CN109533088A - A kind of AGV vehicle that vehicle frame moves up - Google Patents
A kind of AGV vehicle that vehicle frame moves up Download PDFInfo
- Publication number
- CN109533088A CN109533088A CN201811627456.5A CN201811627456A CN109533088A CN 109533088 A CN109533088 A CN 109533088A CN 201811627456 A CN201811627456 A CN 201811627456A CN 109533088 A CN109533088 A CN 109533088A
- Authority
- CN
- China
- Prior art keywords
- vehicle frame
- vehicle
- agv
- support plate
- moves
- 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
Links
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
-
- 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
Abstract
The invention provides a kind of AGV vehicle that vehicle frame moves up, the driving unit being respectively arranged including vehicle frame and the bottom of frame front and back end, each driving unit includes two driving devices for being symmetricly set on vehicle frame left and right sides, and each driving device includes: bracket, support plate, two wheels, rotating unit and lift unit；Meet: support plate and vehicle frame are affixed；Two wheels are respectively independently matched with driving element, and two wheels are independent and concentric are rotatably installed in bracket two sides；Rotating unit includes turntable bearing and fixed plate, and fixed plate is located at immediately below support plate, and fixed plate is rotatablely connected by turntable bearing and support plate.A kind of AGV vehicle that vehicle frame moves up described in the invention, AGV vehicle carriage is controlled by lift unit to move up and down, it realizes that AGV vehicle carriage directly converts loading to the container for containing cargo on shelf or other supporting mechanisms, saves the use of fork truck or loop wheel machine, realize cargo automatic loading and unloading and movement.
Description
Technical field
The invention belongs to AGV vehicle production field, more particularly, to a kind of AGV vehicle that vehicle frame moves up.
Background technique
In industrial production, AGV vehicle is unmanned because can be realized, can be with safeguards system the case where not needing artificial pilotage
Down can be along scheduled route automatic running, by cargo or material is transported to destination from starting point automatically and AGV is good
Flexibility, the characteristics such as high degree of automation and intelligent level height are used widely, and existing AGV vehicle cargo loads general and fork
Vehicle adapted that is to say and be moved to cargo by fork truck on the vehicle frame of AGV vehicle, when moving to specific position, reuses fork truck for goods
Object unloads, and structure type AGV vehicle is made troubles to production.
Summary of the invention
In view of this, the invention is directed to a kind of AGV vehicle that vehicle frame moves up, to realize lifting AGV as needed
The height of chassis above ground of vehicle meets cargo and loads demand.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of AGV vehicle that vehicle frame moves up, it is each including the driving unit that vehicle frame and the bottom of frame front and back end are respectively arranged
Driving unit includes independence and two driving devices for being symmetricly set on vehicle frame left and right sides, and each driving device includes: bracket, branch
Fagging, two wheels, rotating unit and lift unit；Meet:
Support plate and vehicle frame are affixed；
Two wheels are respectively independently matched with driving element, and two wheels are independent and concentric are rotatably installed in branch
Frame two sides；
Rotating unit includes turntable bearing and fixed plate, and fixed plate is located at immediately below support plate, and fixed plate passes through turntable
Bearing and support plate rotation connection；
Lift unit includes lifting element, and lifting element is packed on bracket, and lifting end is fixed in fixed plate.
Further, the bracket includes inside casing and outline border, and two vehicle wheel rotations are mounted on outline border, lifting element setting
On inside casing, outline border and inside casing are by swinging axis connection, and swinging axle is horizontal and vertical with wheel central axes, and two wheels are symmetrically set
It sets in swinging axle two sides.
Further, the turntable bearing is equipped with origin mark point and rotation limit position indicates point, and the support plate is set
There is the corresponding origin position sensor with origin mark point, which is additionally provided with the corresponding limit with rotation limit position mark point
Level sensor.
Further, this driving device further includes pilot unit, and the pilot unit includes being vertically installed on bracket
The sleeve being correspondingly arranged in guide post and fixed plate, the guide post activity are inserted into sleeve.
Further, the driving element is servo motor, and servo motor wheel corresponding with its passes through chain conveyer.
Further, the lifting element is hydraulic cylinder.
Further, the support plate is equipped with the encoder to the rotation angle detection of bearing turntable.
Further, the support plate protrusion top of frame setting.
Further, the vehicle frame front and back ends are respectively equipped with positioning device between two parties, which includes being mounted on vehicle frame
Push element, it is downward which pushes end, and the push end is equipped with and the corresponding magnetic conductance of navigation magnetic stripe on AGV vehicle navigation channel
Navigate sensor.
Further, the push element is electric cylinders structure.
Compared with the existing technology, a kind of AGV vehicle that vehicle frame moves up described in the invention has the advantage that
(1) a kind of AGV vehicle that vehicle frame moves up described in the invention, driving device are provided with lift unit, pass through liquid
Cylinder pressure realizes moving up for support plate, and then entire vehicle frame is driven to move up, and controls AGV vehicle carriage by lift unit and moves up and down,
Realize AGV vehicle carriage on shelf or other supporting mechanisms to contain cargo container directly convert loading, save fork truck or
Cargo automatic loading and unloading and movement are realized in the use of loop wheel machine.
(2) described in the invention in a kind of AGV vehicle that vehicle frame moves up, each wheel of driving device is independent driving,
And wheel is independently rotatably installed on bracket, realizes that AGV vehicle turns to demand.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention wound
The illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.?
In attached drawing:
Fig. 1 is a kind of AGV vehicle stereoscopic schematic diagram that vehicle frame moves up described in the present embodiment；
Fig. 2 is a kind of driving device stereoscopic schematic diagram for the AGV vehicle that vehicle frame moves up described in the present embodiment；
Fig. 3 is a kind of driving device main view for the AGV vehicle that vehicle frame moves up described in the present embodiment；
Fig. 4 is a kind of driving device left view for the AGV vehicle that vehicle frame moves up described in the present embodiment；
Fig. 5 is a kind of AGV vehicle that vehicle frame moves up described in the present embodiment apart from monitoring device perspective view.
Description of symbols:
1- vehicle frame；2- driving device；21- support plate；22- pilot unit；221- sleeve；222- guide post；23- bracket；
231- inside casing；232- outline border；24- turntable bearing；25- lifts element；26- wheel；261- driving element；27- origin position passes
Sensor；28- limit sensors；29- fixed plate；210- encoder；3- pushes element.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
As shown in Figure 1, a kind of AGV vehicle that vehicle frame moves up, is respectively arranged including vehicle frame 1 and the 1 bottom front and back end of vehicle frame
Driving unit, each driving unit includes two driving devices 2 for being symmetricly set on vehicle frame left and right sides, as in Figure 2-4, each
Driving device 2 includes bracket 23, support plate 21, two wheels 26, rotating unit and lift units；Meet: two wheels
26 are respectively independently matched with driving element 261, and driving element 261 is preferably servo motor, servo motor wheel corresponding with its
26 by chain conveyer, two wheels 26 it is independent and it is concentric be rotatably installed in 23 two sides of bracket, two wheels 26 are respectively independent
It is driven by matched servo motor, can be realized the travelings demands such as Forward, retrogressing, original place rotation, steering, meet AGV Chinese herbaceous peony
Into, retreat, turn to and 90 ° of translation demands, for this AGV vehicle, each driving device for be independently arranged, independent operating, often
The respective independent design of two wheels in one driving device, each by motor driven, AGV vehicle when being easy to implement big bearing capacity
The conversion of driving direction improves its own carrying capacity；Rotating unit includes turntable bearing 24 and fixed plate 29, and fixed plate 29 is located at
Immediately below support plate 21, and fixed plate 29 is rotatablely connected by turntable bearing 24 and support plate 21；Lift unit includes lifting member
Part 25, lifting element 25 are packed on bracket 23, and lifting end is fixed in fixed plate 29, it is preferred that the lifting element 25
For hydraulic cylinder.In use, respectively at least installing four driving devices, and the driving dress of AGV vehicle in AGV vehicle carriage two sides bottom end
It sets and is symmetrical arranged about the vehicle vehicle body longitudinal direction central axes AGV, while being symmetrically arranged about width of the carbody direction central axes,
Guarantee to stablize support, the present embodiment illustrates for four driving devices are arranged, the branch specifically when installation, in four driving devices
Fagging 21 is bolted to connection with vehicle frame 1 respectively, and when being loaded to kinds of goods container, AGV vehicle moves to placement container
Supporting mechanism below, be then lifted vehicle frame until container is lifted by supporting mechanism, then AGV vehicle carries container and moves
Out, it is transferred by setting path.
In the present embodiment, to guarantee 21 stationarity of support plate, prevent two wheels in driving device because of central axis height
Error causes support plate to tilt, and the bracket 23 includes inside casing 231 and outline border 232, and two wheels 26 are rotatably installed in outline border 232
On, lifting element 25 is arranged on inside casing 231, and outline border 232 and inside casing 221 are by swinging axis connection, swinging axle level and and vehicle
It is vertical to take turns 26 central axes, two wheels 26 are symmetricly set on 233 two sides of swinging axle.
In the present embodiment, the turntable bearing 24 is equipped with origin mark point and rotation limit position indicates point, the support
Plate 21 is equipped with and the corresponding origin position sensor 27 of origin mark point, which is additionally provided with indicates with rotation limit position
The corresponding limit sensors 28 of point.Relative position between wheel and support plate 21 is detected by two sensors, wherein limit passes
Corner size between two wheel relative frames is realized in the setting of sensor 28, guarantees to turn in AGV vehicle traveling or 90 ° of steering translations need
It asks.
In the present embodiment, to guarantee that vehicle frame moves up and down linearity, i.e., guarantee vehicle frame move up or folding process in it is steady
Property, this driving device further includes pilot unit 22, and the pilot unit 22 includes the guide post being vertically installed on bracket 23
222. and fixed plate 29 on the sleeve 221 that is correspondingly arranged, 222 activity of guide post is inserted into sleeve 221.
In the present embodiment, the support plate 21 is equipped with the encoder 210 that angle detection is rotated to bearing turntable 24.The structure
For detecting the rotational angle of wheel relative frame.
In the present embodiment, the support plate 21 protrudes 1 top surface of vehicle frame setting structure and guarantees that cargo pressure acts on completely
In support plate, and then wheel is passed to by support plate 21, increases the bearing capacity of the AGV vehicle.
As shown in figure 5,1 front and back ends of vehicle frame are respectively equipped with positioning device between two parties, which includes being mounted on vehicle
Push element 3 on frame 1, the push element 3 are electric cylinders structure, and it is downward which pushes end, and the push end is equipped with
Magnetic navigation sensor corresponding with the magnetic stripe that navigates on AGV vehicle navigation channel.
The foregoing is merely the preferred embodiments of the invention, are not intended to limit the invention creation, all at this
Within the spirit and principle of innovation and creation, any modification, equivalent replacement, improvement and so on should be included in the invention
Protection scope within.
Claims (10)
1. a kind of AGV vehicle that vehicle frame moves up, it is characterised in that: be respectively arranged including vehicle frame (1) and vehicle frame (1) the bottom front and back end
Driving unit, each driving unit includes independence and two driving devices (2) for being symmetricly set on vehicle frame left and right sides, each drive
Dynamic device includes: bracket (23), support plate (21), two wheels (26), rotating unit and lift unit；Meet:
Support plate (21) and vehicle frame (1) are affixed；
Two wheels (26) are respectively independently matched with driving element (261), independent and concentric turn of two wheels (26)
It is dynamic to be mounted on bracket (23) two sides；
Rotating unit includes turntable bearing (24) and fixed plate (29), and fixed plate (29) is located at immediately below support plate (21), and solid
Fixed board (29) is rotatablely connected by turntable bearing (24) and support plate (21)；
Lift unit includes lifting element (25), and lifting element (25) is packed on bracket (23), and lifting end is fixed in fixation
On plate (29).
2. the AGV vehicle that a kind of vehicle frame according to claim 1 moves up, it is characterised in that: the bracket (23) includes inside casing
(231) it is rotatably installed on outline border (232) with outline border (232), two wheels (26), lifting element (25) is arranged in inside casing
(231) on, by swinging axis connection, swinging axle is horizontal and vertical with wheel (26) central axes for outline border (232) and inside casing (221),
Two wheels (26) are symmetricly set on swinging axle (233) two sides.
3. the AGV vehicle that a kind of vehicle frame according to claim 1 moves up, it is characterised in that: the turntable bearing (24) is equipped with
Origin mark point and rotation limit position indicate point, and the support plate (21) is equipped with and the corresponding origin position of origin mark point passes
Sensor (27), the support plate (21) are additionally provided with the corresponding limit sensors (28) with rotation limit position mark point.
4. the AGV vehicle that a kind of vehicle frame according to claim 1 moves up, it is characterised in that: this driving device further includes guiding
Unit (22), the pilot unit (22) include the guide post (222) and fixed plate (29) being vertically installed on bracket (23)
On the sleeve (221) that is correspondingly arranged, guide post (222) activity is inserted into sleeve (221).
5. the AGV vehicle that a kind of vehicle frame according to claim 1 moves up, it is characterised in that: the driving element (261) is to watch
Motor is taken, servo motor wheel (26) corresponding with its passes through chain conveyer.
6. the AGV vehicle that a kind of vehicle frame according to claim 1 moves up, it is characterised in that: the lifting element (25) is liquid
Cylinder pressure.
7. the AGV vehicle that a kind of vehicle frame according to claim 1 moves up, it is characterised in that: the support plate (1) is equipped with to axis
Forward the encoder (210) of disk (24) rotation angle detection.
8. the AGV vehicle that a kind of vehicle frame according to claim 1 moves up, it is characterised in that: the support plate (21) protrudes vehicle
The setting of frame (1) top surface.
9. the AGV vehicle that a kind of vehicle frame according to claim 1 moves up, it is characterised in that: vehicle frame (1) front and back ends are each
From positioning device is equipped between two parties, which includes the push element (3) being mounted on vehicle frame (1), which pushes away
Sending end is downward, and the push end is equipped with magnetic navigation sensor corresponding with the magnetic stripe that navigates on AGV vehicle navigation channel.
10. the AGV vehicle that a kind of vehicle frame according to claim 9 moves up, it is characterised in that: the push element (3) is electricity
Cylinder structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811627456.5A CN109533088A (en) | 2018-12-28 | 2018-12-28 | A kind of AGV vehicle that vehicle frame moves up |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811627456.5A CN109533088A (en) | 2018-12-28 | 2018-12-28 | A kind of AGV vehicle that vehicle frame moves up |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109533088A true CN109533088A (en) | 2019-03-29 |
Family
ID=65857893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811627456.5A Pending CN109533088A (en) | 2018-12-28 | 2018-12-28 | A kind of AGV vehicle that vehicle frame moves up |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109533088A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001820A (en) * | 2019-04-03 | 2019-07-12 | 陕西多伦科技发展有限公司 | Multimodal transport vehicle |
| CN110077490A (en) * | 2019-04-28 | 2019-08-02 | 北京星航机电装备有限公司 | A kind of carrying AGV is lifted and suspension and is carried AGV |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120053788A1 (en) * | 2010-08-31 | 2012-03-01 | Azusa Amino | Moving mechanism |
| CN103407517A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Automatic guided vehicle (AGV) chassis travelling mechanism |
| CN203358312U (en) * | 2013-05-27 | 2013-12-25 | 深圳市昂科电子设备有限公司 | Double-drive automated guided vehicle |
| CN105129110A (en) * | 2015-08-26 | 2015-12-09 | 重庆大学 | Planetary rover |
| CN205098338U (en) * | 2015-11-19 | 2016-03-23 | 成都立航科技有限公司 | AGV qxcomm technology transport vechicle |
| CN105946548A (en) * | 2016-05-12 | 2016-09-21 | 吴昊 | Automatic guiding type carrying device |
| CN106006456A (en) * | 2016-07-20 | 2016-10-12 | 广东嘉腾机器人自动化有限公司 | Rotary lifting mechanism and AGV carrying vehicle |
| US20180099811A1 (en) * | 2016-10-09 | 2018-04-12 | Zhejiang Guozi Robot Technology Co., Ltd | Inventory item management system, transporting robots and the method for transporting inventory holder |
| CN108100556A (en) * | 2017-12-29 | 2018-06-01 | 北京欣奕华科技有限公司 | Logistic storage robot |
| CN108298470A (en) * | 2018-04-12 | 2018-07-20 | 芜湖友仁机电工程有限公司 | AGV rotates lifting body |
| CN209553357U (en) * | 2018-12-28 | 2019-10-29 | 天津朗誉科技发展有限公司 | A kind of AGV vehicle that vehicle frame moves up |
-
2018
- 2018-12-28 CN CN201811627456.5A patent/CN109533088A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120053788A1 (en) * | 2010-08-31 | 2012-03-01 | Azusa Amino | Moving mechanism |
| CN203358312U (en) * | 2013-05-27 | 2013-12-25 | 深圳市昂科电子设备有限公司 | Double-drive automated guided vehicle |
| CN103407517A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Automatic guided vehicle (AGV) chassis travelling mechanism |
| CN105129110A (en) * | 2015-08-26 | 2015-12-09 | 重庆大学 | Planetary rover |
| CN205098338U (en) * | 2015-11-19 | 2016-03-23 | 成都立航科技有限公司 | AGV qxcomm technology transport vechicle |
| CN105946548A (en) * | 2016-05-12 | 2016-09-21 | 吴昊 | Automatic guiding type carrying device |
| CN106006456A (en) * | 2016-07-20 | 2016-10-12 | 广东嘉腾机器人自动化有限公司 | Rotary lifting mechanism and AGV carrying vehicle |
| US20180099811A1 (en) * | 2016-10-09 | 2018-04-12 | Zhejiang Guozi Robot Technology Co., Ltd | Inventory item management system, transporting robots and the method for transporting inventory holder |
| CN108100556A (en) * | 2017-12-29 | 2018-06-01 | 北京欣奕华科技有限公司 | Logistic storage robot |
| CN108298470A (en) * | 2018-04-12 | 2018-07-20 | 芜湖友仁机电工程有限公司 | AGV rotates lifting body |
| CN209553357U (en) * | 2018-12-28 | 2019-10-29 | 天津朗誉科技发展有限公司 | A kind of AGV vehicle that vehicle frame moves up |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001820A (en) * | 2019-04-03 | 2019-07-12 | 陕西多伦科技发展有限公司 | Multimodal transport vehicle |
| CN110077490A (en) * | 2019-04-28 | 2019-08-02 | 北京星航机电装备有限公司 | A kind of carrying AGV is lifted and suspension and is carried AGV |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11603301B2 (en) | Lifting mechanism and lifting device with the lifting mechanism | |
| US9745089B2 (en) | Palletized load wrapping and transporting vehicle and method | |
| CN109533088A (en) | A kind of AGV vehicle that vehicle frame moves up | |
| CN102295176B (en) | Roller body transporting carrying vehicle | |
| US20160332848A1 (en) | Automatically guided container gantry lifting device having a movable sensor assembly | |
| CN209553357U (en) | A kind of AGV vehicle that vehicle frame moves up | |
| CN111547433B (en) | Transfer robot and warehouse docking system | |
| CN109607426A (en) | A kind of AGV fork truck | |
| KR20110139656A (en) | Transportation vehicle system | |
| CN110092325A (en) | Materials handling vehicle | |
| CN114852571A (en) | Stereoscopic warehouse transfer robot | |
| CN209554723U (en) | A kind of driving device | |
| CN116281188A (en) | Self-propelled direction-changing device, wafer box conveying device and conveying method | |
| CN209583531U (en) | A kind of AGV with lifting platform | |
| CN109677819B (en) | Automatic guide transport vechicle and cargo handling system | |
| CN210972754U (en) | RGV dolly | |
| CN211338679U (en) | Pallet carrying AGV | |
| CN214988231U (en) | Be applied to AGV material transfer device | |
| CN113771563A (en) | Dual-mode omnidirectional carrier | |
| CN211033918U (en) | Hook car structure and have its RGV | |
| CN219602652U (en) | Self-propelled direction-changing device and wafer box carrying device | |
| CN108071254A (en) | Guide tracked motor dolly and automatic parking lot | |
| CN117068109B (en) | Power conversion system and power conversion method | |
| CN217838271U (en) | AGV robot for heavy load transportation | |
| CN211770111U (en) | Forklift with large forward movement of scissors |
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 |