CN110482442A - A kind of ultra-thin lifting omnidirectional AGV - Google Patents
A kind of ultra-thin lifting omnidirectional AGV Download PDFInfo
- Publication number
- CN110482442A CN110482442A CN201910916475.8A CN201910916475A CN110482442A CN 110482442 A CN110482442 A CN 110482442A CN 201910916475 A CN201910916475 A CN 201910916475A CN 110482442 A CN110482442 A CN 110482442A
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- Prior art keywords
- lifting
- wheel
- bottom plate
- hull bottom
- cam
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- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000013016 damping Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Handcart (AREA)
Abstract
The present invention relates to the ultra-thin lifting omnidirectional AGV of one kind, interior in hull bottom plate bottom four corners to be embedded with universal wheel with hull bottom plate, interior embedded with two sets of differential drive units on the position of front and rear sides in the middle part of the bottom surface of hull bottom plate；Hull bottom plate is fitted with cam lifting mechanism；The lifting frame is rectangular frame, and the guiding mechanism includes guide post and directive wheel, and wherein guide post is arranged on hull bottom plate, and directive wheel is fixedly mounted on position among the left and right sides of lifting frame, and directive wheel is scrolled up and down along guide post；AGV trolley of the present invention can be slipped into truck bottom with Very Low Clearance and carry out lifting carrying truck, and action is flexible and convenient, and handling efficiency is high.
Description
Technical field
The present invention relates to technical field of automation conveying equipment, especially a kind of ultra-thin lifting omnidirectional AGV.
Background technique
As the requirement of manufacturing industry transition and upgrade is higher and higher, manufacturing industry is encouraged to improve automation and the intelligence water of factory
Flat, large quantities of factories need to carry out old equipment upgrading, and the automation of logistics and intelligence are to realize unmanned factory
An important ring, this directly creates the explosive growth for moving transfer robot (AGV) industry in recent years.To old factory into
When row material automatic transporting is transformed, the low but traditional AGV in the chassis of a large amount of old trucks used originally is frequently encountered
Trolley is too high and can not slip into the problem drawn under truck automatically.When originally encountering such case, AGV can only expect
Front of the host traction, but which generally requires manually to mount or disengages truck, automatization level is low；In addition AGV is before truck
The mode of face traction, required turning space is big, old workshop often not sufficiently large logistics corridor, therefore this is good not
It is logical.
Summary of the invention
The purpose of the present invention is to above situations to provide a kind of ultra-thin lifting omnidirectional AGV, which can be with super
Low clearance slips into truck bottom and carries out lifting carrying truck, and action is flexible and convenient, and handling efficiency is high.
Concrete scheme of the invention is: a kind of ultra-thin lifting omnidirectional AGV has hull bottom plate, hull bottom plate bottom four corners
Universal wheel is embedded in upper, it is interior on the position of front and rear sides in the middle part of the bottom surface of hull bottom plate to be embedded with two sets of differential drive units；Vehicle
Body substrate is equipped with cam lifting mechanism, and the cam lifting mechanism includes two sets of lifting decelerating motors, sprocket wheel chain biography
Motivation structure, two camshafts, lifting cam, lifting frame and two sets of guiding mechanisms, the both ends of every camshaft are respectively arranged with act
Cam is risen, has lifted lifting frame on four lifting cams jointly, is lifted on frame equipped with lifting panel, chain sprocket driver
Structure include equipped with the minor sprocket mounted in lifting decelerating motor output end and the big sprocket wheel on corresponding camshaft, Dalian wheel and
It is connected between minor sprocket by chain drive and drives corresponding cam axle；The lifting frame is rectangular frame, described
Guiding mechanism includes guide post and directive wheel, and wherein guide post is arranged on hull bottom plate, and directive wheel is fixedly mounted on act
Position among the left and right sides of frame is risen, directive wheel is scrolled up and down along guide post.
Further, heretofore described differential drive unit includes servo deceleration motor, driving wheel, driving wheel damping
Mechanism and driving unit bracket, wherein driving unit bracket and servo deceleration motor are installed on above hull bottom plate, driving
Unit rack is portal trestle, and for driving wheel in portal trestle, driving wheel passes through driving wheel damping and the door shape branch
Frame is connected, and driving wheel wheel shaft is connect with the servo deceleration motor drive.
Further, heretofore described directive wheel is made of two idler wheels, and two idler wheels pass through supporting plate and the act
It rises frame to be fixedly connected, corresponding guide post is clipped in the middle and scrolls up and down along guiding column sidewall by two idler wheels.
Further, four truck pads in distributed rectangular are additionally provided on heretofore described lifting panel.
Further, the lifting that scrolls up and down that the directive wheel is corresponded in the present invention is also equipped in the side of guiding mechanism
Detection switch in place is gone up and down, detection switch is detected using displacement sensor in place for the lifting.
The invention has the following advantages:
1. AGV height of the present invention is ultralow, total height is in 200mm hereinafter, can hide to the bottom of most of truck, truck is without changing
It makes or newly does, save the expense of old factory's transformation.
2. cam lifting mechanism compact structure is compact, lift height 50mm, load can reach 1000kg, cam lifting machine
Highest order and the lowest order design of structure have detection switch in place.
It steadily walks on the ground that unevenness is ± 15mm 3. the differential drive unit in the present invention is able to achieve, to factory
Surface condition requires low.
4. the damping of the differential drive unit in the present invention is oriented to using linear guide+spring, reliable with guiding,
The advantages that resistance to sliding is small, long service life.
5. the differential drive unit in the present invention can manually lift driving wheel, it is allowed to be detached from ground, facilitates maintenance personal
AGV is pushed.
6. AGV of the invention such as can realize advance, retreat, rotate in place at the movement, turning radius 0, to logistics corridor and
The occupancy in line side space is small, is very suitable to the upgrading of old workshop.
Detailed description of the invention
Fig. 1 is direction structure schematic diagram obliquely of the invention；
Fig. 2 is bottom diagonal upward direction structural schematic diagram of the invention；
Fig. 3 is that the present invention removes the general structure schematic diagram after lifting panel；
Fig. 4 is that the present invention removes overall structure another direction schematic diagram after lifting panel；
Fig. 5 is differential drive unit structural schematic diagram in the present invention.
In figure: 1-truck pad, 2-lifting panels, 3-hull bottom plates, 4-universal wheels, 5-differential drive units,
6-big sprocket wheels, 7-lifting decelerating motors, 8-minor sprockets, 9-lifting frames, 10-camshafts, 11-driving unit brackets,
12-servo deceleration motors, 13-lifting cams, 14-supporting plates, 15-directive wheels, 16-guide posts, 17-liftings are examined in place
Survey switch, 18-driving wheels, 19-driving wheel dampings.
Specific embodiment
Referring to Fig. 1-Fig. 5, the present invention is a kind of ultra-thin lifting omnidirectional AGV, has hull bottom plate 3, hull bottom plate bottom four
Universal wheel 4 is embedded on angle, it is interior on the position of front and rear sides in the middle part of the bottom surface of hull bottom plate to be embedded with two sets of differential drive units
5；Hull bottom plate is fitted with cam lifting mechanism, and the cam lifting mechanism includes two sets of liftings decelerating motors 7, sprocket chain
Strip transmission mechanism, two camshafts 10, lifting cam 13, lifting frame 9 and two sets of guiding mechanisms, the both ends of every camshaft
It is respectively arranged with lifting cam, has lifted lifting frame on four lifting cams jointly, is lifted on frame equipped with lifting panel 2, chain
Chain wheel driving mechanism includes equipped with mounted in the minor sprocket 8 of lifting decelerating motor output end and the big chain on corresponding camshaft
Wheel 6 is connected by chain drive between Dalian wheel and minor sprocket and drives corresponding cam axle；The lifting frame is square
Shape frame, the guiding mechanism include guide post 16 and directive wheel 15, and wherein guide post is arranged on hull bottom plate, guiding
Wheel is fixedly mounted on position among the left and right sides of lifting frame, and directive wheel is scrolled up and down along guide post.
Further, differential drive unit described in the present embodiment includes servo deceleration motor 12, driving wheel 18, driving
Damping 19 and driving unit bracket 11 are taken turns, wherein driving unit bracket and servo deceleration motor are installed on hull bottom plate
Above, driving unit bracket is portal trestle, and for driving wheel in portal trestle, driving wheel passes through driving wheel damping and institute
It states portal trestle to be connected, driving wheel wheel shaft is connect with the servo deceleration motor drive.
Further, directive wheel described in the present embodiment is made of two idler wheels, and two idler wheels pass through supporting plate 14 and institute
It states lifting frame to be fixedly connected, corresponding guide post is clipped in the middle and scrolls up and down along guiding column sidewall by two idler wheels.
Further, four truck pads 1 in distributed rectangular, this reality are additionally provided in lifting panel described in the present embodiment
The truck pad applied in example has certain antiskid function, while being made of wear-resistant material, can be used as cushion use.
Further, the lifting that scrolls up and down in the present embodiment corresponding to the directive wheel is also filled in the side of guiding mechanism
There are lifting detection switch 17 in place, detection switch is detected using displacement sensor in place for the lifting, and lifting detects in place
Switch for detecting positioning guide pulleys is elevated to highest order or lowest order, this makes it possible to learn cam whether reach highest order or
Lowest order, to learn whether lifting frame and truck thereon reach corresponding lift height.
In the present embodiment AGV walking and steering mechanism by two differential drive units and four steering wheel groups at, it can be achieved that
The functions such as 360 ° of advance, retrogressing, original place rotations；Differential drive unit is by servo deceleration motor, driving wheel, driving wheel damping machine
Structure, driving unit bracket composition, which is able to achieve steadily walks on the ground that unevenness is ± 15mm, while if driving is single
Member, which breaks down, to walk, and can manually lift driving wheel, be allowed to be detached from ground, can easily drag down AGV at this time
Line maintains easily；Cam lifting mechanism is by lifting decelerating motor, sprocket wheel chain transmission mechanism, camshaft, guiding mechanism and liter
The composition such as detection switch is dropped to, two camshafts are driven by two sets of lifting decelerating motors respectively, the rotation band moved end of camshaft
The cam in portion rotates, and the lifting frame of the rotate driving of cam thereon generates the elevating movement in height, and lifting travel is
50mm；Guiding mechanism by guide post and guide wheel group at, guide post is installed on the car body, and directive wheel is mounted on lifting frame,
Two sets of guiding mechanisms are arranged in middle, prevent lifting frame from sidesway occurring in lifting process.
AGV trolley of the invention can be operated in the form of control action of commanding behind the scenes, and can also use multiple sides
To infrared sensor perceived, the voluntarily mode of control action, only this control form needs to be compiled using PLC
Process control, two ways can according to need completely carries out selection setting.
AGV of the present invention height is ultralow, and in 200mm hereinafter, can hide to the bottom of most of truck, truck does not have to total height
Transformation is newly done, and the expense of old factory's transformation is saved；Cam lifting mechanism compact structure is compact, lift height 50mm,
Load can reach 1000kg, and highest order and the lowest order design of cam lifting mechanism have detection switch in place；Difference in the present invention
Fast driving unit is able to achieve steadily walks on the ground that unevenness is ± 15mm, requires fabrication facility floor condition low；The present invention
In differential drive unit damping using linear guide+spring guiding, have that guiding is reliable, resistance to sliding is small, uses
The advantages that service life is long；Differential drive unit in the present invention can manually lift driving wheel, be allowed to be detached from ground, facilitate maintenance people
Member pushes AGV；AGV of the invention such as can realize advance, retreat, rotate in place at movement, the turning radius 0, to logistics corridor
It is small with the occupancy in line side space, it is very suitable to the upgrading of old workshop.
Claims (5)
1. a kind of ultra-thin lifting omnidirectional AGV, has hull bottom plate, it is characterised in that: be embedded in hull bottom plate bottom four corners
Universal wheel, in the middle part of the bottom surface of hull bottom plate on the position of front and rear sides in be embedded with two sets of differential drive units；Above hull bottom plate
Equipped with cam lifting mechanism, the cam lifting mechanism includes two sets of lifting decelerating motors, sprocket wheel chain transmission mechanisms, two
Camshaft, lifting cam, lifting frame and two sets of guiding mechanisms, the both ends of every camshaft are respectively arranged with lifting cam, and four
Lifting frame has been lifted jointly on lifting cam, has been lifted equipped with lifting panel on frame, chain sprocket transmission mechanism includes dress
There are the minor sprocket mounted in lifting decelerating motor output end and the big sprocket wheel on corresponding camshaft, between Dalian wheel and minor sprocket
It is connected by chain drive and drives corresponding cam axle；The lifting frame is rectangular frame, the guiding mechanism packet
Guide post and directive wheel are included, wherein guide post is arranged on hull bottom plate, and directive wheel is fixedly mounted on a left side for lifting frame
Position among right two sides, directive wheel are scrolled up and down along guide post.
2. the ultra-thin lifting omnidirectional AGV of one kind according to claim 1, it is characterised in that: the differential drive unit includes
There are servo deceleration motor, driving wheel, driving wheel damping and driving unit bracket, wherein driving unit bracket and servo subtract
Speed motor is installed on above hull bottom plate, and driving unit bracket is portal trestle, and driving wheel is in portal trestle, driving wheel
It is connected by driving wheel damping with the portal trestle, driving wheel wheel shaft is connect with the servo deceleration motor drive.
3. the ultra-thin lifting omnidirectional AGV of one kind according to claim 1, it is characterised in that: the directive wheel is rolled by two
Wheel is constituted, and two idler wheels are fixedly connected by supporting plate with the lifting frame, and corresponding guide post is clipped in the middle simultaneously by two idler wheels
It is scrolled up and down along guiding column sidewall.
4. the ultra-thin lifting omnidirectional AGV of one kind according to claim 1, it is characterised in that: be additionally provided on the lifting panel
Four truck pads in distributed rectangular.
5. the ultra-thin lifting omnidirectional AGV of one kind according to claim 1, it is characterised in that: corresponding to the upper of the directive wheel
Lower rolling lifting is also in the side of guiding mechanism equipped with detection switch in place is gone up and down, and detection switch is passed using displacement in place for the lifting
Sensor is detected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910916475.8A CN110482442A (en) | 2019-09-26 | 2019-09-26 | A kind of ultra-thin lifting omnidirectional AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910916475.8A CN110482442A (en) | 2019-09-26 | 2019-09-26 | A kind of ultra-thin lifting omnidirectional AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110482442A true CN110482442A (en) | 2019-11-22 |
Family
ID=68544403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910916475.8A Pending CN110482442A (en) | 2019-09-26 | 2019-09-26 | A kind of ultra-thin lifting omnidirectional AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110482442A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021233505A1 (en) * | 2020-05-19 | 2021-11-25 | Continental Teves Ag & Co. Ohg | Driverless transport vehicle having a payload lifting apparatus |
| CN114590747A (en) * | 2022-03-07 | 2022-06-07 | 湖南利美防爆装备制造股份有限公司 | Single-differential type negative-back type automatic navigation vehicle |
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| JPH10278802A (en) * | 1997-04-09 | 1998-10-20 | Nissan Motor Co Ltd | Truck driving device |
| CN102730358A (en) * | 2011-04-14 | 2012-10-17 | 昆山迈致治具科技有限公司 | Shuttle vehicle |
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| CN204714455U (en) * | 2015-05-07 | 2015-10-21 | 华南理工大学广州学院 | A kind of material Automatic Guided Vehicle |
| CN106006466A (en) * | 2016-06-07 | 2016-10-12 | 广州普华灵动机器人技术有限公司 | Super-thin heavy-duty lifting and diving omni-bearing movable AGV |
| CN106322063A (en) * | 2016-11-10 | 2017-01-11 | 杭州南江机器人股份有限公司 | Lifting rotation device, lifting motion guiding mechanism and lifting mechanism |
| CN208666169U (en) * | 2018-07-11 | 2019-03-29 | 浙江世仓智能仓储设备有限公司 | Shuttle elevating mechanism |
| CN109650287A (en) * | 2018-12-29 | 2019-04-19 | 广州蓝海机器人系统有限公司 | A kind of RGV and working method with laterally longitudinal shifting carrying platform |
| CN208931479U (en) * | 2018-10-22 | 2019-06-04 | 黄石鼎信机电有限公司 | A kind of AGV driving unit with damping and steering angle detection function |
| CN110143163A (en) * | 2019-04-25 | 2019-08-20 | 潍坊路加精工有限公司 | AGV trolley and its automatic transporting method |
| CN210825280U (en) * | 2019-09-26 | 2020-06-23 | 黄石鼎信机电有限公司 | Ultra-thin omnidirectional AGV that lifts |
-
2019
- 2019-09-26 CN CN201910916475.8A patent/CN110482442A/en active Pending
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| JPH10264826A (en) * | 1997-03-25 | 1998-10-06 | Mitsubishi Electric Corp | Transport carriage |
| JPH10278802A (en) * | 1997-04-09 | 1998-10-20 | Nissan Motor Co Ltd | Truck driving device |
| CN102730358A (en) * | 2011-04-14 | 2012-10-17 | 昆山迈致治具科技有限公司 | Shuttle vehicle |
| CN103101753A (en) * | 2012-11-15 | 2013-05-15 | 江苏天奇物流系统工程股份有限公司 | Cam climbing mechanism |
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| CN106006466A (en) * | 2016-06-07 | 2016-10-12 | 广州普华灵动机器人技术有限公司 | Super-thin heavy-duty lifting and diving omni-bearing movable AGV |
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| CN109650287A (en) * | 2018-12-29 | 2019-04-19 | 广州蓝海机器人系统有限公司 | A kind of RGV and working method with laterally longitudinal shifting carrying platform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021233505A1 (en) * | 2020-05-19 | 2021-11-25 | Continental Teves Ag & Co. Ohg | Driverless transport vehicle having a payload lifting apparatus |
| JP2023521444A (en) * | 2020-05-19 | 2023-05-24 | コンチネンタル・オートモーティヴ・テクノロジーズ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | Driverless transport vehicle with payload lift device |
| CN114590747A (en) * | 2022-03-07 | 2022-06-07 | 湖南利美防爆装备制造股份有限公司 | Single-differential type negative-back type automatic navigation vehicle |
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