CN109610911A - A kind of mechanical AGV device driven certainly based on automobile - Google Patents
A kind of mechanical AGV device driven certainly based on automobile Download PDFInfo
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- CN109610911A CN109610911A CN201811516514.7A CN201811516514A CN109610911A CN 109610911 A CN109610911 A CN 109610911A CN 201811516514 A CN201811516514 A CN 201811516514A CN 109610911 A CN109610911 A CN 109610911A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/32—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of conveyor chains or rotatable rollers
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- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
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Abstract
The invention discloses a kind of mechanical AGV devices driven certainly based on automobile, two translating devices including lifting device and before and after lifting device, it is connected between lifting device and two translating devices by straight-line guide rail slide block mechanism, translating device includes translating bottom plate and two groups of rolling element groups installed by unilateral bearing, the translation bottom base plate of translating device is equipped with universal wheel, wherein translation bottom plate is equipped with travel driving unit, the travel driving unit includes the steering wheel that center drive and middle part are equipped with through slot, steering wheel is mounted on translation bottom plate by bearing, center drive is mounted in through slot, center drive is connected by actuating unit with rolling element group, automotive wheel reversion drives center drive movement by actuating unit, to drive mechanical AGV device mass motion, complete small range Automobile is mobile.The present invention utilizes automobile self power, realizes the multi-direction movement of small range automobile, easy to use, low in cost.
Description
Technical field
The invention belongs to the technical fields of Parallel parking, are related to a kind of auxiliary parking apparatus, and in particular to one kind is based on vapour
Mechanical AGV (Automated Guided Vehicle, the i.e. automated guided vehicle) device of vehicle from driving.
Background technique
Existing urban cells parking mode mainly has indented form, run-in index and three kinds rectilinear.Wherein run-in index stops
Position is in long and narrow, and in the roadside of cell and some temporary parking places using relatively broad, the specific gravity for accounting for residential parking space is larger.
According to China's automobile industry national standard relevant regulations, run-in index parking stall is reserving enough disengaging spaces premise to vehicle
Under, 0.6m is respectively vacated in front and back, and stop bit length 6m, wide 2.5m, and the planning of existing urban cells run-in index parking stall is arbitrarily, does not press
According to national related parking stall regulation, phenomena such as fore-and-aft clearance generally occur is more than 1m, and overall length seriously exceeds standard value, space utilization is imitated
Rate is lower；In addition, bicycle, which accounts for double parking stalls etc., disorderly stops that the phenomenon that leaving about is commonplace, and space waste phenomenon is serious；Secondly run-in index
Parking stall need to use lateral parking mode, and the time of parking is longer, be easy to cause safety accident and traffic jam.The above general character is asked
Topic causes extremely serious parking difficulty problem with regard to great urban cells in script parking stall notch.
Summary of the invention
For the parking difficulty problem in existing urban cells, the present invention is using the defect on run-in index parking stall as point of penetration, needle
To market circulation and the rear-guard type automobile that uses, from parking space of making rational planning for, specification parking mode reduces Parallel parking difficulty
Etc. common faults set out, devise it is a kind of based on automobile from driving mechanical AGV device, standardize parking while, improve cell
The lateral and longitudinal space efficiency utilization in run-in index parking stall.
The technical proposal adopted by the invention to solve the above technical problems is that:
A kind of mechanical AGV device driven certainly based on automobile, it is characterised in that: including lifting device and be set to lifting dress
Two translating devices for setting front and back pass through lateral straight-line guide rail slide block mechanism between the lifting device and two translating devices
It is connected, so that lifting device and two translating devices can be equipped with locking phase with lateral separation, between lifting device and translating device
To the locking system of position, the translating device includes the rolling for translating bottom plate and being mounted on two groups on translation bottom plate by bracket
Body group, the rolling element in rolling element group is rack-mount by unilateral bearing, four groups of rolling element components of two translating devices
Four wheel regions of automobile are not corresponded to, and the translation bottom base plate of the translating device is equipped with universal wheel, wherein driving with automobile
The translation bottom plate of the corresponding translating device of driving wheel is equipped with travel driving unit, and the travel driving unit includes steering wheel, center
Driving wheel, bevel gear one and spur gear three, the steering wheel is installed on translation bottom plate by the way that bearing is horizontal, in the middle part of steering wheel
Equipped with through slot, the center drive is installed on the steering wheel by gear shaft, and center drive lower part is stretched out and ten thousand from through slot
It lands together to wheel, the gear shaft both ends of center drive are respectively equipped with bevel gear two and spur gear five, one He of bevel gear
Spur gear three is mounted on the bracket of steering wheel side, and bevel gear one and spur gear three are driven by actuating unit with automobile
The corresponding rolling element group of driving wheel is connected, and the steering wheel can be with by steering disc spins by rotation drive device driving rotation
So that bevel gear one engages with bevel gear two or spur gear five is engaged with spur gear three, so as to adjust center drive walking side
To.
As an improvement, the actuating unit includes spur gear one, the spur gear being mounted on the bracket of translating device
Two and gear wheel reversing device, it is connected between each rolling element of corresponding rolling element group by belt with automobile driving wheel, wherein
One rolling element and one axis connection of spur gear, the spur gear two is engaged with spur gear four and spur gear three respectively to be connected, straight-tooth
Wheel four keeps rotating synchronously with bevel gear one by coaxially fixing, and spur gear one is by gear wheel reversing device and spur gear two or directly
The engagement of gear four is connected.
As an improvement, the gear wheel reversing device is Samsung tumbler gear group comprising commutation support plate, unidirectional driving dress
The tumbler gear one successively engaged, tumbler gear two and the tumbler gear three in commutation support plate are set and are mounted on, wherein commutating
Gear one is driving gear, engages and is connected with spur gear one, and commutation support plate is mounted on by the axis concentric with tumbler gear one
On the bracket of translating device, it can drive commutation support plate that can rotate around the axis of tumbler gear one by reverse driven gear,
The spur gear two position between tumbler gear two and tumbler gear three side, when commutation support plate can be around tumbler gear
When one axis rotation, spur gear two can be engaged with tumbler gear two or tumbler gear three respectively.
As an improvement, the reverse driven gear includes cam and reversing motor, the cam is set on translation bottom plate, and
It contacts, cam and reversing motor axis connection, is rotated by reversing motor band moving cam, so that driving is changed with commutation support plate bottom
Axis to support plate around tumbler gear one rotates upwardly and downwardly, so that tumbler gear two or tumbler gear three are engaged with spur gear two.
As an improvement, the steering wheel is surrounded by a circle gear, it is rotate gear, the rotation drive device includes
The outer ring tooth engagement of tooth sector and steering motor, the tooth sector and rotating disc, tooth sector and steering motor axis connection,
Steering motor is driven by tooth sector and turns to disc spins, so as to adjust the direction of center drive.
As an improvement, the rolling element group is roller group, each roller group has 3-8 roller, and the roller passes through unidirectional
Bearing is mounted on the bracket for being installed on translation bottom plate.
As an improvement, the lifting device includes lifter plate and lifting bottom plate, the lifter plate is installed by elevating mechanism
On lifting bottom plate, by elevating mechanism lifter plate is moved up and down.
As an improvement, the elevating mechanism be scissors rod elevating mechanism, the hinged lifter plate in scissors rod elevating mechanism one end and
It goes up and down on bottom plate, the other end is mounted on lifting bottom plate by leading screw and nut mechanism, and scissors rod elevating mechanism passes through feed screw nut
Mechanism drives lifter plate elevating movement.
As an improvement, the locking system is guide-rail brake, the translation bottom plate of a translating device is equipped with hoofing part
Device, another translation bottom plate are equipped with corresponding balance travel driving unit, and the passive walking driving device includes balance row
Walk wheel, steering wheel, tooth sector and steering motor, the translation for being installed on the translating device that the steering wheel passes through bearing level
On bottom plate, through slot is equipped in the middle part of the steering wheel, the balance traveling wheel is installed on the steering wheel by bearing, balanced under traveling wheel
Portion is stretched out from through slot to land together with universal wheel, and steering wheel outer ring is equipped with the tooth that a circle is engaged with tooth sector, tooth sector and
Steering motor axis connection, steering motor are driven by tooth sector and turn to disc spins, so that balance traveling wheel be driven to turn to.
As an improvement, translating device one end opposite with lifting device is equipped with convenient for the slope pad above and below automobile.
The beneficial effects of the present invention are: providing a kind of Parallel parking device based on automobile from driving, automotive wheel reversion
Friction roll is set to rotate, the power of generation is reached the shaft of driving drum by synchronous belt, and the fixed-axis rotation of roller is converted
For the left and right lateral translational movement power of device, when wheel steering motor, passes through cooperation realization device of gear wheel reversing device or so and transport
The switching in dynamic direction, the conversion of the left and right commutation of control device, drives into parking stall for device by automobile self energizing, raising stops in parallel
Parking stall transverse direction and longitudinal direction space efficiency utilization, avoids vehicle from arbitrarily parking phenomenon.
Detailed description of the invention
Fig. 1 is the overall schematic of the mechanical AGV device of the present invention.
Fig. 2 is the oblique schematic diagram of the mechanical AGV device of the present invention.
Fig. 3 is the static force analysis figure being between two rollers of automotive wheel of the present invention.
Fig. 4 is the force analysis figure that automotive wheel of the present invention rotates forward.
Fig. 5 is the force analysis figure of automotive wheel of the present invention reversion.
Fig. 6 is the structural schematic diagram one of actuating unit of the present invention.
Fig. 7 is the structural schematic diagram two of actuating unit of the present invention.
Fig. 8 is the structural schematic diagram of gear wheel reversing device of the present invention.
Fig. 9 is present invention balance traveling wheel structural schematic diagram.
Figure 10 is the structural schematic diagram of guide rail slide block mechanism of the present invention.
Figure 11 is lifting device structure schematic diagram of the present invention.
Figure 12 lifting device of the present invention and two translating device seperated schematic diagrams.
In figure: 1- bracket, 2- synchronous pulley, 3- friction roll, 4- unilateral bearing, the slope 5- pad, 6- balance traveling wheel, 7-
Universal wheel, 8- center drive, 9- automotive wheel, 10- spur gear one, 11- tumbler gear one, 12- tumbler gear two, 13- is changed
To gear three, 14- spur gear two, 15- spur gear three, 16- spur gear four, 17- bevel gear one, 18- bevel gear two, 19- steering
Disk one, 20- spur gear five, 21- tooth sector one, 22- commutation support plate, 23- guide-rail brake, 24- lifter plate, 25- idler wheel,
26- sliding block one, 27- support, 28- screw rod, 29- lifting motor, 30- scissors rod elevating mechanism, 31- straight-line guide rail slide block mechanism,
The support of the right angle 32-, 33- sliding block two, 34- steering wheel two, 35- tooth sector two, 36- cam, 37- reversing motor, 38- turn to electricity
Machine, 39- translate bottom plate, 40- lifting device, 41- translating device.
Specific embodiment
For a better understanding of the invention, it elaborates below to the embodiment of the present invention.It is to be noted that this implementation
It is driven for vehicle after example, front drive vehicle is similarly.
As shown in Figure 1, mechanical AGV device (the Automated Guided of the invention driven certainly based on automobile
Vehicle, i.e. automated guided vehicle), two translating devices 41 including lifting device 40 and set on 40 front and back of lifting device,
It is connected between the lifting device 40 and two translating devices 41 by lateral straight-line guide rail slide block mechanism 31, so that lifting dress
Set 40 and two translating devices 41 locking relative position can be equipped with lateral separation, between lifting device 40 and translating device 41
Locking system, translating device 41 include bracket 1 and translation bottom plate 39, and bracket 1 is square frame structure, two 41 Hes of translating device
It being located in the middle lifting device 40 and forms general frame together, opposite 1 two sides of bracket are respectively equipped with the slope pad 5 got on or off the bus,
General frame corner location is symmetrically arranged with four roller groups corresponding with four wheels of automobile, i.e., is arranged on each translating device 41
Two roller groups, roller group include multiple rollers of uniform intervals setting, and multiple rollers of each roller group pass through one-way shaft
4 are held to be mounted on bracket 1, each roller passes through unilateral bearing 4 and is mounted on bracket 1, in four roller groups with Automobile drive
Taking turns a corresponding roller group is power acquisition module, and the roller of the roller group passes through shaft and the list being installed on bracket 1
It is connected to bearing 4, shaft outboard end is equipped with synchronous pulley 2, and each two neighboring roller is configured by synchronous belt to be connected, power
Transmission device is set to general frame bottom rear, and the inner end of the shaft of power intake and driving drum is connected, power output
End is connected with center drive 8, gear wheel reversing device set on 1 bottom of bracket, power for being transmitted to actuating unit into
Row turns to commutation, and balance 6 position of traveling wheel and the front and back of center drive 8 are symmetrical, separating mechanism include scissors rod elevating mechanism and
Straight-line guide rail slide block mechanism 31, after automobile reaches device, four wheels are located on four series cylinders, and lifter plate 24 is used under
Up body of a motor car is integrally lifted, straight-line guide rail slide block mechanism 31 is used for the separation of scissor part and automobile opposite sets.Institute
39 bottom of translation bottom plate for stating translating device 41 is equipped with universal wheel 7, wherein translating device 41 corresponding with automobile driving wheel
It translates bottom plate 39 and is equipped with travel driving unit, the translation bottom plate 39 of another translating device 41 is equipped with passive walking driving device.
As shown in Fig. 2, Fig. 6 and Fig. 7, the travel driving unit includes steering wheel 1, center drive 8, bevel gear
One 17 and spur gear 3 15, the steering wheel 1 is installed on translation bottom plate 39 by the way that bearing is horizontal, in steering wheel 1
Portion is equipped with through slot, and the center drive 8 is mounted on steering wheel 1 by gear shaft, and 8 lower part of center drive is from through slot
Stretching lands together with universal wheel 7, and the gear shaft both ends of center drive 8 are respectively equipped with bevel gear 2 18 and spur gear 5 20,
The bevel gear 1 and spur gear 3 15 are mounted on the bracket 1 of one 19 side of steering wheel, bevel gear 1 and spur gear three
15 are connected by actuating unit with rolling element group corresponding with automobile driving wheel, and the steering wheel 1 passes through rotation driving
Device driving rotation, is rotated by steering wheel 1, bevel gear 1 can be made to engage with bevel gear 2 18 or spur gear
5 20 engage with spur gear 3 15, so as to adjust 8 direction of travel of center drive.
As shown in Figure 6 and Figure 7, the actuating unit includes the spur gear being mounted on the bracket 1 of translating device 41
One 10, spur gear 2 14 and gear wheel reversing device pass through belt between each roller of corresponding roller group with automobile driving wheel
Be connected, one of roller and one 10 axis connection of spur gear, the spur gear 2 14 respectively with spur gear 4 16 and spur gear three
15 engagements are connected, and spur gear 4 16 and bevel gear 1 keep rotating synchronously by coaxially fixed, and spur gear 1 passes through gear
Reversing arrangement is engaged with spur gear 2 14 or spur gear 4 16 to be connected.
As shown in figure 8, the gear wheel reversing device is Samsung tumbler gear group comprising commutation support plate 22, commutation are driven
Dynamic device and the tumbler gear 1 successively engaged, tumbler gear 2 12 and the tumbler gear three being mounted in commutation support plate 22
13, wherein tumbler gear 1 be driving gear, engage with spur gear 1 be connected, commutate support plate 22 by with tumbler gear
One 11 concentric axis are mounted on the bracket 1 of translating device 41, can drive commutation support plate 22 can by reverse driven gear
To rotate around the axis of tumbler gear 1, the spur gear 2 14 is located between 3 13 side of tumbler gear 2 12 and tumbler gear
Position, when commutate support plate 22 can around the axis of tumbler gear 1 rotate when, spur gear 2 14 can respectively with tumbler gear two
12 or tumbler gear 3 13 engage.
The reverse driven gear includes cam 36 and reversing motor 37, and the cam 36 is set on translation bottom plate 39, and
It contacts with commutation 22 bottom of support plate, cam 36 and 37 axis connection of reversing motor, is rotated by reversing motor 37 with moving cam 36,
Cam 36 is contacted with commutation support plate 22, so that commutation support plate 22 be driven to rotate upwardly and downwardly around the axis of tumbler gear 1, is made
It obtains tumbler gear 2 12 or tumbler gear 3 13 is engaged with spur gear 2 14.
The steering wheel 1 is surrounded by a circle gear, is rotate gear, and the rotation drive device includes turning to
Gear 1 and steering motor 38, the outer ring tooth engagement of the tooth sector 1 and rotating disc 1, tooth sector 1 with
38 axis connection of steering motor, steering motor 38 drive steering wheel 1 to rotate by tooth sector 1, so as to adjust center drive
The direction of driving wheel 8, so that center drive 8 is rotated with 90 degree of directions, so that center drive 8 has front-rear direction and left and right
Translate the movement of both direction.
Each roller group has 4 rollers in the embodiment of the present invention, and cylinder number, which can according to need, to be increased and decreased, generally
3-8.
As shown in Figure 10, straight-line guide rail slide block mechanism 31 of the present invention is carried out by purchasing existing product using specific to purchase
Product type are as follows: three section heavy type ball guides.The buying product carry self-locking function, that is, a driving lever can be used to fix sliding block, make
Sliding block is immovable, that is, reaches self-locking effect, and straight-line guide rail slide block mechanism 31 includes guide rail and sliding block two, and guide rail passes through right angle branch
Support is mounted on translation bottom plate 39, and sliding block sliding block two and the lifting bottom plate of lifting device 40 are fixedly linked.
As shown in figure 11, the lifting device 40 includes lifter plate 24 and lifting bottom plate, and the lifter plate 24 passes through lifting
Mechanism is mounted on lifting bottom plate, by elevating mechanism lifter plate 24 is moved up and down, and the elevating mechanism is scissors rod liter
Descending mechanism 30, scissors rod elevating mechanism 30 include multiple groups scissors rod, leading screw and nut mechanism and lifting motor 29, scissors rod one end
Two bars are connected with lifter plate 24 and lifting bottom plate communication respectively, and two bars of the other end are respectively equipped with idler wheel 25, pass through idler wheel 25
With lifter plate 24 and lifting contacts baseplate, pass through fixed link phase between 25 end of idler wheel of each group scissors rod on lifting bottom plate
Even, the nut of the fixed link and leading screw and nut mechanism is fixedly linked, and the screw rod and 29 axis of lifting motor of leading screw and nut mechanism connect
It connects, lifting motor 29 is fixedly mounted on lifting bottom plate, and scissors rod elevating mechanism 30 drives lifter plate by leading screw and nut mechanism
24 elevating movements.
As shown in Fig. 1 and Fig. 9, the translation bottom plate 39 of a translating device 41 is equipped with travel driving unit, another translation
Bottom plate 39 is equipped with corresponding balance travel driving unit, and the passive walking driving device includes balance traveling wheel 6, steering wheel two
34, tooth sector 2 35 and steering motor 38 2, the steering wheel 2 34 are installed on the translating device 41 by bearing level
Translation bottom plate 39 on, 2 34 middle part of the steering wheel is equipped with through slot, and the balance traveling wheel 6 is mounted on steering wheel two by bearing
On 34, balance 6 lower part of traveling wheel is stretched out from through slot to land together with universal wheel 7, and 2 34 outer ring of steering wheel is equipped with a circle and turns to
The tooth of gear engagement, tooth sector 2 35 and 38 axis connection of steering motor, steering motor 38 are turned by the driving of tooth sector 2 35
It is rotated to disk 2 34, so that balance traveling wheel 6 be driven to turn to.
Concrete operating principle of the embodiment of the present invention are as follows:
Due to the presence of slope pad 5 and unilateral bearing 4, automobile can normally reach mechanical AGV device, as shown in Figure 1, vapour
After vehicle reaches mechanical AGV device from left to right, four wheels are respectively positioned in corresponding four roller groups, and four roller groups are equal
Equipped with unilateral bearing 4, wherein automobile left rear wheel is located on 3 groups of friction roll of power intake part, at this point, spur gear 3 15 with
Spur gear 5 20 is meshed, and 8 direction of center drive is parallel with device entire length direction.Automobile is driven in the reverse direction, left rear wheel band
3 groups of rotations of friction roll of dynamic lower section are outputed power on spur gear 1 by the driving drum in roller.
Spur gear 1 is finally entered power in center drive 8 by actuating unit, makes center drive 8
It can rotate, entire mechanical AGV device be moved forward and backward, Samsung tumbler gear group drives convex by reversing motor 37
Wheel 36 rotation, make commutate support plate 22 around tumbler gear 1 axis rotate so that spur gear 2 14 can respectively with change
It is engaged to gear 2 12 or tumbler gear 3 13, achievees the purpose that change 8 direction of rotation of center drive, so that mechanical AGV
Device both can advance or retreat, and making engagement, there are two states, and state 1: one 10- tumbler gear of spur gear, one 11- is changed
It is successively engaged to two 12- spur gear 2 14 of gear, center drive 8 is advanced at this time；State 2: one 10- tumbler gear one of spur gear
Three 13- spur gear 2 14 of 11- tumbler gear successively engages, and center drive 8 reversely retreats at this time.Two states are comparably increase and decrease
One transmission gear can be such that final output end rotates to both direction, i.e., the center drive 8 of final output forward or
It rotates backward, enables devices to drive the automobile above it to move on former and later two directions.Turned by the driving of steering motor 38
It drives steering wheel 1 to be rotated by 90 ° to gear 1, since center drive 8 and rotating disk are connected, realizes that center drive 8 is revolved
Turn 90 °, the transverse shifting of mechanical AGV device left and right directions may be implemented by center drive 8, at this time 3 15 He of spur gear
Spur gear 5 20 separates, and bevel gear 1 engages with bevel gear 2 18 to be connected, and since 8 direction of center drive changes, device can
To realize that band electrical automobile moves on front and back and left and right both direction.Since center drive 8 is not in the geometry of device
The heart, therefore when center output wheel turns to, other universal wheels 7 for being installed on mechanical AGV device, which turn to, has randomness,
Cause the movement of single unit system can not be it is anticipated that track operates normally, therefore design balances traveling wheel 6, passes through tooth sector two
35 drive steering wheel 2 34 to rotate, and realization is synchronous with the holding of center output wheel, keep concentricity, and course changing control is completed in cooperation.
After automobile is moved into parking stall by mechanical AGV device, lifting device 40 works, and lifter plate 24 is lifted, by automobile
It jacks up to certain altitude, unlocks guide-rail brake 23,40 front and rear sides of lifting device are pulled out by straight-line guide rail slide block mechanism 31
Translating device 41, later transfer lifter plate 24, by automobile be placed on parking stall until automotive wheel 9 contact ground；Then scissor
Bar elevating mechanism 30 continues to drop to complete contraction, then laterally pulls out lifting device 40, as shown in figure 12, at this time mechanically
AGV device is separated in entirety with automobile, and automobile is correctly parked in parking stall safely, guide-rail brake 23 is locked, lifting device
40 and two translating devices 41 reconnect be integrated, sinking automobile translation work can be carried out, when needing automobile removing vehicle
When position, according to above-mentioned steps reverse operating, i.e., the guide-rail brake 23 of tool formula AGV of the present invention is unlocked, first fills lifting
40 push-in bottom of car are set, automobile is jacked up, then two translating devices 41 are pushed into below automobile, lower section automobile is installed
It states step and automobile is removed into parking stall.
Force analysis is carried out when being between two rollers so that automotive wheel 9 is static, stress is as shown in Figures 2 to 5:
It drafts diameter of cylinder in actual product and is designed as 100mm, distance between axles is 420mm, wheel diameter between two rollers
It is 640mm (for convenient for calculating) in this value, at this time with the circle of automotive wheel 9 according to the practical general 600mm-800mm of stature specification
The heart and the two roller centers of circle are that three vertex constitute the equilateral triangle that side length is 420mm, and the automobile gravity that roller is subject to is
G, wheel are respectively as follows: F by the support force of two rollers1And F2。
With to the right for the direction of advance of vehicle, roller is only capable of just being able to achieve rotating clockwise under the restriction of unilateral bearing 4
Drum movement is driven to complete power intake when automobile reverse gear, as shown in Figure 3:
With reference to existing Automobile Design standard, the general weight of automobile is that 1.5t to 2.0t is differed, we are with 1.5t common in-vehicle
For type, in conjunction with present apparatus actual product, be set as G=2.0t, but according to consult the general distribution table of rolling friction system it is found that
General pitch or concrete route, coefficient of rolling friction are generally 0.018-0.020, and Preliminary design diameter of cylinder is 100mm, by
This can be obtained:
Frictional force between wheel and roller are as follows: f=0.020*G=400N
Driving drum output kinetic energy are as follows: TRoller=TOutput=400N*0.1m=40Nm (loss of desired transmission noenergy).
Therefore the frictional force that last roller is contacted with wheel are as follows: fCylinder=T/r=800N (r is 3 radius of friction roll).
Assuming that automobile can not skid between two friction rolls 3 under inverted status and be driven out to parking apparatus, then wheel at this time
Will not and cylinder contact, stress as shown in figure 4, continue force analysis it is as follows:
Therefore Force Calculation on vertical direction: F1*sin60°+FCylinder* cos60 °=G/4=3750N
Wherein FCylinder=T/r=800N；
Force Calculation in horizontal direction: F1* cos60 ° of > > FCylinder*sin60°
Therefore the frictional force that friction roll 3 provides when wheel reversing is unable to satisfy the needs of back of automobile, original to assume not
Set up, i.e., automobile is maintained between two friction rolls 3 in reversion, vehicle body and parking apparatus integrally will not relative motion, automobile
It will not be slided from device.
Claims (10)
1. a kind of mechanical AGV device driven certainly based on automobile, it is characterised in that: including lifting device and be set to lifting device
Two translating devices of front and back pass through lateral straight-line guide rail slide block mechanism phase between the lifting device and two translating devices
Even, so that lifting device and two translating devices can be equipped with locking with lateral separation, between lifting device and translating device relatively
The locking system of position, the translating device include the rolling element for translating bottom plate and being mounted on two groups on translation bottom plate by bracket
Group, the rolling element in rolling element group is rack-mount by unilateral bearing, four groups of rolling element groups difference of two translating devices
Four wheel regions of corresponding automobile, the translation bottom base plate of the translating device is equipped with universal wheel, wherein with Automobile drive
The translation bottom plate for taking turns corresponding translating device is equipped with travel driving unit, and the travel driving unit includes steering wheel, center drive
Driving wheel, bevel gear one and spur gear three, the steering wheel are installed on translation bottom plate by the way that bearing is horizontal, set in the middle part of steering wheel
Have a through slot, the center drive is installed on the steering wheel by gear shaft, center drive lower part from through slot stretch out with it is universal
Wheel lands together, and the gear shaft both ends of center drive are respectively equipped with bevel gear two and spur gear five, the bevel gear one and straight
Gear three is mounted on the bracket of steering wheel side, and bevel gear one and spur gear three are by actuating unit and with Automobile drive
It takes turns corresponding rolling element group to be connected, the steering wheel is driven by rotation drive device to be rotated, and by turning to disc spins, can be made
Bevel gear one engages or spur gear five is engaged with spur gear three with bevel gear two, so as to adjust center drive walking side
To.
2. mechanical AGV device as described in claim 1, it is characterised in that: the actuating unit is flat including being mounted on
Spur gear one, spur gear two and gear wheel reversing device on the bracket of moving device, the corresponding rolling element group with automobile driving wheel
Each rolling element between be connected by belt, one of rolling element and one axis connection of spur gear, the spur gear two respectively with
Spur gear four is connected with the engagement of spur gear three, and spur gear four and bevel gear one keep rotating synchronously by coaxially fixed, spur gear
One engaged by gear wheel reversing device with spur gear two or spur gear four it is connected.
3. mechanical AGV device as claimed in claim 2, it is characterised in that: the gear wheel reversing device is Samsung commutating tooth
Wheel group comprising commutation support plate, reverse driven gear and the tumbler gear one successively engaged being mounted in commutation support plate,
Tumbler gear two and tumbler gear three, wherein tumbler gear one is driving gear, engages and is connected with spur gear one, and commutate support plate
It is mounted on the bracket of translating device by the axis concentric with tumbler gear one, commutation branch can be driven by reverse driven gear
Fagging can be rotated around the axis of tumbler gear one, and the spur gear two is located at the meta position of tumbler gear two and tumbler gear three side
Set, when commutate support plate can around the axis of tumbler gear one rotate when, spur gear two can respectively with tumbler gear two or commutating tooth
Three engagement of wheel.
4. mechanical AGV device as claimed in claim 3, it is characterised in that: the reverse driven gear includes cam and changes
To motor, the cam is set on translation bottom plate, and is contacted with commutation support plate bottom, and cam and reversing motor axis connection are led to
It crosses reversing motor band moving cam to rotate, to drive commutation support plate to rotate upwardly and downwardly around the axis of tumbler gear one, so that commutation
Gear two or tumbler gear three are engaged with spur gear two.
5. mechanical AGV device as claimed in claim 4, it is characterised in that: the steering wheel is surrounded by a circle gear,
For rotate gear, the rotation drive device includes tooth sector and steering motor, the outer ring of the tooth sector and rotating disc
Tooth engagement, tooth sector and steering motor axis connection, steering motor is driven by tooth sector and turns to disc spins, so as to adjust in
The direction of heart driving wheel.
6. the mechanical AGV device as described in claim 1 to 5 any one, it is characterised in that: the rolling element group is roller
Group, each roller group have 3-8 roller, and the roller is mounted on the bracket for being installed on translation bottom plate by unilateral bearing.
7. mechanical AGV device as claimed in claim 6, it is characterised in that: the lifting device includes lifter plate and lifting
Bottom plate, the lifter plate are mounted on lifting bottom plate by elevating mechanism, by elevating mechanism lifter plate are moved up and down.
8. mechanical AGV device as claimed in claim 7, it is characterised in that: the elevating mechanism is scissors rod elevating mechanism,
On the hinged lifter plate in scissors rod elevating mechanism one end and lifting bottom plate, the other end is mounted on lifting bottom plate by leading screw and nut mechanism
On, scissors rod elevating mechanism drives lifter plate elevating movement by leading screw and nut mechanism.
9. AGV device as claimed in claim 7 mechanical, it is characterised in that: the locking system is guide-rail brake, one
The translation bottom plate of translating device is equipped with travel driving unit, another translation bottom plate is equipped with corresponding balance travel driving unit,
The passive walking driving device includes that balance traveling wheel, steering wheel, tooth sector and steering motor, the steering wheel pass through axis
It holds on the horizontal translation bottom plate for being installed on the translating device, through slot is equipped in the middle part of the steering wheel, the balance traveling wheel passes through
Bearing is installed on the steering wheel, and balance traveling wheel lower part is stretched out together with universal wheel from through slot to land, and steering wheel outer ring is equipped with one
The tooth engaged with tooth sector, tooth sector and steering motor axis connection are enclosed, steering motor drives steering wheel by tooth sector
Rotation, so that balance traveling wheel be driven to turn to.
10. mechanical AGV device as claimed in claim 7, it is characterised in that: the translating device is opposite with lifting device
One end is equipped with convenient for the slope pad above and below automobile.
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| CN201811516514.7A CN109610911B (en) | 2018-12-12 | 2018-12-12 | Mechanical AGV device based on automobile self-driving |
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| CN201811516514.7A CN109610911B (en) | 2018-12-12 | 2018-12-12 | Mechanical AGV device based on automobile self-driving |
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| CN109610911A true CN109610911A (en) | 2019-04-12 |
| CN109610911B CN109610911B (en) | 2020-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811516514.7A Active CN109610911B (en) | 2018-12-12 | 2018-12-12 | Mechanical AGV device based on automobile self-driving |
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| CN109610911B (en) | 2020-05-12 |
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