CN110329392A - A kind of novel parking AGV trolley - Google Patents
A kind of novel parking AGV trolley Download PDFInfo
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- CN110329392A CN110329392A CN201910548237.6A CN201910548237A CN110329392A CN 110329392 A CN110329392 A CN 110329392A CN 201910548237 A CN201910548237 A CN 201910548237A CN 110329392 A CN110329392 A CN 110329392A
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- 230000000712 assembly Effects 0.000 claims abstract description 22
- 238000000429 assembly Methods 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 208000028804 PERCHING syndrome Diseases 0.000 claims description 23
- 238000007667 floating Methods 0.000 claims description 22
- 239000000725 suspension Substances 0.000 claims description 18
- 230000003139 buffering effect Effects 0.000 claims description 13
- 230000000717 retained effect Effects 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 3
- 230000003447 ipsilateral effect Effects 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 8
- 238000013016 damping Methods 0.000 abstract description 5
- 230000009975 flexible effect Effects 0.000 abstract description 3
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- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
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- 238000012546 transfer Methods 0.000 description 2
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- 229910000746 Structural steel Inorganic materials 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/02—Understructures, i.e. chassis frame on which a vehicle body may be mounted comprising longitudinally or transversely arranged frame members
-
- 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
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of novel parking AGV trolleies, are made of bumper, vehicle frame with symmetrical two nested structure in front and back on vehicle frame is installed on, every nested structure includes drive system, steering system, vibration damping guiding mechanism and clamping device.Drive system, it can be achieved that Quan Lun omnidirectional walks and plays the role of bearing balance car body, is had compared with strong power using electric four-wheeled driving；Steering system is flexibly turned to by swivel bearing and stepper motor realization；Vibration damping guiding mechanism mainly by spring and guide post group at, can trolley transportational process stability；Clamping device include clamp assemblies and and clamping adjusting device, clamp assemblies, which are realized, holds up vehicle, and clamping adjustment mechanism realizes the adjustment of front and back clamping device centre distance, it can be achieved that transport to different wheelbase vehicles.Compared with prior art, the present invention has the advantages that power is reliable, it is flexible to turn to, transportational process is stable and strong applicability.
Description
Technical field
The invention belongs to automated guided vehicle technical field, specially a kind of novel parking AGV trolley.
Background technique
As the fast development and the relatively slow urban road infrastructure of development, parking difficulty of auto industry become city
Cityization and the inevitable result of automobile industry development.Stopping AGV can be by vehicles drive at automobile parking, in whole process
Manual operation is not needed, and place parking stall also no longer needs reserved driver to enter and leave larger space required when opening the door, and
During entirely parking, work of driving of stopping is completed by intelligent parking robot completely, it can be in opposite narrow space
The adjustment for completing posture, is greatly saved parking space, vehicle parking density can also greatly improve.
Existing parking AGV mainly has three kinds of tyre type of vehicle lift template, interdigitated electrode structure and clamping.Vehicle lifts template and passes through drilling vehicle lift
It works below plate, vehicle lift plate is transported to setting position together with the vehicle being parked on vehicle lift plate, after stop, vehicle
Lift template AGV will carry out parking for next trolley, move in circles.The type structure is simple, at low cost, is easily installed, but work
It is relatively low to make efficiency.Interior comb teeth and outer comb teeth are mounted on automobile support and AGV by interdigitated electrode structure parking AGV, pass through comb teeth gap
The lifting process of AGV is completed, to achieve the purpose that interior comb teeth and the interspersed transposition of outer comb teeth, to realize that the stop of automobile is removed
Fortune.The type handling efficiency is higher, but comb tooth material performance and structure size require height, and production difficulty coefficient is big.Clamp tire
Type parking AGV is that robot is directly entered under vehicle, is picked up vehicle tyre by clamping device, to complete vehicle
Pool puts work.The type handling efficiency is low compared with interdigitated electrode structure, but compact-sized install convenient, suitable for the intelligence under the limited conditions of space
It can control technology.Based on the type of all types of parking robots at this stage, the application is designed using clamping tyre type parking machine device
People.It is directed to the generally existing weakness to different automobile wheel base bad adaptabilities of various clamping tyre type parking machine device people simultaneously,
Design clamping adjustment mechanism, can center according to each axle away from adjustment clamp assemblies away from improving the applicability of design.
In addition, existing AGV trolley be mostly realized by four-wheel differentia or integrated two wheel guide robot car body deflecting and original place from
Rotation, this structure is higher to space and ground flat degree in use, be easy to cause when driving in the case where Uneven road
A certain wheel is hanging or breaks away, and influences the driveability of vehicle, causes car body to generate unnecessary vibration, makes travel route not
Riding stability that is accurate and reducing vehicle.The present invention is turned to using electric four-wheeled driving while increasing buffering in view of the above problems
Vibration absorber improves the stability and dynamic property of trolley, it can be achieved that being precisely controlled for steering.
Summary of the invention
Technology based on the above background, the invention proposes a kind of solution of novel parking AGV trolley, which is used
The driving method that electronic a11wheel drive turns to, and increase buffering shock-absorbing device, it can be achieved that 360 ° of drivings of wheel turn to entirely, raising
The driving force and steering flexibility of trolley, ensure that four wheel moment land and reduce the vertical vibration of trolley, improve
The riding stability of trolley.The application uses clamping wheel the form of the foetus formula on method of clamping, and increases clamping adjustment mechanism, adjusts
The center of whole clamp assemblies is away from improving the applicability of trolley.
The technical solution adopted by the invention is as follows: a kind of novel parking AGV trolley, including frame assembly, on frame assembly
Running gear, retained part are installed, wherein retained part includes that front and back is symmetrically mounted on the clamp assemblies on frame assembly with before
The clamping adjustment mechanism being symmetrically mounted on frame assembly afterwards, clamping adjustment mechanism include adjustment motor, lead screw pair, guide rail and energy
The sliding block slided in guide rail, wherein guide rail is mounted on on frame assembly, and lead screw pair includes lead screw and nut, nut installation
On ipsilateral clamp assemblies, which is also mounted on sliding block, and adjustment motor is fixed on frame assembly, output shaft
It is connected with lead screw.When need to adjust front and back clamp assemblies center away from when, adjustment motor driven lead screw rotation keeps nut generation horizontal
It is mobile.Since clamp assemblies and nut are fixed, so clamp assemblies generate the movement in horizontal direction, and then adjustment clamping is realized
The purpose of module position improves the adaptability to different automobile wheel bases.
Further, clamp assemblies include clamping motor, retarder, turbine, worm screw, clamping perching knife, mounting seat, installation
Pedestal is mounted on sliding block, the nut being also equipped in lead screw pair in mounting seat, clamping motor, retarder, turbine, worm screw peace
On mounting seat, clamping perching knife one end is connect with turbine, and clamping motor, retarder, worm screw are arranged on coaxial line, is pressed from both sides
It holds motor and output torque is reached into worm screw.Worm screw is meshed with turbine, and changes the direction of transfer of power, in the work of certain torque
So that turbine is rotated a certain angle under, while clamping perching knife and also rotating corresponding angle, to realize the positioning and clamping of trolley.
Further, running gear includes four groups of drive systems, steering system and buffering shock-absorbing device, four groups of driving systems
System, steering system and buffering shock-absorbing device correspondence are mounted on frame assembly activation point.Every group of buffering shock-absorbing device all includes vehicle
It is hinged to connect multi link for frame connecting plate, spring, spring lead, suspension connecting plate between frame connecting plate and suspension connecting plate
Supporting mechanism, spring lead are fixedly connected with frame connecting plate, and suspension connecting plate passes through guiding post holes and guide post thereon
Clearance fit, spring pocket between upper and lower two plate and are in compressive state in guide post, and frame connecting plate is mounted on vehicle frame
On assembly, drive system, steering system are installed below suspension connecting plate.When trolley is vibrated by as caused by Uneven road
When, suspension connecting plate can move up and down under the action of compressed spring, which can guarantee that four wheels of small motor vehicle drive system are same
When land, improve the dynamic property of vehicle；The vertical vibration that trolley can be reduced simultaneously, improves the stability of trolley.Utilize spring
Damping effect reduces the vertical vibration of trolley, is guaranteed during vibration damping using spring lead, trolley driving direction it is accurate
The stability of property and vehicle.
Further, pin, guide rod connect to form multi link hinged support guiding mechanism.
Further, drive system includes driving wheel, and driving wheel all includes driving motor, retarder, wheel, bearing, vehicle
Take turns mounting plate, axle, left side plate, wherein left side plate is mounted below wheel mounting plate, and axle and left side plate pass through axis
Connection is held, and is connect with wheel, driving motor is mounted on the inside of wheel, and driving motor, retarder and axle are mounted on same axis
On line；Drive axle rotation to drive vehicle wheel rotation by retarder by driving motor supplies power.Due to using four
Motor respectively drives four wheels, not only increases driving force, has also shared the required power of vehicle, reduces motor and each
The size of components.Steering system of walking and drive system share wheel mounting plate, share suspension with buffering shock-absorbing device and connect
Plate, including outer gear ring, floating bearing, stepper motor, floating bearing include floating bearing inner ring, floating bearing outer ring and steel ball,
Multi-diameter shaft, first axle and floating bearing inner ring transition fit are installed above wheel mounting plate, the second axial end is drilled with threaded hole,
It is bolted with floating bearing inner ring end face, and floating bearing outer ring and outer gear ring are interference fitted, and are bolted
On suspension connecting plate, stepper motor is fixed below wheel mounting plate, and output shaft passes through wheel mounting plate and is also equipped with
Planetary gear, planetary gear and outer gear ring engagement.Its course of work are as follows: stepper motor drives planetary gear rotation by output shaft, by
It is fixed in outer gear ring, planetary gear carries out circular motion by being meshed with outer gear ring, along gear ring, and then drives entire driving wheel
Rotation is realized and is flexibly turned to.
Further, frame assembly is made of five crossbeams and two stringers.
Further, frame assembly is assembled with battery bracket, electric machine support and controller installs case.
Further, the turbine is incomplete turbine, guarantees that the rotation angle of rotation perching knife in given range, meets
To the performance requirement of trolley.
Further, clamp assemblies further include upper cover plate, and upper cover plate is mounted in mounting seat and by turbine, worm screw, folder
Hold motor covering.
Further, bumper is installed on frame assembly.
Whole realization process of the invention is as follows:
(1) preparation stage.Client is as required by vehicle parking to specified platform.Parking AGV trolley packs up the clamping of vehicle body two sides
Perching knife guarantees that trolley can smoothly enter into vehicle bottom.
(2) reception step.According to parking AGV trolley and the relative position of vehicle to be transported and the wheelbase of vehicle, to adjust
The distance between whole clamp assemblies, this process are realized by clamping adjustment mechanism.Then, clamping motor rotation, drives whirlpool
Worm and gear rotation, clamping perching knife also rotates, and then realizes the picking-up to vehicle.
(3) stage is transported.After holding up vehicle, parking AGV trolley travels under the action of driving motor, is oriented to by vibration damping
Mechanism reduces the vibration in driving process, guarantees trolley in the road general work of out-of-flatness, four wheels can simultaneously
Ground improves the stability of the driveability of vehicle, the accuracy of driving direction and vehicle.According to the determining route of navigation,
The adjustment of rotational angle is realized by the rotation of control stepper motor when turning to, while controlling the side slip angle of vehicle
With yaw velocity, parking position is specified up to parking AGV is reached.
(4) stage is parked.After the AGV that stops reaches specified parking position, under the action of clamping motor, clamping perching knife is carried out
It reversely rotates, unclamps vehicle tyre, vehicle is placed on specified position of platform.Meanwhile the clamping perching knife of vehicle body two sides is packed up, it protects
Card trolley smoothly uses vehicle bottom, completes vehicle parking process.
Beneficial effects of the present invention are as follows:
1. parking AGV trolley of the invention is turned to using four-wheel drive, the driving force of trolley is substantially increased, while utilizing revolution
Bearing realizes 360 ° of wheel rotations, and steering is more flexible, reduces the space requirement of trolley travelling, improves space utilization
Rate improves the adaptability of trolley travelling environment.
2. parking AGV trolley of the invention uses newly-designed buffering shock-absorbing device, it ensure that four wheel moment
Ground, improves the driveability of trolley, while reducing the vertical vibration of trolley, improves the riding stability of trolley and accurate
Property.
3. parking AGV trolley of the invention increases clamping adjustment mechanism, clamping group can be adjusted by motor driven lead screw
The center of part away from, improve parking AGV trolley versatility, and by perching knife positioning tire, improve positioning accuracy.
4. parking AGV vehicle structure of the invention is compact, and the operation is simple and flexible property and safety are good, infrastructure cost compared with
It is low.
Detailed description of the invention
It constitutes part of this application Figure of description to be used to provide further understanding for the application, the application's is schematic
Implement example and its explanation for explaining the application, does not constitute an undue limitation on the present application.
Fig. 1 novel parking AGV trolley vehicle schematic diagram.
Fig. 2 drive system general illustration.
Fig. 3 steering system general illustration.
Fig. 4 floating bearing schematic diagram.
Fig. 5 buffering shock-absorbing device general illustration.
Fig. 6 running gear schematic diagram.
Fig. 7 clamping device general illustration.
Fig. 8 clamps perching knife schematic diagram.
Fig. 9 guide rail slide block schematic diagram.
Figure 10 frame assembly schematic diagram.
Description of symbols in figure:
1-clamp assemblies, 2-clamping adjustment mechanisms, 3-frame assemblies, 4-drive systems, 5-bumpers, 6-buffer shock-absorbings
Device, 7-steering systems, 8-driving motors, 9-wheel mounting plates, 10-wheels, 11-left side plates, the connection of 12-suspensions
Plate, 13-outer gear rings, 14-floating bearings, 15-planetary gears, 16-stepper motors, 17-floating bearing outer rings, 18-revolutions
Bearing inner race, 19-steel balls, 20-pins, 21-springs, 22-spring leads, 23-guide rods, 24-frame connecting plates,
25-adjustment motors, 26-lead screw pair, 27-clamping perching knives, 28-turbines, 29-mounting seats, 30-scroll bars, 31-clampings
Motor, 32-guide rails, 33-sliding blocks, 34-crossbeams, 35-stringers, 36-electric machine supports, 37-controller installs cases, 38-electricity
Pond bracket.
Specific embodiment
It should be pointed out that following detailed description is all illustrative, it is intended to provide further explanation to the application.Unless otherwise
It indicates, all technical and scientific terms used herein has usually manages with the application person of an ordinary skill in the technical field
The identical meanings of solution.
Specific embodiments of the present invention are described in detail with reference to the accompanying drawing:
One, novel parking AGV trolley general function divides
As shown in Figure 1, novel parking AGV vehicle structure can totally be divided into running gear, retained part and frame assembly 3,
Middle running gear includes drive system 4, steering system 7 and buffering shock-absorbing device 6, to realize driving, the omnidirectional's walking of trolley
And reduce vibration.Retained part is divided into clamp assemblies 1 and clamping adjustment mechanism 2 and lifts vehicle and clamp assemblies to realize
Center away from adjustment.Frame assembly 3 is the main load bearing component of entire trolley, is the basis of trolley travelling.Entire trolley is presented
Belong to symmetrical structure.
Two, running gear is invented
Travel driving system 4 as shown in Figure 2 includes four groups of driving wheels, and every group of driving wheel all includes driving motor 8, retarder, vehicle
Take turns 10, bearing, wheel mounting plate 9, axle, left side plate 11, wherein left side plate 11 is mounted on 9 lower section of wheel mounting plate, vehicle
Axis is connect with left side plate 11 by bearing, and is connect with 10 interference of wheel, and driving motor 8 is mounted on 10 inside of wheel, driving
Motor 8, retarder and axle installation on the same axis, provide power by driving motor 8 and drive axle rotation by retarder
To drive vehicle wheel rotation.Four wheels are respectively driven due to using four motors, driving force is not only increased, also shares
The required power of vehicle, reduces the size of motor and each components.
As shown in figure 3, walking steering system 7 and drive system 4 share wheel mounting plate 9, including outer gear ring 13, rotating shaft
Hold 14, suspension connecting plate 12, stepper motor 16.Wherein floating bearing 14 as shown in Figure 4 is by floating bearing inner ring 18, floating bearing
Outer ring 17 and steel ball 19 form.Design has multi-diameter shaft above wheel mounting plate 9, and first axle is matched with 18 transition of floating bearing inner ring
It closes, the second axial end is drilled with threaded hole, is bolted with floating bearing inner ring 18, and floating bearing outer ring 17 and outer gear ring
13 interference fits, and be bolted on suspension connecting plate 12, stepper motor 16 is fixed on 9 lower section of wheel mounting plate,
Output shaft passes through wheel mounting plate 9 and is also equipped with planetary gear 15, and planetary gear 15 and outer gear ring 13 engage.Its course of work are as follows:
Stepper motor 16 drives planetary gear 15 to rotate by output shaft, since outer gear ring 13 is fixed, planetary gear 15 by with external tooth
Circle 13 is meshed, and carries out circular motion along gear ring, and then drives entire running gear rotation to realize and flexibly turn to.
As shown in figure 5, buffering shock-absorbing device 6 is mainly by frame connecting plate 24, pin 20, spring 21, spring lead 22, outstanding
Frame connecting plate 12, guide rod 23 form, wherein each four of 23 two sides of guide rod, are attached that form multi link hinged by pin 20
Support guide mechanism can move up and down, play guided bearing.21 sets of spring in guide post 22 between upper and lower two plate
And it is in compressive state, guide post 22 is fixedly connected with frame connecting plate 24, and suspension connecting plate 12 passes through guiding post holes thereon
With 22 clearance fit of guide post, suspension connecting plate 12 can move up and down.When trolley as caused by Uneven road by being vibrated,
The system can guarantee that four wheels of trolley land simultaneously, improve the dynamic property of vehicle；The vertical vibration that trolley can be reduced simultaneously, mentions
The stability of high trolley.
Three, retained part
Retained part can realize and lift to automobile that overall structure is as shown in fig. 7, can be divided into clamp assemblies 1 and clamping adjustment
Mechanism 2.Wherein clamp assemblies include clamping motor 31, retarder, turbine 28, worm screw 30, clamping perching knife 27, mounting seat 29,
Upper cover plate.Mounting seat 29 is connected with sliding block 33, it can be achieved that position adjusts, and turbine and worm is installed on pedestal, and turbine 28 is
For incomplete turbine as shown in fig. 7, only about the gear teeth of half, clamping perching knife 27 are integrated with turbine 28, clamping is electric
Machine 31, retarder, worm screw 30 are arranged on coaxial line, clamp motor 31 for output torque and reach worm screw 30.Worm screw 30 and turbine
28 are meshed, and change the direction of transfer of power, so that turbine 28 is rotated a certain angle under the action of certain torque, press from both sides simultaneously
It holds perching knife 27 and also rotates corresponding angle, to realize the positioning and clamping of trolley.
It include two clamping perching knives 27 at each clip position, the torque that clamping motor 31 exports passes through retarder
It will be passed to worm screw 30 with shaft coupling, worm screw 30 engages with the turbine 28 of clamping perching knife fixing end.Perching knife is clamped in initial position
When, perching knife outer is concordant with vehicle frame；After the AGV that stops drives into vehicle bottom designated position, under the action of clamping motor 31, folder
The rotation of perching knife 27 is held, under the two perching knives squeezing-pushing action common to tire, realizes the picking-up of vehicle.
Clamping adjustment mechanism 2 is made of adjustment motor 25, trapezoidal screw pair 26, two guide rails 32 in left and right and sliding block 33,
The guide rail 32 of middle left and right two is connected with vehicle frame 3, and sliding block 33 can slide in guide rail 32, and trapezoidal screw pair 26 includes lead screw and spiral shell
Mother, the nut are mounted in mounting seat 29, and adjustment motor 25 is fixed on electric machine support 36, the clamping group before and after needing to adjust
Part center away from when, adjustment motor 25 drive lead screw rotation, make nut generation level be moved forward and backward.Due to mounting seat 29 and nut
It is fixed, so mounting seat 29 generates the movement in horizontal direction, and then realize the purpose of adjustment position.
Four, frame section
As shown in Figure 10, vehicle frame of the invention uses edge-beam type, all around symmetrical structure, and the structure is by five 34 Hes of crossbeam
Two stringers 35 form, and structural steel uses U-steel, and the connection between each part is based on welding.For the ease of dynamo battery
Installation, battery bracket 38, electric machine support 36 and controller installs case 37 are assembled on vehicle frame, for the ease of disassembly, it is more
To be bolted.The top airfoil of guide rail 32 and vehicle frame is installed, and running gear and vehicle frame lower aerofoil weld, and realizes the whole dress of trolley
Match.
The above is only specific embodiments of the present invention, and however, it is not limited to this.It is any to be solved substantially based on the present invention
Identical technical problem, or realize essentially identical technical effect, ground simple change, equivalent replacement or modification etc. are made,
In all belonging to the scope of protection of the present invention.
Claims (10)
1. a kind of novel parking AGV trolley, it is characterised in that including frame assembly (3), frame assembly installs running part on (3)
Divide, retained part, the clamp assemblies (1) and front and back that wherein retained part is symmetrically mounted on frame assembly before and after including symmetrically are pacified
Clamping adjustment mechanism (2) on frame assembly, clamping adjustment mechanism (2) include adjustment motor (25), lead screw pair (26), lead
Rail (32) and the sliding block (33) that can be slided in the guide rail (32), wherein guide rail (32) be mounted on on frame assembly (3), lead screw pair
It (26) include lead screw and nut, which is mounted on ipsilateral clamp assemblies (1), which is also mounted on sliding block
(33) on, adjustment motor (25) is fixed on frame assembly (3), and output shaft is connected with lead screw.
2. a kind of novel parking AGV trolley according to claim 1, it is characterised in that clamp assemblies (1) include clamping electricity
Machine (31), retarder, turbine (28), worm screw (30), clamping perching knife (27), mounting seat (29), mounting seat (29) are mounted on
On sliding block (33), the nut being also equipped in lead screw pair in mounting seat (29) clamps motor (31), retarder, turbine
(28), worm screw (30) is installed on mounting seat (29), and clamping perching knife (27) one end is connect with turbine (28), clamps motor
(31), retarder, worm screw (30) are arranged on coaxial line, clamp motor (31) for output torque and reach worm screw (30).
3. a kind of novel parking AGV trolley according to claim 2, it is characterised in that running gear includes drive system
(4), steering system (7) and buffering shock-absorbing device (6), buffering shock-absorbing device (6) include frame connecting plate (24), spring (21),
Spring lead (22), suspension connecting plate (12) connect multi link hinge between frame connecting plate (24) and suspension connecting plate (12)
Supporting mechanism is connect, spring lead (22) is fixedly connected with frame connecting plate (24), and suspension connecting plate (12) passes through leading thereon
To post holes and guide post (22) clearance fit, spring (21) covers on guide post (22) between upper and lower two plate and in compression
State, frame connecting plate (24) are mounted on frame assembly (3), installation drive system (4), steering below suspension connecting plate (12)
System (7).
4. a kind of novel parking AGV trolley according to claim 3, it is characterised in that pin (20), guide rod (23) connection
Form multi link hinged support guiding mechanism.
5. a kind of novel parking AGV trolley according to claim 3 or 4, it is characterised in that drive system (4) includes driving
Wheel, driving wheel includes driving motor (8), retarder, wheel (10), bearing, wheel mounting plate (9), axle, left side plate
(11), wherein left side plate (11) is mounted below wheel mounting plate (9), and axle is connect with left side plate (11) by bearing,
And connect with wheel (10), driving motor (8) is mounted on the inside of wheel (10), and driving motor (8), retarder and axle are mounted on
On same axis；Walking steering system (7) and drive system (4) share wheel mounting plate (9), altogether with buffering shock-absorbing device (6)
Included back with suspension connecting plate (12), including outer gear ring (13), floating bearing (14), stepper motor (16), floating bearing (14)
Turn bearing inner race (18), floating bearing outer ring (17) and steel ball (19), multi-diameter shaft is installed above wheel mounting plate (9), first
Axis and floating bearing inner ring (18) transition fit, the second axial end are drilled with threaded hole, pass through with floating bearing inner ring (18) end face
It is bolted, and floating bearing outer ring (17) and outer gear ring (13) are interference fitted, and are bolted on suspension connecting plate
(12) on, stepper motor (16) is fixed below wheel mounting plate (9), and output shaft passes through wheel mounting plate (9) and also installs
Have planetary gear (15), planetary gear (15) and outer gear ring (13) engagement.
6. a kind of novel parking AGV trolley according to claim 4, it is characterised in that frame assembly (3) You Wugen crossbeam
(34) He Lianggen stringer (35) forms.
7. a kind of novel parking AGV trolley according to claim 6, it is characterised in that frame assembly (3) is assembled with battery
Bracket (38), electric machine support (36) and controller installs case (37).
8. a kind of novel parking AGV trolley according to claim 2 or 3, it is characterised in that the turbine is incomplete whirlpool
Wheel guarantees that the rotation angle of rotation perching knife in given range, meets the performance requirement to trolley.
9. a kind of novel parking AGV trolley according to claim 2 or 3, it is characterised in that on clamp assemblies (1) further include
Cover board, upper cover plate are mounted in mounting seat and cover turbine, worm screw, clamping motor.
10. a kind of novel parking AGV trolley according to claim 6 or 7, it is characterised in that frame assembly is installed on (3)
There are bumper (5).
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| CN201910548237.6A CN110329392A (en) | 2019-06-24 | 2019-06-24 | A kind of novel parking AGV trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910548237.6A CN110329392A (en) | 2019-06-24 | 2019-06-24 | A kind of novel parking AGV trolley |
Publications (1)
| Publication Number | Publication Date |
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| CN110329392A true CN110329392A (en) | 2019-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910548237.6A Pending CN110329392A (en) | 2019-06-24 | 2019-06-24 | A kind of novel parking AGV trolley |
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| CN112297823A (en) * | 2020-10-26 | 2021-02-02 | 陈惠萍 | Rear driving wheel of electric drive type electric automobile |
| CN112373556A (en) * | 2020-11-29 | 2021-02-19 | 上海龙创汽车设计股份有限公司 | Steering system of unmanned four-wheel independent steering chassis platform of low-speed vehicle |
| CN112606801A (en) * | 2020-12-01 | 2021-04-06 | 北京星航机电装备有限公司 | Adjustable wheelbase formula is parked and is used AGV |
| CN113002660A (en) * | 2021-03-05 | 2021-06-22 | 南京晨光集团有限责任公司 | Multi-wheel-train heavy-load AGV |
| CN114162095A (en) * | 2021-12-10 | 2022-03-11 | 西安电子科技大学芜湖研究院 | Intelligent wireless remote control vehicle moving equipment |
| CN114212167A (en) * | 2021-12-24 | 2022-03-22 | 重庆复融科技有限公司 | Translational wheel clamping method |
| CN114454736A (en) * | 2022-03-08 | 2022-05-10 | 始途科技(杭州)有限公司 | Mobile platform and mobile charging robot |
| CN115303385A (en) * | 2022-09-19 | 2022-11-08 | 河南卫特机器人有限公司 | Heavy-load AGV vehicle |
| CN115892292A (en) * | 2023-01-11 | 2023-04-04 | 武汉万曦智能科技有限公司 | Dynamic slope detection robot for motor vehicles in field |
| CN116750427A (en) * | 2023-08-21 | 2023-09-15 | 宁波用躬科技有限公司 | Transportation equipment, using method thereof and mobile trolley |
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| CN116750427A (en) * | 2023-08-21 | 2023-09-15 | 宁波用躬科技有限公司 | Transportation equipment, using method thereof and mobile trolley |
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