CN110539652B - Extended-range type traction Automatic Guided Vehicle (AGV) - Google Patents
Extended-range type traction Automatic Guided Vehicle (AGV) Download PDFInfo
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- CN110539652B CN110539652B CN201910837426.5A CN201910837426A CN110539652B CN 110539652 B CN110539652 B CN 110539652B CN 201910837426 A CN201910837426 A CN 201910837426A CN 110539652 B CN110539652 B CN 110539652B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
- B60L50/62—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles charged by low-power generators primarily intended to support the batteries, e.g. range extenders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
- B62D53/06—Semi-trailers
- B62D53/061—Semi-trailers of flat bed or low loader type or fitted with swan necks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a range-extended type traction and self-propelled AGV, which belongs to the technical field of industrial logistics transportation equipment, wherein the energy source of the equipment is a vehicle-mounted generator set, the generator set is arranged on the range-extended type traction and self-propelled AGV, and the generator set supplies power for electrical equipment and a motor of the range-extended type traction and self-propelled AGV; the traction and self-propelled AGV is specifically defined as follows: the device comprises two working modes, namely a self-running mode and a traction mode; the control method comprises the following steps: a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels are adopted. Compared with the prior art, the method has the beneficial effects of improving the operation efficiency of the AGV, reducing the investment cost of enterprises and adapting to severe and special guarantee environment.
Description
Technical Field
The invention belongs to the technical field of industrial logistics transportation equipment, and particularly relates to a range-extending type AGV equipment.
Background
In the industrial logistics field, the AGV equipment mostly adopts a motor driving mode due to the characteristics of high precision, low noise and no pollution of electric driving. The AGV utilizes the battery to store energy, and provides energy power for equipment such as an on-board controller, a motor and a safety control module through a power distribution unit. Lead-acid storage batteries are mostly adopted in early AGVs, and along with the development of battery technology in recent years, a plurality of AGVs adopt novel lithium iron phosphate batteries and ternary lithium batteries as energy storage modules. Compared with a lead-acid battery, the lithium battery has the characteristics of high unit energy density, light weight, long service life, no memory effect and the like.
Due to the characteristics of the battery, the electric-driven AGV needs to be charged regularly, and the charging time of each time varies from 1 hour to more than 6 hours according to the battery capacity and the charging current. And part of the AGVs adopt a battery replacement mode, so that a fully charged standard battery box can be replaced on the AGVs, and a power-lack battery box is replaced for charging.
The current stage AGVs have the following problems:
1. in the practice of large-scale cluster operation of industrial logistics AGV, if the AGV adopts a charging mode, the situation that the number of AGV in actual work is less than the number of all AGV is inevitably caused. Therefore, in order to complete a given working cycle, enterprises need to invest more funds to purchase more AGVs than the actual working quantity to meet the requirements;
2. the charging time of the AGV influences the time of operations such as automatic production and sorting, and the working efficiency is reduced. Meanwhile, the charging time can also objectively reduce the actual working time of the AGV, which is not beneficial to enterprises to quickly recover the cost;
3. in order to meet the large-scale charging or battery replacement requirements of the AGV, a factory needs to newly build a charging or battery replacement facility, and a special area is reserved for the AGV to park for charging or battery replacement, so that the area of the factory area available for production is reduced, and the installation and use cost is increased;
4. although the non-working time of the AGV can be greatly reduced, the corresponding AGV power changing standard does not exist at the present stage, namely the power changing mechanism and the battery box need to be specially designed for the AGV with a single model, and the product preparation period is prolonged;
5. enterprises need to purchase additional battery boxes to supplement the normal operation of the power conversion type AGV. Under the condition that the cost of the lithium battery is still high and no policy support exists (according to the national policy, only the lithium battery for the automobile can be subsidized), the method is an extra expenditure for enterprises;
6. in the use process of the outdoor AGV with large tonnage, the operation environment and the guarantee environment are more complicated than those in a room. Along with the improvement of the load tonnage, the self weight of the equipment is still relatively large even after the lithium battery pack is adopted for energy storage. Moreover, the power supply requirement of the equipment is difficult to guarantee by the power facility of the operation site, and the reconstruction of the infrastructure is more difficult.
Disclosure of Invention
The invention provides a range-extended type traction and self-propelled AGV, which adopts a large wheeled AGV platform, adopts mature modular products for an electric control system and a motor system, and replaces a battery pack with a generator set. In the running process of the AGV, a generator set supplies power for modules such as various electrical equipment and motors on the AGV. When the generator gives an alarm when the oil quantity is low, the AGV can continue to operate after the generator set is filled with fuel oil in a conventional mode.
The technical scheme of the invention is as follows:
an extended-range type AGV for traction and self-propelled use is characterized in that the energy source of the equipment is a vehicle-mounted generator set, the generator set is mounted on the extended-range type AGV for traction and self-propelled use, and the generator set supplies power for the electrical equipment and the motor of the extended-range type AGV for traction and self-propelled use;
the traction and self-propelled AGV is specifically defined as follows: the device comprises two working modes, namely a self-running mode and a traction mode; the control method comprises the following steps: a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels are adopted; the semitrailer platform is combined with an omnidirectional mobile platform based on Mecanum wheels; the semitrailer platform comprises hydraulic axis wheels, the omnidirectional moving platform based on the Mecanum wheels comprises the Mecanum wheels, and the hydraulic axis wheels and the two groups of wheels of the Mecanum wheels are respectively lifted through a hydraulic system to complete the switching between a self-propelled mode and a traction mode; in the self-propelled mode, the hydraulic axis wheel rises to the ground, the Mecanum wheel presses down, and the whole vehicle is supported by the Mecanum wheel; the method is characterized in that a vehicle-mounted storage battery power is used for an AGV running mode, namely an automatic guided transport vehicle running mode; in a traction mode, the hydraulic axis wheel falls to the ground, the Mecanum wheel is lifted, and the whole vehicle is supported by the hydraulic axis wheel; the semi-trailer platform is connected with a semi-trailer tractor for traction running.
An extended-range type traction and self-propelled AGV is characterized in that the energy source of the equipment is a vehicle-mounted generator set, the generator set is mounted on the extended-range type traction and self-propelled AGV and supplies power for an electric control cabinet, a pump station and a motor of the extended-range type traction and self-propelled AGV; the motor set is provided with an oil quantity monitoring module, and the oil quantity monitoring module is connected to a comprehensive control system of the extended-range type traction Automatic Guided Vehicle (AGV); the power output of the generator set is connected to a power distribution system of the extended-range type traction Automatic Guided Vehicle (AGV); the integrated control system executes programs according to input instructions input to the AGV from the outside, controls each executing mechanism, controls the power distribution system to deliver electric energy to each executing mechanism and enables the AGV to run; the power distribution system provides electric energy for the comprehensive control system, the AGV moving executing mechanism and the AGV lifting executing mechanism; the traction and self-propelled AGV is specifically defined as follows:
the device comprises two working modes, namely a self-running mode and a traction mode; the control method comprises the following steps: a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels are adopted; the semitrailer platform is combined with an omnidirectional mobile platform based on Mecanum wheels; the semitrailer platform comprises hydraulic axis wheels, the omnidirectional moving platform based on the Mecanum wheels comprises the Mecanum wheels, and the hydraulic axis wheels and the two groups of wheels of the Mecanum wheels are respectively lifted through a hydraulic system to complete the switching between a self-propelled mode and a traction mode; in the self-propelled mode, the hydraulic axis wheel rises to the ground, the Mecanum wheel presses down, and the whole vehicle is supported by the Mecanum wheel; the method is characterized in that a vehicle-mounted storage battery power is used for an AGV running mode, namely an automatic guided transport vehicle running mode; in a traction mode, the hydraulic axis wheel falls to the ground, the Mecanum wheel is lifted, and the whole vehicle is supported by the hydraulic axis wheel; the semi-trailer platform is connected with a semi-trailer tractor for traction running.
Further, it is also equipped with a small battery pack; when the generator set is closed and the generator set is lack of oil or has a fault, an electric control cabinet, a pump station and a motor module of the AGV get electricity from the small battery pack; the power distribution system is capable of switching power supply modes between the small battery pack and the generator set.
Furthermore, the generator set is also provided with a control module and a water temperature monitoring module; the control module is used for controlling the power generation power of the generator set, and the water temperature monitoring module monitors the temperature of cooling liquid of the generator set.
Furthermore, an oil cylinder is arranged between the hydraulic axis wheel and the vehicle body, so that the hydraulic axis wheel can be lifted off the ground and pressed down; an oil cylinder is arranged between the Mecanum wheel and the vehicle body, so that the Mecanum wheel can be lifted off the ground and pressed down.
Further, the generating set is located on the gooseneck that AGV front end set up.
Compared with the prior art, the method has the beneficial effects of improving the operation efficiency of the AGV, reducing the investment cost of enterprises and adapting to severe and special guarantee environment:
1. the extended-range AGV greatly reduces the non-working time and improves the overall working efficiency. The time for filling fuel oil into the generator set can be controlled within 5 minutes generally, and the full-load endurance time of the equipment can reach 8 hours; the charging time of the AGV is generally more than 1 hour to reach the same duration. When the same workload needs to be completed within a certain time, the oiling time of the extended-range AGV can be ignored, so that all AGVs can work simultaneously; and ordinary AGV need reserve some quantity and carry out the operation of charging, consequently the AGV quantity that can effectively work reduces, and work efficiency reduces.
2. The extended-range AGV reduces the investment cost of an operation enterprise. Taking the content in item 1 as an example, in order to satisfy the efficiency of the common AGV equivalent to the extended range AGV, more AGVs must be launched, so the purchasing cost is greatly increased. Although the AGV battery can be replaced within 5 minutes, the cost of the battery replacement device and the customized battery box is higher than that of a single generator set in the extended-range AGV. Meanwhile, the extended-range AGV does not need external power conversion and charging facilities for support, so that the capital construction cost required by operation is reduced.
3. The extended-range AGV can adapt to severe and special guarantee environments. Because the power source is a generator set, the power generation device can adapt to severe environments without power supply conditions, such as unmanned island reefs, remote mountain areas and the like. The generator set can adopt a gasoline engine or a diesel engine according to the field condition and the AGV tonnage, and can well connect with the existing guarantee system of special users (such as army, port and airport).
Drawings
FIG. 1: extended-range AGV integral framework diagram
FIG. 2: extended-range AGV electric control cabinet framework diagram
FIG. 3 is a schematic diagram of a traction and self-propelled AGV.
Detailed Description
The present invention is described in further detail below with reference to the accompanying drawings.
The invention discloses an extended-range type traction and self-propelled dual-purpose AGV which is characterized in that the energy source of the equipment is a vehicle-mounted generator set 11. The generator set is installed on the AGV and supplies power for modules such as an electric control cabinet 12, a pump station 13 (providing power for a hydraulic oil way) and a motor 14 of the AGV. The generator set is provided with a control module (for controlling power generation) and monitoring modules such as a water temperature (for controlling temperature) and an oil quantity (for detecting the oil quantity of the diesel generator) and is connected to a comprehensive control system 15 of the AGV; the power output of the generator set is connected to the power distribution system 16 of the AGV. The integrated control system controls each execution mechanism according to an input instruction input to the AGV from the outside and an application program of the integrated control system, controls the power distribution system to distribute power, and transmits the power to each execution mechanism, so that the AGV runs.
The power distribution system can be switched between power supply modes of the small battery pack and the generator set, and electric energy is provided for the comprehensive control system, the AGV moving executing mechanism and the AGV lifting executing mechanism.
The electric control cabinet 12 is used for placing electrical equipment; comprises a comprehensive control system. The pump station 13 provides power for an oil circuit of the hydraulic system; and the hydraulic system controls the lifting of the platform on the AGV. The motor provides power for the movement of the AGV. And the hydraulic system controls the lifting of the platform on the AGV.
The control module is used for controlling the power generation power of the generator set, and the water temperature monitoring module monitors the temperature of cooling liquid of the generator set and the oil quantity monitoring module monitors the oil quantity of the adopted fuel generator.
The AGV can replace and adopt to pull dual-purpose AGV by oneself.
It is also equipped with a small battery pack 17; when the generator set is closed and the generator set is lack of oil or has a fault, the electric control cabinet 12, the pump station 13 and the motor 14 module of the AGV get electricity from the small battery pack; the power distribution system is capable of switching power supply modes between the small battery pack and the generator set. And the comprehensive control system acquires the information of the closing of the generator set, the oil shortage or the fault of the generator set and gives the information to the power distribution system.
The vehicle-mounted generator set charges the small battery pack in real time according to the electric quantity state of the small battery pack; and adjusting the output power of the generator set according to the electric quantity required by the AGV.
Equipped with a small battery pack 17 as a backup power source. When the AGV needs to enter a low-noise and pollution-free environment temporarily, the generator set is closed, and each module takes power from the battery pack to enable the AGV to continue to operate. In addition, the battery pack may also provide power to allow the AGV to escape and move itself to a safe zone when the generator set is out of oil or has failed.
The vehicle-mounted generator set can charge the battery pack in real time according to the state of the battery pack and prepare for running of the generator set in a closed state. And adjusting the operation of the generator set according to the AGV working condition.
Can be operated by an external power supply. When the generator set cannot operate and the battery pack cannot supply power, the AGV can continue to operate by supplying power to the AGV through the external extension cable 18. In addition, the external power supply can also charge the battery pack.
An extended-range type AGV with traction and self-propelled dual-purpose; the traction and self-propelled AGV is specifically defined as follows:
as shown in fig. 3, comprises a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels; the semitrailer platform comprises a gooseneck 1, a frame 2, a hydraulic axis wheel 3, an axis wheel electric shafting and an axis wheel suspension; the omnidirectional mobile platform based on the Mecanum wheels comprises Mecanum wheels 4, an electric shafting, a suspension, an electric control system 6 and a hydraulic system 7; the Mecanum wheel and the electric shaft system are arranged on the suspension; the gooseneck 1 is connected with the frame and is detachable; the frame is a mounting platform; the hydraulic axis wheel 3 is positioned between the front Mecanum wheel 4 and the rear Mecanum wheel 4; each Mecanum wheel and the electric shaft system are arranged on a suspension, and an oil cylinder is arranged on the suspension, so that the lifting of the Mecanum wheels can be realized; the hydraulic axis wheel 3 and the axis wheel electric shafting are arranged on the suspension, and the hydraulic axis wheel 3 is connected with the frame through the axis wheel suspension; an oil cylinder is arranged on the axis wheel suspension, so that the hydraulic axis wheel 3 can be lifted; the electric control system 6 controls an oil cylinder of the hydraulic system 7 to realize the support and the retraction of the hydraulic axis wheel; the shaft line wheel electric shaft system comprises a motor and a speed reducer; the hydraulic axis wheel 3 is connected with the speed reducer by a flange, and the motor receives signals of the electric control system 6 and drives the Mecanum wheel 4.
The brake gas circuit provides the brake for the hydraulic axis wheel 3 through the tractor gas circuit interface.
The electric shafting comprises a motor and a speed reducer, the Mecanum wheel 4 and the speed reducer are connected through a flange, and the motor drives the speed reducer.
A traction and self-propelled AGV comprises a self-propelled mode and a traction mode; the control method comprises the following steps: a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels are adopted; the semitrailer platform is combined with an omnidirectional mobile platform based on Mecanum wheels; the semitrailer platform comprises hydraulic axis wheels, the omnidirectional moving platform based on the Mecanum wheels comprises the Mecanum wheels, and the hydraulic axis wheels and the Mecanum wheels are respectively lifted through an electric control system and a hydraulic system to complete the switching between a self-running mode and a traction mode; in the self-propelled mode, the hydraulic axis wheel rises to the ground, the Mecanum wheel presses down, and the whole vehicle is supported by the Mecanum wheel; the method is characterized in that a vehicle-mounted storage battery power is used for an AGV running mode, namely an automatic guided transport vehicle running mode; in a traction mode, the hydraulic axis wheel falls to the ground, the Mecanum wheel is lifted, and the whole vehicle is supported by the hydraulic axis wheel; the semi-trailer platform is connected with a semi-trailer tractor for traction running.
The semitrailer platform comprises hydraulic axis wheels and a gooseneck, and the gooseneck is connected with the omnidirectional moving platform based on the Mecanum wheels; in the self-propelled mode, the gooseneck is disassembled; when the AGV enters a traction working mode, the gooseneck is connected with the tractor to carry out traction running.
An oil cylinder is arranged between the hydraulic axis wheel and the vehicle body, so that the hydraulic axis wheel can be lifted off the ground and pressed down; an oil cylinder is arranged between the Mecanum wheel 4 and the vehicle body, so that the Mecanum wheel 4 can be lifted off the ground and pressed down.
The principle of the invention is as follows: switch through going up and down and can become the highway transportation platform with AGV, can transport AGV or load fast and travel, realize that the whole car is multi-purpose.
The freight yard scheduling of short distance can directly be controlled the AGV by the manual work and accomplish, need not special tractor, and the professional degree requirement to personnel reduces.
The wheels with hydraulic axes and the Mecanum wheels are installed, and the two groups of wheels are respectively lifted through the electric control system and the hydraulic system, so that the switching between the self-running mode and the traction mode can be completed. In the self-propelled mode, the AGV can complete the work of carrying and the like by manual control or autonomous navigation as a common AGV and depending on the omnidirectional moving technology; in the towing mode, the AGV may be coupled to a standard semi-trailer tractor, may be transferred to other locations without load, or may be used as a common semi-trailer with a load.
The frame is the mounting platform of whole car all parts, also is the supporting platform that AGV held in the palm the burden goods.
The electric control system is used as a core center of the whole AGV and is responsible for controlling the Kenahme wheel 4, the electric shafting and suspension 5 and the hydraulic system 7 to work.
A digital output potential is arranged in the electric control system 6, so that the starting and stopping of a motor in the hydraulic system 7 and the on and off of the hydraulic valve bank can be controlled, and the support and the retraction of the reel are realized; the motor acts on the hydraulic pump. When the pump motor starts: the forward oil inlet electromagnetic valve is driven to be opened through a digital output point position, so that hydraulic oil enters the oil cylinder to jack up; the reverse oil inlet electromagnetic valve is driven to be opened through digital output potential, so that hydraulic oil enters the oil cylinder to shrink.
A high-precision servo driver is arranged in the electric control system 6 and drives the Mecanum wheel 4 to rotate according to the required speed and direction; the electric shafting comprises a motor and a speed reducer. Mecanum wheel 4 and the speed reducer are connected through a flange, and the motor receives signals of electric control system 6 and drives Mecanum wheel 4, so that omnidirectional movement in an AGV mode is achieved.
When the traction and self-propelled dual-purpose AGV enters a self-propelled working mode, the hydraulic axis wheel 3 is lifted off the ground, the Mecanum wheel 4 is pressed down, and the whole AGV is supported by the Mecanum wheel. Meanwhile, the gooseneck can be disassembled as required, and the whole vehicle is operated in a traditional AGV running mode; when the AGV enters a traction working mode, the hydraulic axis wheel falls to the ground, the Mecanum wheel is lifted, and the whole AGV is supported by the hydraulic axis wheel. And the gooseneck is arranged and then connected with a tractor, so that the whole vehicle can be dragged and driven. In the lift-off process of the hydraulic reel 3, an electric control system 6 drives a pump motor to retract an axis wheel oil cylinder through a hydraulic system 7, and the wheat wheel oil cylinder bears the downward pressure.
And a hydraulic system is adopted to respectively control the Mecanum wheel and the hydraulic axis wheel, so that the switching of working modes is realized. Each Mecanum wheel and the electric shaft system are arranged on an independent suspension, and the oil cylinder is arranged on the suspension, so that the independent lifting of the Mecanum wheels can be realized; the hydraulic system 7 controls all the suspensions (oil cylinders) to complete the lifting and leveling of the AGV; an axis wheel oil cylinder and an axis wheel cantilever are arranged on the hydraulic axis wheel, so that the axis wheel group is lifted, and the axis wheel group and the Mecanum wheel alternately support the whole vehicle.
Claims (9)
1. The utility model provides an increase form and pull dual-purpose AGV, characterized by that, the energy source of its equipment is on-vehicle generating set (11), and the generating set is installed on increase form and pull dual-purpose AGV, is supplied power for the electrical equipment, the motor of increase form and pull dual-purpose AGV by the generating set;
the traction and self-propelled AGV is specifically defined as follows:
the device comprises a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels; the semitrailer platform comprises a gooseneck (1), a frame (2), a hydraulic reel (3), an axis wheel electric shafting and an axis wheel suspension; the omnidirectional mobile platform based on the Mecanum wheels comprises the Mecanum wheels (4), an electric shafting, a suspension, an electric control system (6) and a hydraulic system (7); the Mecanum wheel and the electric shaft system are arranged on the suspension; the gooseneck (1) is connected with the frame; the frame is a mounting platform; the hydraulic axis wheel (3) is positioned between the front and the rear Mecanum wheels (4); each Mecanum wheel and the electric shaft system are arranged on a suspension, and an oil cylinder is arranged on the suspension, so that the lifting of the Mecanum wheels can be realized; the hydraulic axis wheel (3) and the axis wheel electric shafting are arranged on the suspension, and the hydraulic axis wheel (3) is connected with the frame through the axis wheel suspension; an oil cylinder is arranged on the axis wheel suspension, so that the hydraulic axis wheel (3) can be lifted; the electric control system (6) controls an oil cylinder of the hydraulic system (7) to realize the support and the retraction of the hydraulic axis wheel; the shaft line wheel electric shaft system comprises a motor and a speed reducer; the hydraulic axis wheel (3) is connected with the speed reducer by a flange, and the motor receives signals of the electric control system and drives the Mecanum wheel (4).
2. An extended-range type traction and self-propelled AGV is characterized in that the energy source of the equipment is a vehicle-mounted generator set (11), the generator set is installed on the extended-range type traction and self-propelled AGV and supplies power for an electric control cabinet (12), a pump station (13) and a motor (14) of the extended-range type traction and self-propelled AGV;
the motor set is provided with an oil quantity monitoring module, and the oil quantity monitoring module is connected to a comprehensive control system (15) of the extended-range type traction Automatic Guided Vehicle (AGV); the power output of the generator set is connected to a power distribution system (16) of the extended-range traction Automatic Guided Vehicle (AGV); the integrated control system executes programs according to input instructions input to the AGV from the outside, controls each executing mechanism, controls the power distribution system to deliver electric energy to each executing mechanism and enables the AGV to run; the power distribution system provides electric energy for the comprehensive control system, the AGV moving executing mechanism and the AGV lifting executing mechanism;
the traction and self-propelled AGV is specifically defined as follows:
the device comprises a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels; the semitrailer platform comprises a gooseneck (1), a frame (2), a hydraulic reel (3), an axis wheel electric shafting and an axis wheel suspension; the omnidirectional mobile platform based on the Mecanum wheels comprises the Mecanum wheels (4), an electric shafting, a suspension, an electric control system (6) and a hydraulic system (7); the Mecanum wheel and the electric shaft system are arranged on the suspension; the gooseneck (1) is connected with the frame; the frame is a mounting platform; the hydraulic axis wheel (3) is positioned between the front and the rear Mecanum wheels (4); each Mecanum wheel and the electric shaft system are arranged on a suspension, and an oil cylinder is arranged on the suspension, so that the lifting of the Mecanum wheels can be realized; the hydraulic axis wheel (3) and the axis wheel electric shafting are arranged on the suspension, and the hydraulic axis wheel (3) is connected with the frame through the axis wheel suspension; an oil cylinder is arranged on the axis wheel suspension, so that the hydraulic axis wheel (3) can be lifted; the electric control system (6) controls an oil cylinder of the hydraulic system (7) to realize the support and the retraction of the hydraulic axis wheel; the shaft line wheel electric shaft system comprises a motor and a speed reducer; the hydraulic axis wheel (3) is connected with the speed reducer by a flange, and the motor receives signals of the electric control system and drives the Mecanum wheel (4).
3. Extended range traction AGV according to claim 2, characterised in that it is also equipped with a small battery pack (17); when the generator set is closed and the generator set is lack of oil or has a fault, the electric control cabinet (12), the pump station (13) and the motor (14) module of the AGV get electricity from the small battery pack; the power distribution system is capable of switching power supply modes between the small battery pack and the generator set.
4. The extended-range type AGV (automatic guided vehicle) according to claim 1 or 2, wherein the vehicle-mounted generator set charges the small battery pack in real time according to the electric quantity state of the small battery pack; and adjusting the output power of the generator set according to the electric quantity required by the AGV.
5. An extended range traction AGV according to claim 1 or claim 2 wherein the hydraulic system controls the raising and lowering of the associated platform of the AGV.
6. The extended-range type AGV according to claim 1 or 2, wherein the power generator unit further comprises a control module and a water temperature monitoring module; the control module is used for controlling the power generation power of the generator set, and the water temperature monitoring module monitors the temperature of cooling liquid of the generator set.
7. The extended-range type AGV for traction and self-propelled according to claim 1, wherein an oil cylinder is installed between the hydraulic axis wheels and the vehicle body, so that the hydraulic axis wheels can be lifted off the ground and pressed down; an oil cylinder is arranged between the Mecanum wheel and the vehicle body, so that the Mecanum wheel can be lifted off the ground and pressed down.
8. The extended-range type AGV according to claim 1 or 2, wherein the power generating unit is located on a gooseneck provided at a front end of the AGV.
9. The extended-range type AGV for traction and self-propelled vehicle according to claim 1, wherein the brake air passage is connected through an air passage interface of the tractor to provide braking for the hydraulic spool (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910837426.5A CN110539652B (en) | 2019-09-05 | 2019-09-05 | Extended-range type traction Automatic Guided Vehicle (AGV) |
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