CN110723233A - Heavy-load AGV (automatic guided vehicle) - Google Patents
Heavy-load AGV (automatic guided vehicle) Download PDFInfo
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- CN110723233A CN110723233A CN201811282132.2A CN201811282132A CN110723233A CN 110723233 A CN110723233 A CN 110723233A CN 201811282132 A CN201811282132 A CN 201811282132A CN 110723233 A CN110723233 A CN 110723233A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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Abstract
A heavy-load AGV (automatic guided vehicle) mainly comprises a main frame, an ultra-low suspension module with a lifting function, a power unit, a suspension angle locking device and a walking control system, wherein the ultra-low suspension module is arranged on the lower side of the main frame; each ultra-low suspension module is provided with two wheels, and 360-degree rotation of the ultra-low suspension module is realized through the speed difference of the two wheels; the running angles of all suspensions are adjusted through the rotation function of the ultra-low suspension module, and then the running modes of straight running, transverse running, oblique running, in-situ rotation and the like of the whole vehicle are realized. The heavy-duty AGV transport vehicle disclosed by the invention realizes rotation by utilizing the structural characteristics of the suspension, abandons a steering device, has the characteristics of compact structure, low gravity center, high bearing capacity, simple control logic, flexible steering, various walking modes and the like, is particularly suitable for transferring large parts, and has a certain popularization value.
Description
Technical Field
The invention relates to a transport vehicle, in particular to a heavy-load AGV transport vehicle.
Background
The transportation of large parts is a common subject in the field of logistics transportation, and in addition to the overrun (ultra-high, ultra-wide and ultra-heavy), the flexible, stable and efficient transportation of the large parts also puts higher requirements on equipment. At present, heavy flatbeds are mostly adopted for transportation in large part fields. The suspension steering of the heavy flat car is driven by a special steering device (such as a cylinder, a worm gear and a steering motor). The steering device is used for adjusting the suspension traveling angle, so that the traveling modes such as steering of the whole vehicle are realized. The structure also determines that the suspension structure is complex, occupies large space, has higher height of the whole vehicle, and has direct influence on the stability, safety and trafficability of the vehicle. The heavy-load AGV transport vehicle disclosed by the invention has the advantages that the suspension height is reduced, a steering device is abandoned, the transportation passing performance is improved, the cost is greatly reduced, the practical engineering significance is realized, and the popularization value is high.
Disclosure of Invention
The invention aims to provide a heavy-load AGV transport vehicle aiming at the defects in the prior art.
The object of the invention can be achieved by the following technical measures:
the heavy-load AGV transporting vehicle mainly comprises a main frame 1, an ultra-low suspension module 2 with a lifting function, a power unit, a suspension angle locking device 3 and a walking control system, wherein the ultra-low suspension module 2 is arranged on the lower side of the main frame 1; the ultra-low suspension modules 2 are not less than two in one group, are arranged below the main frame 1 in a group manner, and are connected with the main frame 1 through a rotary support 23; two wheels 21 are coaxially arranged on each ultra-low suspension module 2, each wheel 21 is driven independently, the ultra-low suspension module 2 rotates around a supporting beam 24 through the speed difference of the two wheels 21, and the overall lifting of the ultra-low suspension module 2 is realized through the self-expansion of the supporting beam 24.
The ultra-low suspension module 2 mainly comprises wheels 21, a main structure 22, a rotary support 23 and a supporting beam 24; each wheel is driven by a drive element separately; one end of the supporting beam 24 is connected to the main structure 22, and the other end is fixed on the rotary support 23.
The suspension angle locking device 3 is a clamping brake mechanism which consists of a clamping mechanism 31 and a brake disc 32, wherein the clamping mechanism 31 is arranged on the main frame 1, and the brake disc 32 is arranged on the ultra-low suspension module 2; or the clasping mechanism 31 is arranged on the ultra-low suspension module 2, and the brake disc 32 is arranged on the main frame 1.
Of course, the suspension angle locking device 3 may be an axle hole matching device, and the axle is arranged on the main frame 1, the hole is arranged on the ultra-low suspension module 2, or the axle is arranged on the ultra-low suspension module 2, and the hole is arranged on the main frame 1. The mechanism is simple and easy to use, but is not suitable for vehicles with accurate angle requirements
The power unit is essentially an electric driving system which is arranged below the main frame and takes a storage battery as an energy source.
The walking control system is essentially an automatic guiding unmanned system platform or a system platform for controlling the vehicle to walk through a remote controller.
The support beam (24) is essentially a telescopic mechanism, and more particularly is essentially a cylinder.
The invention has the following beneficial effects:
according to the heavy-load AGV transporting vehicle, the suspension height is reduced on the premise that the bearing capacity is not reduced, and the overall vehicle height of the vehicle is effectively reduced; the ultra-low suspension module 2 with the lifting function realizes 360-degree rotation through the speed difference of the wheels 21 of the ultra-low suspension module, so that a steering device is abandoned; the traveling angle of the suspension is adjusted through the function, so that traveling modes such as straight traveling, transverse traveling, oblique traveling and in-situ rotation of the whole vehicle are realized; the liftable technical characteristics enable the whole vehicle to have the characteristics of adjustable height, ultralow transportation and the like, are particularly suitable for transferring large parts, and have certain popularization value.
Drawings
FIG. 1 is a schematic diagram of the overall full-rise (highest state) configuration of the heavy AGV transport;
FIG. 2 is a schematic diagram of the overall structure of the heavy AGV transporting vehicle in a fully descending state
FIG. 3 is a state diagram of the heavy AGV transporting vehicle entering and exiting the bottom of the load;
FIG. 4 is a diagram of the heavy AGV transporting vehicle in a state of integrally picking up the load from the bottom of the load;
FIG. 5 is a schematic view of an extra low level suspension module of the heavy AGV transport vehicle;
FIG. 6 is a straight (forward or backward) state diagram of a heavy AGV transport vehicle
FIG. 7 is a diagram of the skew state of the heavy AGV
FIG. 8 is a transverse state diagram of a heavy AGV
FIG. 9 is a diagram of the in-situ rotation state of the AGV
FIG. 10 is a diagram of the front (rear) swing state of the heavy AGV transport vehicle
Number in the figure: the device comprises a main frame 1, an ultra-low suspension module 2, wheels 21, a main structure 22, a rotary support 23, a support beam 24, a suspension angle locking device 3, a holding mechanism 31 and a brake disc 32.
Detailed Description
As shown in fig. 1 and 2, the heavy-duty AGV transport vehicle mainly comprises a main frame 1, an ultra-low suspension module 2 with a lifting function arranged at the lower side of the main frame 1, a power unit, a suspension angle locking device 3 and a walking control system; the ultra-low suspension modules 2 are not less than two in one group, are arranged below the main frame 1 in a group manner, and are connected with the main frame 1 through a rotary support 23; two wheels 21 are coaxially arranged on each ultra-low suspension module 2, each wheel 21 is driven independently, the ultra-low suspension module 2 rotates around a supporting beam 24 through the speed difference of the two wheels 21, and the overall lifting of the ultra-low suspension module 2 is realized through the self-expansion of the supporting beam 24.
As shown in fig. 5, the ultra-low suspension module 2 mainly comprises wheels 21, a main structure 22, a slewing support 23 and a support beam 24; each wheel is driven individually by a drive element, i.e. one drive element drives one wheel. One end of the supporting beam 24 is connected to the main structure 22, and the other end is fixed on the rotary support 23. The support beam is a telescopic beam or a telescopic mechanism in nature, and a telescopic power source ensures that the support beam can be telescopic according to a specified length. Preferably, the telescopic function is realized by a cylinder arranged in the telescopic mechanism, or the telescopic mechanism is a cylinder. One end of the supporting beam 24 is hinged on the upper side of the main structure 22, and the other end is fixedly connected with the lower side of the main frame 1 through the rotary support 23, namely: when the two wheels rotate at different speeds (or in opposite directions), the entire extra low suspension 2 will revolve around the axis of the slewing support 23. This technical feature completely replaces the conventional steering device. Due to the adoption of the rotary support 23 and the support beam 24, the bearing capacity of the whole ultra-low suspension module 2 is greatly improved, and the load-carrying capacity of the whole vehicle is further improved. And because the ultra-low suspension modules 2 are not less than two and are arranged below the main frame 1 in a group, the bearing capacity of the whole vehicle is related to the number of the ultra-low suspension modules 2, and the bearing capacity is larger when the number is larger. Such as: the load-bearing capacity of each extra-low suspension module 2 is 15 tons, four suspensions are arranged in a group along the width direction of the vehicle body, four groups are arranged along the length direction, the total number of suspensions of the vehicle is 4 multiplied by 4 to 16, the total load-bearing capacity is 16 multiplied by 15 to 240 tons, and the total load-bearing capacity of the heavy-load AGV transport vehicle is obtained by removing the self weight of the vehicle body. Therefore, the bearing capacity of the AGV adopting the technical scheme can reach the hundred-ton level, and the AGV transport vehicle at the level has great market prospect.
As shown in fig. 5, the suspension angle locking device 3 is essentially a clasping brake mechanism, which is composed of a clasping mechanism 31 and a brake disc 32, wherein the clasping mechanism 31 is arranged on the main frame 1, and the brake disc 32 is arranged on the ultra-low suspension module 2; or the clasping mechanism 31 is arranged on the ultra-low suspension module 2, and the brake disc 32 is arranged on the main frame 1. Certainly, the suspension angle locking device 3 can also be a shaft hole matching device, the shaft and the hole are respectively arranged on the main frame 1 and the ultra-low suspension module 2, and after the ultra-low suspension module 2 is adjusted to a specified travelling angle, the suspension angle locking device 3 fixes the ultra-low suspension module and the main frame into a whole, so that a travelling mode can be executed. The walking power of the whole vehicle is provided by a power unit 3, and the power unit is essentially an electric driving system which is arranged below the main frame and takes a storage battery as an energy source. Of course, the streamer may also be used to provide power to the vehicle, as desired. Of course, it is also a way to use a diesel engine to drive a generator to provide power. Finally, a diesel engine and a hydraulic system or a pneumatic system are adopted to provide power, which is also an option.
The walking control system is essentially an automatic guiding unmanned system platform or a system platform for controlling the vehicle to walk through a remote controller. Which is commonly referred to as AGV walking technology.
The walking and steering mode of the ultra-low suspension module 2 can be realized by the following modes:
1. a walking mode: since all wheels 21 are arranged coaxially, the ultra low suspension module 2 is in a walking state, i.e. in a walking mode, when the driving element drives the wheels 21.
2. And (3) steering mode: since the two wheels of the ultra-low suspension module 2 are driven independently, the speed and direction can be different, and when such a speed difference occurs, the whole ultra-low suspension module 2 rotates around the slewing support 23 and can continuously slew for 360 degrees (a central slewing joint is used for supplying power), namely, a steering mode.
The straight, transverse, diagonal, pivot, front (rear) swing modes of a heavy AGV transport are described as follows:
1. a straight-line mode: the axes of the wheels 21 of all the ultra-low suspension modules 2 are kept transversely parallel through the self-steering mode of the ultra-low suspension modules 2, and the whole vehicle can move forwards or backwards in a straight way through the walking mode of the ultra-low suspension modules 2, as shown in fig. 6.
2. Transverse moving mode: the axes of the wheels 21 of all the ultra-low suspension modules 2 are kept longitudinally parallel by the self-steering mode of the ultra-low suspension modules 2, and the left transverse movement or the right transverse movement of the whole vehicle is realized by the walking mode of the ultra-low suspension modules 2, as shown in fig. 7.
3. The diagonal mode: the axes of the wheels 21 of all the ultra low suspension modules 2 are kept parallel and at a certain angle with respect to the transverse direction by the self-steering mode of the ultra low suspension modules 2, and the transverse movement to the left front (right front) or the transverse movement to the right rear (left rear) of the whole vehicle is realized by the walking mode of the ultra low suspension modules 2, as shown in fig. 8.
4. In-situ rotation mode: the axes of the wheels 21 of all the ultra-low suspension modules 2 are intersected at the central point of the whole vehicle through the self-steering mode of the ultra-low suspension modules 2, and the whole vehicle rotates around the intersection point in situ through the walking mode of the ultra-low suspension modules 2, as shown in fig. 9.
5. Front (rear) swing mode: the axes of the wheels 21 of all the ultra-low suspension modules 2 are intersected at a certain point of the tail (head) part of the whole vehicle through the self-steering mode of the ultra-low suspension modules 2, and the front (rear) swing of the whole vehicle is realized through the walking mode of the ultra-low suspension modules 2, as shown in fig. 10.
Because the supporting beam 24 in the ultra-low suspension module 2 has a lifting function, when the supporting beam 24 is fully contracted, the whole vehicle is in a lowest state; when the supporting beam 24 is fully extended, the whole vehicle is in the highest state, namely the jacking state.
As shown in fig. 3, before transferring the objects, the whole vehicle is in the lowest state and slowly drives into the gap below the transferred objects (this process requires the whole transfer vehicle to be low, otherwise, the whole transfer vehicle needs to be padded to be higher than the lower part of the objects, which is a function that the common flat car does not have). Then, the supporting beam 24 lifts up the object as a whole to separate the object from the ground, and the object is transported according to the AGV, as shown in fig. 4.
The above description is only a preferred embodiment of the present invention, but does not limit the scope of the present invention. All insubstantial changes made over this embodiment are to be considered as tampering or hacking of the invention, which is to be protected by the patent.
Claims (9)
1. Heavy load AGV transport vechicle, its characterized in that: the device mainly comprises a main frame (1), an ultra-low suspension module (2) which is arranged on the lower side of the main frame (1) and has a lifting function, a power unit, a suspension angle locking device (3) and a walking control system; the ultra-low suspension modules (2) are not less than two in one group, are arranged below the main frame (1) in a group manner, and are connected with the main frame (1) through a rotary support (23); two wheels (21) are coaxially arranged on each ultra-low suspension module (2), each wheel (21) is driven independently, the ultra-low suspension module (2) rotates around a supporting beam (24) through the speed difference of the two wheels (21), and the overall lifting of the ultra-low suspension module (2) is realized through the self-extension of the supporting beam (24).
2. The heavy loaded AGV transport of claim 1 wherein: the ultra-low suspension module (2) mainly comprises wheels (21), a main structure (22), a rotary support (23) and a supporting beam (24); each wheel is driven by a drive element separately; one end of the supporting beam (24) is connected to the main structure (22) and the other end is fixed on the rotary support (23).
3. The heavy loaded AGV transport of claim 1 wherein: the suspension angle locking device (3) is a clamping brake mechanism and consists of a clamping mechanism (31) and a brake disc (32), the clamping mechanism (31) is arranged on the main frame (1), and the brake disc (32) is arranged on the ultra-low suspension module (2); or the clasping mechanism (31) is arranged on the ultra-low suspension module (2), and the brake disc (32) is arranged on the main frame (1).
4. The heavy loaded AGV transport of claim 1 wherein: the suspension angle locking device (3) is a shaft hole matching device in essence, the shaft is arranged on the main frame (1), the hole is arranged on the ultra-low suspension module (2), or the shaft is arranged on the ultra-low suspension module (2), and the hole is arranged on the main frame (1).
5. The heavy loaded AGV transport of claim 1 wherein: the power unit is essentially an electric driving system which is arranged below the main frame and takes a storage battery as an energy source.
6. The heavy loaded AGV transport of claim 1 wherein: the walking control system is essentially an automatic guiding unmanned system platform or a system platform for controlling the vehicle to walk through a remote controller.
7. A heavy loaded AGV transport as claimed in claim 1 and claim 2 wherein: the support beam (24) is a telescopic mechanism, in particular an oil cylinder.
8. Heavy load AGV transport vechicle, its characterized in that: the running mode of the ultra-low suspension module (2) is as follows:
a walking mode:
when the driving element drives wheels (21) and the speed and the steering of the two wheels are the same, the ultra-low suspension module (2) is in a walking state;
b, steering mode:
when the two wheels (21) of the ultra-low suspension module 2 generate speed difference or the running directions of the two wheels (21) are opposite, the whole ultra-low suspension module 2 rotates around the rotary support (23) and can continuously rotate for 360 degrees, which is the steering mode of the ultra-low suspension module (2).
9. Heavy load AGV transport vechicle, its characterized in that: the whole-vehicle running mode of the heavy-load AGV transport vehicle is as follows:
a straight-line mode:
the axes of wheels (21) in all the ultra-low suspension modules (2) are kept transversely parallel through the self steering mode of the ultra-low suspension modules (2), and the whole vehicle can move forwards or backwards in a straight way through the walking mode of the ultra-low suspension modules (2);
b, transverse mode:
the axes of wheels (21) in all the ultra-low suspension modules (2) are kept longitudinally parallel through the self steering mode of the ultra-low suspension modules (2), and the transverse movement of the whole vehicle is realized through the walking mode of the ultra-low suspension modules (2);
c, oblique running mode:
the axes of wheels (21) in all the ultra-low suspension modules (2) are kept parallel through the self steering mode of the ultra-low suspension modules (2), and a certain angle is kept relative to the length direction of a vehicle body, and the left front oblique running or the right rear oblique running of the whole vehicle is realized through the walking mode of the ultra-low suspension modules (2);
d, in-situ rotation mode:
the axes of wheels (21) in all the ultra-low suspension modules (2) are intersected at the center point of the whole vehicle through the self steering mode of the ultra-low suspension modules (2), and the whole vehicle rotates around the intersection point in situ through the walking mode of the ultra-low suspension modules (2);
e front (rear) swing mode:
the axes of the wheels (21) in all the ultra-low suspension modules (2) are intersected at a certain point of the tail (head) part of the whole vehicle through the self steering mode of the ultra-low suspension modules (2), and the front (rear) swing of the whole vehicle is realized through the walking mode of the ultra-low suspension modules (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811282132.2A CN110723233A (en) | 2018-10-31 | 2018-10-31 | Heavy-load AGV (automatic guided vehicle) |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811282132.2A CN110723233A (en) | 2018-10-31 | 2018-10-31 | Heavy-load AGV (automatic guided vehicle) |
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| Publication Number | Publication Date |
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| CN110723233A true CN110723233A (en) | 2020-01-24 |
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| CN201811282132.2A Pending CN110723233A (en) | 2018-10-31 | 2018-10-31 | Heavy-load AGV (automatic guided vehicle) |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113716490A (en) * | 2020-12-21 | 2021-11-30 | 武汉智为物流装备技术有限公司 | Extra-heavy type electric AGV |
| CN115755900A (en) * | 2022-11-14 | 2023-03-07 | 国网浙江省电力有限公司宁海县供电公司 | AGV (automatic guided vehicle) speed control method and device, electronic equipment and storage medium |
| EP4249422A1 (en) * | 2022-03-24 | 2023-09-27 | Udo Idler | Heavy goods vehicle |
-
2018
- 2018-10-31 CN CN201811282132.2A patent/CN110723233A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113716490A (en) * | 2020-12-21 | 2021-11-30 | 武汉智为物流装备技术有限公司 | Extra-heavy type electric AGV |
| 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 |
| EP4249422A1 (en) * | 2022-03-24 | 2023-09-27 | Udo Idler | Heavy goods vehicle |
| CN115755900A (en) * | 2022-11-14 | 2023-03-07 | 国网浙江省电力有限公司宁海县供电公司 | AGV (automatic guided vehicle) speed control method and device, electronic equipment and storage medium |
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