reduction gear 303 and motor A304, wheel hub 301 on install a plurality of roller 302, and wheel hub 301 one side terminal surface and reduction gear 303 fixed connection, reduction gear 303 fixed mounting on supporting seat 201 to with motor A304 output shaft direct connection, wheel module 3's reduction gear 303 be accurate cycloidal pin gear reduction gear, wheel module 3 divide into left-hand wheel module and right-hand wheel module according to the motion principle of Mecanum's wheel, left-hand wheel module and right-hand wheel module mounting structure are the same.
The lifting mechanism 4 comprises a lifting support plate 401, a driving scissor type supporting arm 402, a driven scissor type supporting arm 403, a bearing seat A404, a bearing seat B405, a ball screw 406, a guide pillar 407, a motor B408, a screw 409 and a screw seat 410, wherein two groups of driving scissor type supporting arms 402 and two groups of driven scissor type supporting arms 403 are installed below the lifting support plate 401, the bearing seat A404 is installed between the two groups of driving scissor type supporting arms 402, the bearing seat B405 is installed between the two groups of driven scissor type supporting arms 403, the ball screw 406 and two guide pillars 407 are installed on the bearing seat A404 and the bearing seat B405, the motor B408 is connected with the ball screw 406 through a synchronous pulley and a synchronous belt, the screw 409 is fixedly installed on the screw seat 410, the screw seat 410 is fixedly installed between the two groups of driving scissor type supporting arms 402 and moves along the guide pillar 407, the lifting mechanism 4 is a duplex scissor type lifting mechanism, a plurality of supporting arms work simultaneously, a larger lifting force can be obtained, the lifting process is more stable, and four lifting bosses 401 are installed on the lifting mechanism can be used for positioning a logistics positioning boss simply.
The wheel module 3 of this embodiment is a known technology, and is now issued by the inventor. The patent is issued with the utility model number 201720958548.6 and the utility model number 201710653738.1 in the actual examination.
Working principle: the motors A304 on the four wheel modules 3 drive the wheels to rotate through the speed reduction and torque increase effects of the speed reducer 303, and according to the motion characteristics of the Mecanum wheels, the omnibearing movement of the trolley can be realized by changing the rotation speeds and the rotation directions of the four wheels; secondly, during the moving process or stopping of the trolley, the motor B408 can transmit the rotary motion to the ball screw 406 through the synchronous pulley and the synchronous belt, and as the two ends of the ball screw 406 are respectively supported on the bearing seat A404 and the bearing seat B405, the nut 409 drives the nut seat 410 to do linear motion along the guide post 407, the nut seat 410 drives the two driving scissor type supporting arms 402 to do vertical lifting motion, and the driven scissor type supporting arms 403 fixedly connected with the lifting supporting plate 401 also synchronously do vertical lifting motion.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (2)

1. A small-size heavy load qxcomm technology AGV dolly that can lift, its characterized in that: the vehicle body frame (1) is provided with four wheel set suspension systems (2), the wheel set suspension systems (2) are arranged below each wheel set suspension system (2), the wheel set suspension systems (2) are arranged below the wheel set suspension systems, and the lifting mechanisms (4) are arranged inside the vehicle body frame (1);
the automobile body frame (1) comprises a top plate (101), side plates A (102), side plates B (103), bottom plates (104) and supporting plates (105), wherein the side plates A (102) are symmetrically arranged on two sides below the top plate (101), the supporting plates (105) are arranged between the side plates A (102), the supporting plates (105) are arranged below the top plate (101), a plurality of bottom plates (104) are arranged between the supporting plates (105) and the top plate (101), and the side plates B (103) are symmetrically arranged on two sides below the supporting plates (105);
the wheel set suspension system (2) comprises a supporting seat (201), a hinge mechanism (202), a shock absorber (203) and a fixed ear seat (204), wherein the supporting seat (201) is hinged with the hinge mechanism (202), the shock absorber (203) is arranged above the supporting seat (201), the shock absorber (203) is hinged with the fixed ear seat (204), the lower part of the shock absorber (203) is hinged with the supporting seat (201), the hinge mechanism (202) is fixedly connected with a side plate A (102), a side plate B (103) and a bottom plate (104) respectively, and the fixed ear seat (204) is fixedly connected with a top plate (101);
the wheel module (3) comprises a wheel hub (301), rollers (302), a speed reducer (303) and a motor A (304), wherein a plurality of rollers (302) are arranged on the wheel hub (301), one side end surface of the wheel hub (301) is fixedly connected with the speed reducer (303), and the speed reducer (303) is fixedly arranged on a supporting seat (201) and is directly connected with an output shaft of the motor A (304);
the lifting mechanism (4) comprises a lifting support plate (401), a driving scissor type supporting arm (402), a driven scissor type supporting arm (403), a bearing seat A (404), a bearing seat B (405), a ball screw (406), a guide post (407), a motor B (408), a screw (409) and a screw seat (410), wherein two groups of driving scissor type supporting arms (402) and two groups of driven scissor type supporting arms (403) are arranged under the lifting support plate (401), a bearing seat A (404) is arranged between the two groups of driving scissor type supporting arms (402), a bearing seat B (405) is arranged between the two groups of driven scissor type supporting arms (403), the ball screw (406) and two guide posts (407) are arranged on the bearing seat A (404) and the bearing seat B (405), the motor B (408) is connected with the ball screw (406) through a synchronous pulley and a synchronous belt, the screw seat (409) is fixedly arranged on the screw seat (410), and the screw seat (410) is fixedly arranged between the two groups of driving type supporting arms (402) and moves along the guide posts (407);
the speed reducer (303) of the wheel module (3) is a precise cycloidal pin gear speed reducer;
the lifting mechanism (4) is a duplex shear type lifting mechanism, and four positioning bosses are arranged on the lifting supporting plate (401).
2. The liftable small heavy-duty omni-directional AGV cart of claim 1, wherein: the working principle of the liftable small-sized heavy-load omni-directional AGV trolley is as follows: the motors A (304) on the four wheel modules (3) drive the wheels to rotate through the speed reduction and torque increase effects of the speed reducer (303), and according to the motion characteristics of the Mecanum wheels, the omnibearing movement of the trolley can be realized by changing the rotation speeds and the rotation directions of the four wheels; secondly, in the moving process of the trolley or when the trolley is stopped, the motor B (408) can transmit rotary motion to the ball screw (406) through the synchronous pulley and the synchronous belt, as the two ends of the ball screw (406) are respectively supported on the bearing seat A (404) and the bearing seat B (405), the screw seat (409) drives the screw seat (410) to do linear motion along the guide pillar (407), the screw seat (410) drives the two driving scissor type supporting arms (402) to do vertical lifting motion, and the driven scissor type supporting arms (403) fixedly connected with the lifting supporting plate (401) also synchronously do lifting motion up and down.
CN201810998809.6A 2018-08-23 2018-08-23 Small-size heavy load qxcomm technology AGV dolly that can lift Active CN109019434B (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
CN201810998809.6A CN109019434B (en) 2018-08-23 2018-08-23 Small-size heavy load qxcomm technology AGV dolly that can lift

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CN109019434B true CN109019434B (en) 2024-04-02

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