CN110723233A - Heavy-load AGV (automatic guided vehicle) - Google Patents

Abstract

A heavy-duty AGV transport vehicle is mainly composed of a main frame, an ultra-low suspension module with lifting function arranged on the lower side of the main frame, a power unit, a suspension angle locking device and a walking control system; each ultra-low suspension The module is provided with two wheels, and realizes its own 360° rotation through the speed difference of the two wheels; through the rotation function of the ultra-low suspension module itself, the travel angle of each suspension is adjusted, so as to realize the straight, lateral and oblique running of the whole vehicle. And walking modes such as turning in place. The heavy-duty AGV transport vehicle of the present invention utilizes the structural characteristics of the suspension itself to realize the rotation, abandons the steering device, and has the characteristics of compact structure, low center of gravity, large bearing capacity, simple control logic, flexible steering and various walking modes, etc., and is especially suitable for large Parts transfer, has a certain promotion value.

Description

Heavy-duty AGV transport vehicle

technical field

The invention relates to a transport vehicle, in particular to a heavy-duty AGV transport vehicle.

Background technique

The transfer of large parts is a relatively common problem encountered in the field of logistics and transportation. In addition to overruns (ultra-high, ultra-wide, and overweight), the flexible, smooth and efficient transfer of large parts also puts forward higher requirements for equipment. At present, heavy-duty flatbed trucks are mostly used in the transportation of large parts in the field. The suspension steering of the heavy-duty flatbed truck is driven by a special steering device (such as: oil cylinder, worm gear and steering motor). The travel angle of the suspension is adjusted by the steering device, so as to realize the steering and other walking modes of the whole vehicle. This structure also determines that the suspension structure is complex, occupies a large space, and has a high vehicle height, which has a direct impact on smooth transfer, safety, and passability. The heavy-duty AGV transport vehicle of the present invention reduces the suspension height, abandons the steering device, greatly reduces the cost while improving the transferability, has practical engineering significance, and is worthy of promotion.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a heavy-duty AGV transport vehicle for the shortcomings of the above-mentioned prior art.

The purpose of the present invention can be achieved through the following technical measures:

The heavy-duty AGV transport vehicle is mainly composed of a main frame 1, an ultra-low suspension module 2 with lifting function arranged on the lower side of the main frame 1, a power unit, a suspension angle locking device 3 and a walking control system; There are no less than two low-level suspension modules 2 in a group, which are arranged under the main frame 1 in groups and are connected to the main frame 1 through the slewing support 23; each ultra-low-level suspension module 2 is coaxially provided with two wheels 21, each wheel 21 is driven independently, the ultra-low suspension module 2 is rotated around the support beam 24 through the speed difference between the two wheels 21, and the ultra-low suspension module 2 is Overall lift.

The ultra-low suspension module 2 is mainly composed of wheels 21, a main structure 22, a slewing support 23 and a support beam 24; each wheel is driven by a driving element independently; one end of the support beam 24 is connected to the main structure 22 and the other end is fixed to the slewing support. 23 on.

The suspension angle locking device 3 is essentially a holding brake mechanism, which is composed of a holding mechanism 31 and a brake disc 32, and the holding mechanism 31 is provided on the main frame 1, and the brake disc 32 is provided On the ultra-low suspension module 2 ; or the holding 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 can also be a shaft-hole matching device, and 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. On the low suspension module 2 , the holes are arranged on the main frame 1 . The mechanism is simple and easy to use, but it is not suitable for vehicles that require precise angles

The power unit is essentially an electric drive system that is arranged under the main frame and uses a battery as an energy source.

The walking control system is essentially an automatic guided unmanned system platform, or a system platform that controls the walking of the vehicle through a remote controller.

The supporting beam (24) is essentially a telescopic mechanism, and further, it is essentially an oil cylinder.

The beneficial effects of the present invention are as follows:

The heavy-duty AGV transport vehicle of the present invention reduces the height of the suspension without reducing the bearing capacity, thereby effectively reducing the overall height of the vehicle; the ultra-low suspension module 2 with the lifting function passes through its own wheels 21 The speed difference can realize 360° rotation, thus abandoning the steering device; and through this function, the travel angle of the suspension can be adjusted, so as to realize the walking modes of the whole vehicle, such as straight, lateral, oblique and in-situ rotation; The whole vehicle has the characteristics of adjustable height and ultra-low transportation, especially suitable for the transfer of large parts, and has a certain promotion value.

Description of drawings

1 is a schematic diagram of the overall structure of the heavy-duty AGV transport vehicle when it is fully lifted (the highest state);

Figure 2 is a schematic diagram of the overall structure of the heavy-duty AGV transport vehicle when it is fully lowered (the lowest state).

Figure 3 is a state diagram of the heavy-duty AGV transport vehicle entering and leaving the bottom of the cargo;

4 is a state diagram of the heavy-duty AGV transport vehicle when the cargo is lifted as a whole at the bottom of the cargo;

5 is a schematic structural diagram of an ultra-low suspension module of the heavy-duty AGV transport vehicle;

Figure 6 is a state diagram of the heavy-duty AGV transport vehicle going straight (forward or backward)

Figure 7 is a state diagram of the heavy-duty AGV transport vehicle inclined

Figure 8 is a state diagram of the heavy-duty AGV transport vehicle running horizontally

Figure 9 is a state diagram of the heavy-duty AGV transport vehicle rotating in place

Figure 10 is the front (rear) swing state diagram of the heavy-duty AGV transport vehicle

Serial number in the picture: 1 main frame, 2 ultra-low suspension module, 21 wheels, 22 main structure, 23 slewing support, 24 beams, 3 suspension angle locking device, 31 holding mechanism, 32 brake disc.

Detailed ways

As shown in Figures 1 and 2, the heavy-duty AGV transport vehicle mainly consists of a main frame 1, an ultra-low suspension module 2 with a lifting function arranged on the lower side of the main frame 1, a power unit, and a suspension angle locking device 3 And the walking control system is composed; the ultra-low suspension modules 2 are not less than two as a group, are arranged in groups under the main frame 1, and are connected with the main frame 1 through the slewing support 23; The suspension module 2 is provided with two wheels 21 coaxially, each wheel 21 is driven independently, the ultra-low suspension module 2 is rotated around the support beam 24 through the speed difference of the two wheels 21, The whole lifting and lowering of the ultra-low suspension module 2 is realized.

As shown in FIG. 5 , the ultra-low suspension module 2 is mainly composed of wheels 21 , a main structure 22 , a slewing support 23 and a support beam 24 ; each wheel is driven by a driving element alone, that is, one driving element drives one wheel. One end of the support beam 24 is connected to the main structure 22 and the other end is fixed to the slewing support 23 . The support beam is essentially a telescopic beam or mechanism, and has a telescopic power source to ensure that it can be telescopic according to a specified length. Preferably, its telescopic function is realized by an oil cylinder provided inside, or it is an oil cylinder itself. One end of the support beam 24 is hinged on the upper side of the main structure 22 and the other end is fixed on the lower side of the main frame 1 through the slewing support 23, that is, when the two wheels rotate at different speeds (or rotate in opposite directions), the entire super The low suspension 2 will swivel around the axis of the slewing support 23 . This technical feature completely replaces the traditional steering gear. Due to the adoption of the slewing support 23 and the support beam 24, the load-bearing capacity of the entire ultra-low suspension module 2 is greatly improved, thereby improving the load-bearing capacity of the entire vehicle. And because there are no less than two ultra-low suspension modules 2 in a group, which are arranged under the main frame 1 in groups, the carrying capacity of the entire vehicle is related to the number of ultra-low suspension modules 2 set. The more, the greater the bearing capacity. For example: the carrying capacity of each ultra-low suspension module 2 is 15 tons, and the four suspensions are arranged in one group along the width direction of the vehicle body, and a total of four groups are arranged along the length direction, then the total number of suspensions of the car is 4×4 = 16, the total carrying capacity is 16 × 15 = 240 tons, excluding the body weight, it is the total carrying capacity of the heavy-duty AGV transport vehicle. Therefore, the carrying capacity of the AGV using this technical solution can reach the level of 100 tons, and the AGV transport vehicle of this level has great market prospects.

As shown in FIG. 5 , the suspension angle locking device 3 is essentially a gripping brake mechanism, which consists of a gripping mechanism 31 and a brake disc 32 , and the gripping mechanism 31 is arranged on the main frame 1 . The brake disc 32 is arranged on the ultra-low suspension module 2 ; or the holding 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 can also be a shaft-hole matching device, and the shaft and the hole are respectively arranged on the main frame 1 and the ultra-low suspension module 2. When the ultra-low suspension module 2 is adjusted to the designated travel After the angle is adjusted, the suspension angle locking device 3 fixes it with the main frame as a whole, and the walking mode can be executed. The driving power of the whole vehicle is provided by the power unit 3, which is essentially an electric drive system arranged under the main frame and using a battery as an energy source. Of course, depending on demand, a streamer can also be used to power the vehicle. Of course, it is also a way to use a diesel engine to drive a generator to provide power. Finally, the use of diesel engine + hydraulic system or pneumatic system to provide power is also an option.

The walking control system is essentially an automatic guided unmanned system platform, or a system platform that controls the walking of the vehicle through a remote controller. Also known as AGV walking technology.

Regarding the walking and steering mode of the ultra-low suspension module 2 of the present invention, it can be realized in the following ways:

1. Walking mode: Since all the wheels 21 are coaxially arranged, when the driving element drives the wheels 21, the ultra-low suspension module 2 is in a walking state, that is, a walking mode.

2. Steering mode: Since the two wheels of the ultra-low suspension module 2 are driven independently, their speed and direction can be different. When such a speed difference occurs, the entire ultra-low suspension module 2 will revolve around the slewing support 23 It can rotate and can rotate 360° continuously (using the central rotary joint to provide power), that is, the steering mode.

The description of the straight, lateral, oblique, in-situ rotation, and front (rear) rotation modes of the heavy-duty AGV transport vehicle is as follows:

1. Straight travel mode: Through the self-steering mode of the ultra-low suspension module 2, the axes of all the wheels 21 in the ultra-low suspension module 2 are kept horizontally parallel, and through the walking mode of the ultra-low suspension module 2, the entire vehicle can be driven straight forward or straight. Go straight back, as shown in Figure 6.

2. Traverse mode: Through the self-steering mode of the ultra-low suspension module 2, the axes of all the wheels 21 in the ultra-low suspension module 2 are kept longitudinally parallel, and through the walking mode of the ultra-low suspension module 2, the entire vehicle can be driven to the left. Or horizontally to the right, as shown in Figure 7.

3. Oblique travel mode: Through the self-steering mode of the ultra-low suspension module 2, the axes of all the wheels 21 in the ultra-low suspension module 2 are kept parallel and at a certain angle relative to the lateral direction. Through the walking mode of the ultra-low suspension module 2, Realize the left-forward (right-front) lateral movement of the entire vehicle or the right-rear (left-rear) lateral movement, as shown in Figure 8 .

4. Spot rotation mode: Through the self-steering mode of the ultra-low suspension module 2, the axes of all the wheels 21 in the ultra-low suspension module 2 intersect at the center point of the whole vehicle, and through the walking mode of the ultra-low suspension module 2, the whole The car rotates in place around this intersection, as shown in Figure 9.

5. Front (rear) swing mode: Through the self-steering mode of the ultra-low suspension module 2, the axes of all the wheels 21 in the ultra-low suspension module 2 intersect at a certain point at the rear (head) of the vehicle, and pass the ultra-low suspension module 2. The walking mode of the suspension module 2 realizes the front (rear) swing of the entire vehicle, as shown in FIG. 10 .

Since the support beam 24 in the ultra-low suspension module 2 has a lifting function, when the support beam 24 is fully retracted, the whole vehicle is in the lowest state; when the support beam 24 is fully extended, the whole vehicle is in the highest state, that is, the whole vehicle is lifted up. state.

As shown in Figure 3, before the object is transferred, the whole vehicle is in the lowest state, and slowly drives into the gap under the transferred object (this process requires that the overall transfer vehicle is low; It is a function that ordinary flatbed trucks do not have). After that, through the lifting function of the support beam 24, the object is lifted as a whole so that it is lifted off the ground, and then transferred according to the AGV, as shown in FIG. 4 .

The above descriptions are only the preferred embodiments of the present invention, but do not limit the implementation extension of the present invention. All insubstantial changes made on the basis of this embodiment will be regarded as falsification or plagiarism of the invention and should be protected by patents.

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).

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