CN109823444A - A kind of heavy duty AGV - Google Patents
A kind of heavy duty AGV Download PDFInfo
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- CN109823444A CN109823444A CN201910175250.1A CN201910175250A CN109823444A CN 109823444 A CN109823444 A CN 109823444A CN 201910175250 A CN201910175250 A CN 201910175250A CN 109823444 A CN109823444 A CN 109823444A
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- heavy duty
- suspension
- car body
- shaft
- spandrel girder
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- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 239000000725 suspension Substances 0.000 claims abstract description 29
- 239000002184 metal Substances 0.000 claims description 12
- 230000001939 inductive effect Effects 0.000 claims description 10
- 238000005728 strengthening Methods 0.000 claims 1
- 210000002435 tendon Anatomy 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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Abstract
The present invention relates to a kind of heavy duty AGV, including car body and bogie, the car body further includes two balance mechanisms, each balance mechanism includes spandrel girder and the suspension shaft for being fixed on the spandrel girder bottom, the suspension both ends of the shaft is equipped with suspension strut seat, the bogie is mounted on the spandrel girder two sides of the bottom, and described two balance mechanisms are individually fixed in the front and back of the car body by respective suspension strut seat.This have the advantage that, the AGV is mounted with a kind of new balance mechanism, supported at three point may be implemented in each balance mechanism (balance mechanism adds two bogies), so that bearing capacity and riding stability all greatly improve, it is able to achieve up to a hundred tons of carrying, solving existing AGV cannot achieve the technical problem of heavy duty.
Description
Technical field
The present invention relates to field of mechanical technique more particularly to a kind of heavy duty AGV.
Background technique
AGV is the english abbreviation of automated guided vehicle (Automated Guided Vehicle), is referred to equipped with electricity
Magnetically or optically equal homing guidances device, can travel along defined guide path, have safeguard protection and various transfer functions
Transport vehicle, belong to the scope of wheeled mobile robot, be a kind of unpiloted transport vehicle.However existing AGV is general
Load-bearing capacity is 2T, and maximum only 30 tons or so, up to a hundred tons of the existing field AGV that is supported on still belongs to blank, so that existing
The mobile transport of large tonnage product can only be sling by large-tonnage loop wheel machine and is placed on vehicle, then be moved to specified region by vehicle,
Not applicable for short-range transport the method, low efficiency is at high cost, and workshop can not also be hung in the case where limiting using large-tonnage
Vehicle is lifted.The size of heavy duty transporter not can enter workshop again, and the prior art has been unable to meet the skill of existing logistics field
Art development.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of heavy duty AGV, which is mounted with a kind of new balance mechanism, makes
It obtains bearing capacity and riding stability all greatly improves, be able to achieve up to a hundred tons of carrying, solving existing AGV cannot achieve heavy duty
Technical problem.
In order to realize that the purpose of above-described embodiment, the embodiment of the present invention provide a kind of heavy duty AGV, including car body and steering
Frame, the car body further include two balance mechanisms, and each balance mechanism includes spandrel girder and is fixed on the spandrel girder bottom
Shaft is hung, which is equipped with suspension strut seat, which is mounted on the spandrel girder two sides of the bottom, and this two
Balance mechanism is individually fixed in the front and back of the car body by respective suspension strut seat.
In order to guarantee the effect of spandrel girder load-bearing, which is internally provided with criss-cross reinforcing rib.
For the ease of cabling, the support plate convenient for cabling is additionally provided with inside the spandrel girder.
In order to guarantee counterbalance effect, which is sloped downwardly.
In order to further ensure counterbalance effect, hangs shaft and be made of connecting plate and shaft, which is fixed on this turn
On the groove of axis, the screw hole of several spandrel girders for screw stays is provided on the connecting plate.
For the ease of the balance mechanism to be installed on heavily loaded AGV, while guaranteeing counterbalance effect, suspension both ends of the shaft peace
Equipped with the suspension strut seat for being fixed on heavy duty AGV, specially the suspension both ends of the shaft passes through bearing and the suspension strut
Seat is connected, which is limited by end cap and fixed.
Limit when in order to turn to bogie does not allow bogie rotational angle much, and guaranteeing can normal row after AGV is turned to
It sails, a pair of metal inductive pick-up group for being limited to the bogie rotational angle is provided with around each slot
Part, the metal inductive pick-up component are connected with the controller being arranged in inside the spandrel girder.
In order to accurately obtain the angle of bogie rotation, an angular encoder group is additionally provided with around each slot
Part.
For precise measurement bogie rotational angle, which includes spur gear, spur gear and encoder
Axis one end is fixedly connected, which is connected with absolute value encoder.
In order to guarantee that power safety and power supply are convenient, the car body intermediate region between two balance mechanisms is deposited for battery
Put frame.
For the ease of lifting weight, there are six lifting components, every three lifting components to be arranged at for setting on the car body
The side of longer car body.
This have the advantage that the AGV is mounted with a kind of new balance mechanism, each balance mechanism can be real
It existing supported at three point (balance mechanism adds two bogies), so that bearing capacity and riding stability all greatly improve, is able to achieve
Hundred tons of carrying, solving existing AGV cannot achieve the technical problem of heavy duty.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is heavy duty AGV schematic diagram of internal structure provided in an embodiment of the present invention.
Fig. 2 is heavy duty AGV schematic perspective view provided in an embodiment of the present invention.
Fig. 3 is heavy duty AGV balance mechanism external structure schematic diagram provided in an embodiment of the present invention.
Fig. 4 is heavy duty AGV balance mechanism schematic diagram of internal structure provided in an embodiment of the present invention.
Fig. 5 is heavy duty AGV balance mechanism bottom substance schematic diagram provided in an embodiment of the present invention.
Fig. 6 is heavy duty AGV balance mechanism schematic cross-sectional view provided in an embodiment of the present invention.
Fig. 7 is suspension pivot structure schematic diagram provided in an embodiment of the present invention.
Fig. 8 is angular encoder component structure diagram provided in an embodiment of the present invention.
Fig. 9 is angular coding device assembly schematic cross-sectional view provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of heavy duty AGV, as shown in Figure 1, heavy duty AGV car body is steel construction car body, wherein
Including two balance mechanisms A1 and A2, the front and back of AGV car body is fixed on by respective suspension strut seat respectively.Each balancing machine
Two sides of the bottom are mounted on bogie A1B, A1C and A2B, A2C.The specific structure of the bogie discloses in other patents,
Details are not described herein.Body part among two balance mechanisms A1 and A2 is battery storing frame, is mainly used for storing power electric
Pond.
As shown in Fig. 2, there are six lifting component B1, B2, B3, B4, B5 and B6 for setting in car body, upper end cover board can be run through,
It is mainly used for lifting on weight.And for the ease of lifting weight, tri- components of tri- components of B1, B2, B3 and B4, B5, B6 point
The side of longer car body is not set, can make the stress point of weight balanced in this way.It should be noted that this six rise act group
The structure and driving method of part are the prior arts, and details are not described herein.
For the clearer structure for illustrating balance mechanism, as shown in figure 3, spandrel girder 1 is the metal of one piece of boring
Plate.In order to guarantee that the counterbalance effect of heavily loaded AGV, 1 liang of shoulder of spandrel girder are sloped downwardly so that heavy duty AGV traveling shake when there are
Surplus.As shown in figure 5,1 bottom of spandrel girder is fixed with suspension shaft 2, keep flat when driving in heavily loaded AGV for balance mechanism
Weighing apparatus.As shown in fig. 7, the suspension shaft 2 is made of a rectangle connecting plate 21 and a cylinder-shaped shaft 22.It is arranged among shaft 22
There is the groove for being correspondingly connected with 21 length of plate, connecting plate 21 is fixed on the groove by parts such as screw, screws.The connecting plate 21
On be provided with several for can be screwed in the screw hole of spandrel girder 1, while 22 both ends of shaft are provided with screw hole.Such as Fig. 3
With shown in Fig. 5, suspension 2 both ends of shaft be equipped with for being fixed on heavily loaded AGV suspension strut seat 31,32 (suspension strut seat 31,
32 upper ends are provided with screw hole for fixing).Specifically as shown in fig. 6, having through-hole in suspension strut seat 31,32, on each through-hole
Bearing 311 and 321 of corresponding size is installed, suspension 2 both ends of shaft pass through the exposed end of bearing 311 and 321, end cap 41 and 42
The end for clasping exposing is fastened by screw to be limited.As long as suspension strut seat 31,32 upper ends are screwed in heavy duty in this way
On AGV, entire balance mechanism can be fixed on heavily loaded AGV.In this way when heavy duty AGV advances, shaft 2 is hung as one
The axis of seesaw equally adapts to the shaking of car body, and entire balance mechanism is allowed to guarantee the stabilization of car body traveling as far as possible.
As shown in figure 4, spandrel girder 1 is internally provided with criss-cross reinforcing rib 101, load-bearing may further ensure that in this way
The effect of 1 load-bearing of beam.The support plate 102 convenient for cabling is additionally provided with inside spandrel girder 1 simultaneously, which is not only convenient for
Cabling, and the load bearing effect of spandrel girder 1 can be further strengthened.
As shown in figure 5,1 two sides of the bottom of spandrel girder are provided with the slot 11,12 for installing bogie.Slot 11,12
Surrounding is respectively and fixedly provided with a pair of metal inductive pick-up component 111,112 and for being limited to the bogie rotational angle
121,122.Each metal inductive pick-up component (does not regard out) phase with the controller being arranged in inside spandrel girder 1 in attached drawing
Even.Angular coding device assembly 113,123 is additionally provided with around slot 11,12.As shown in Figure 8 and Figure 9, angular encoder group
Part 113 includes spur gear 1131, which is fixedly connected with 1132 one end of encoder axis, 1132 other end of encoder axis
It is connected with absolute value encoder 1133.Absolute value encoder 1133 (does not regard out) phase with the controller inside spandrel girder 1 in attached drawing
Even.Guarantee the efficiency of AGV traveling due to the present embodiment, bogie is two-wheel group bogie.In this way when bogie turns to
It is first detected by a metal inductive pick-up and opening angle detects, while spur gear rotation is (on spur gear and bogie
The engagement of one gear) and then the rotation of encoder axis is driven, absolute value encoder just starts to calculate rotational angle at this time.If another metal
Inductive pick-up detects bogie, then controller is forced to stop bogie rotation.If another metal inductive pick-up is not examined
Measure bogie, but when the rotational angle that calculates of absolute value encoder is greater than limit angle, then controller can be forced to stop turning
It is rotated to frame.
The metal inductive pick-up that the embodiment of the present invention uses is " to incude close to three line SN04-N metal of switch DC and sense
Device NPN " is the model sensor water-proof, grease proofing, anti-interference strong.And encoder is sick absolute value encoder.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail it is bright, it should be understood that the above is only a specific embodiment of the present invention, the guarantor being not intended to limit the present invention
Range is protected, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this
Within the protection scope of invention.
Claims (10)
1. a kind of heavy duty AGV, including car body and bogie, it is characterised in that: the car body further includes two balance mechanisms, each
Balance mechanism includes spandrel girder and the suspension shaft for being fixed on the spandrel girder bottom, and the suspension both ends of the shaft is equipped with
Suspension strut seat, the bogie are mounted on the spandrel girder two sides of the bottom, and described two balance mechanisms pass through respective outstanding
Hang the front and back that support base is individually fixed in the car body.
2. heavy duty AGV according to claim 1, it is characterised in that: the spandrel girder is internally provided with criss-cross add
Strengthening tendons and support plate convenient for cabling.
3. heavy duty AGV according to claim 2, it is characterised in that: two shoulder of spandrel girder is sloped downwardly.
4. heavy duty AGV according to claim 3, it is characterised in that: suspension shaft is made of connecting plate and shaft, the company
Fishplate bar is fixed on the groove of the shaft, and the spiral shell of several spandrel girders for screw stays is provided on the connecting plate
Hole.
5. heavy duty AGV according to claim 1 or 4, it is characterised in that: the suspension both ends of the shaft is equipped with for fixing
In the suspension strut seat of the heavy duty AGV, the specially described suspension both ends of the shaft is connected by bearing with the suspension strut seat,
The suspension strut seat is limited by end cap and is fixed.
6. heavy duty AGV according to claim 5, it is characterised in that: be provided with a pair around each slot and be used for
To the metal inductive pick-up component that the bogie rotational angle is limited, the metal inductive pick-up component with set
The controller inside the spandrel girder is set to be connected.
7. heavy duty AGV according to claim 6, it is characterised in that: be additionally provided with an angle around each slot
Encoder component.
8. heavy duty AGV according to claim 7, it is characterised in that: the angular coding device assembly includes spur gear, described
Spur gear is fixedly connected with encoder axis one end, and the encoder axis other end is connected with absolute value encoder.
9. heavy duty AGV according to claim 8, it is characterised in that: the car body middle area between described two balance mechanisms
Domain is battery storing frame.
10. heavy duty AGV according to claim 9, it is characterised in that: there are six lifting components for setting on the car body, often
Three lifting components are arranged at the side of longer car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175250.1A CN109823444A (en) | 2019-03-08 | 2019-03-08 | A kind of heavy duty AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175250.1A CN109823444A (en) | 2019-03-08 | 2019-03-08 | A kind of heavy duty AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109823444A true CN109823444A (en) | 2019-05-31 |
Family
ID=66865668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910175250.1A Pending CN109823444A (en) | 2019-03-08 | 2019-03-08 | A kind of heavy duty AGV |
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| Country | Link |
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| CN (1) | CN109823444A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113716490A (en) * | 2020-12-21 | 2021-11-30 | 武汉智为物流装备技术有限公司 | Extra-heavy type electric AGV |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN105128979A (en) * | 2015-08-28 | 2015-12-09 | 华中农业大学 | All hydraulic wheel type field information collecting platform |
| CN207045494U (en) * | 2017-08-23 | 2018-02-27 | 广东飞库科技有限公司 | For AGV dollies link-type pendulous device and there is its AGV dollies |
| CN109019434A (en) * | 2018-08-23 | 2018-12-18 | 江苏哈工联合精密传动有限公司 | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted |
| CN209581669U (en) * | 2019-03-08 | 2019-11-05 | 江苏驰众智能装备制造有限公司 | A kind of heavy duty AGV |
| CN115303385A (en) * | 2022-09-19 | 2022-11-08 | 河南卫特机器人有限公司 | Heavy-load AGV vehicle |
-
2019
- 2019-03-08 CN CN201910175250.1A patent/CN109823444A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN105128979A (en) * | 2015-08-28 | 2015-12-09 | 华中农业大学 | All hydraulic wheel type field information collecting platform |
| CN207045494U (en) * | 2017-08-23 | 2018-02-27 | 广东飞库科技有限公司 | For AGV dollies link-type pendulous device and there is its AGV dollies |
| CN109019434A (en) * | 2018-08-23 | 2018-12-18 | 江苏哈工联合精密传动有限公司 | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted |
| CN209581669U (en) * | 2019-03-08 | 2019-11-05 | 江苏驰众智能装备制造有限公司 | A kind of heavy duty AGV |
| CN115303385A (en) * | 2022-09-19 | 2022-11-08 | 河南卫特机器人有限公司 | Heavy-load AGV vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113716490A (en) * | 2020-12-21 | 2021-11-30 | 武汉智为物流装备技术有限公司 | Extra-heavy type electric AGV |
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