CN111704075A - AGV trolley applied to high-position storage and taking and material storing method thereof - Google Patents
AGV trolley applied to high-position storage and taking and material storing method thereof Download PDFInfo
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- CN111704075A CN111704075A CN202010501345.0A CN202010501345A CN111704075A CN 111704075 A CN111704075 A CN 111704075A CN 202010501345 A CN202010501345 A CN 202010501345A CN 111704075 A CN111704075 A CN 111704075A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
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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
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/142—Movements of forks either individually or relative to each other
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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
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/205—Arrangements for transmitting pneumatic, hydraulic or electric power to movable parts or devices
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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
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Abstract
An AGV trolley applied to high-position storage and taking and a storage and taking method thereof are disclosed, wherein the AGV trolley comprises a gravity center balance intelligent trolley, a lifting mechanism and a fork translation mechanism, the lifting mechanism is arranged above the gravity center balance intelligent trolley, and the fork translation mechanism is arranged in a frame of the lifting mechanism; the gravity center balance intelligent trolley comprises a stainless steel bottom plate, a stainless steel bottom plate mounting column, a gravity center balance steel plate and a fixed seat; the lifting mechanism comprises a frame and a lifting driving device; the frame is connected with a fixed seat of the gravity balance intelligent trolley; the fork translation mechanism comprises a fork telescopic plate, a guide rail plate and a translation driving device. The invention solves the problems of high economic cost of intelligent modification and modification of the warehouse, can carry out warehousing and delivery of goods without manual operation, and can be used for placing and taking goods of common goods shelves.
Description
Technical Field
The invention relates to the technical field of AGV intelligent trolleys, in particular to an AGV trolley applied to high-position storage and taking and a storage and taking method thereof.
Background
The AGV is an intelligent trolley for material handling and material warehousing and is often applied to the industries of logistics transportation and factory automation.
However, the conventional AGV intelligent trolley can only be used for carrying materials, and cannot be used for placing and taking materials on a common goods shelf, and the warehouse needs to use manpower or be transformed into an intelligent stereoscopic warehouse to realize the systematic management and the intelligent warehouse-in and warehouse-out functions of the materials, so that the systematic management of yield and storage is influenced, and the economic cost is high. Therefore, an AGV trolley is needed, is applied to material systematic management, and is used for solving the problems of intelligent modification of a warehouse and high economic cost of modification.
AGV is a transportation vehicle equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transportation vehicle in industrial application, and using a rechargeable battery as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be set up by using an electromagnetic rail, the electromagnetic rail is adhered to the floor, and the unmanned transport vehicle moves and acts by means of the information brought by the electromagnetic rail.
Disclosure of Invention
The invention provides an AGV trolley applied to high-position storage and taking and a storage and taking method thereof, which are applied to material systematic management and used for solving the problems of high intelligent warehouse reconstruction and high reconstruction economic cost.
The embodiment of the invention provides an AGV trolley applied to high-level material storage and taking, which comprises a gravity center balance intelligent trolley, a lifting mechanism and a fork translation mechanism, wherein the lifting mechanism is arranged above the gravity center balance intelligent trolley, and the fork translation mechanism is arranged in a frame of the lifting mechanism;
the gravity center balance intelligent trolley comprises a stainless steel bottom plate, a stainless steel bottom plate mounting column, a gravity center balance steel plate and a fixed seat; the stainless steel bottom plate is arranged at the bottom of the gravity center balance steel plate by using the stainless steel bottom plate mounting column; the fixed seat is fixed on the gravity center balance steel plate and used for fixing the lifting mechanism;
the lifting mechanism comprises a frame and a lifting driving device; the frame is connected with a fixed seat of the gravity balance intelligent trolley; the lifting driving device is used for driving the fork translation mechanism to lift up and down;
the fork translation mechanism comprises a fork expansion plate, a guide rail plate and a translation driving device; the translation driving device is used for driving the fork telescopic plate to translate relative to the guide rail plate.
Specifically, the gravity center balance intelligent trolley further comprises two sets of driving shock absorption wheel mechanisms;
the driving shock-absorbing wheel mechanism comprises a first servo motor, a planetary gear right-angle speed reducer, a driving wheel, a wheel hub limiting rod, a shock-absorbing spring and a driving wheel hub;
the driving wheel is arranged at the bottom of the gravity center balance steel plate by using the hub limiting rod and the shock-proof spring limiting rod;
the shock-absorbing spring is arranged between the driving hub and the shock-absorbing spring limiting rod;
the first servo motor drives the planetary gear right-angle speed reducer to operate so as to drive the driving hub.
Preferably, the gravity center balance intelligent trolley further comprises an emergency stop switch, and the emergency stop switch carries out emergency braking on the driving shock absorption wheel mechanism.
Specifically, the intelligent gravity center balance trolley further comprises four balance shock-absorbing universal wheels;
the balance shock-absorbing universal wheel is used for balancing the bearing capacity of the gravity center balance intelligent trolley and plays a role in guiding, buffering and absorbing shock for the gravity center balance intelligent trolley;
the balance shock-absorbing universal wheel and the universal wheel cushion block are mounted at the bottom of the gravity center balance steel plate together, and the universal wheel cushion block is used for heightening the balance shock-absorbing universal wheel to enable the balance shock-absorbing universal wheel to be at a proper horizontal height.
Preferably, the gravity center balance intelligent trolley further comprises a laser sensor and a contact edge sensor;
the laser sensor is arranged at the bottom edge of the gravity balance steel plate; the edge touch sensor is arranged at the edge of the stainless steel bottom plate.
Specifically, the lifting driving device comprises a second servo motor, a worm and gear double-output-shaft speed reducer, two driving synchronous wheels, two driven synchronous wheels, a synchronous belt, a lifting drag chain and two groups of first linear guide rails;
the first linear guide rail and the lifting drag chain are arranged on the frame;
the second servo motor and the worm and gear double-output shaft speed reducer are fixed on the gravity balance intelligent trolley and are used as output units of lifting power;
the driving synchronous wheel and the driven synchronous wheel establish a connection relation through the synchronous belt;
the synchronous belt tensioning shaft and the synchronous belt tensioning adjusting seat are used for adjusting the tensioning degree of the synchronous belt;
the worm gear and worm double-output shaft speed reducer has a mechanical self-locking function.
Specifically, the pallet fork translation mechanism further comprises a guide rail plate reinforcing rib, a first slide block connecting plate, a second slide block connecting plate,
The first slide block connecting plate is used for connecting the guide rail plate and the guide rail plate reinforcing rib;
the first slider connecting plate and the second slider connecting plate are used for connecting the first linear guide rail in the lifting mechanism.
Specifically, the translation driving device comprises a third servo motor, a planetary gear reducer, a single-stage driving synchronous wheel, a nylon sliding support guide strip, a single-group synchronous wheel belt and two groups of second linear guide rails.
The second linear guide rail is fixed on the guide rail plate;
the third servo motor and the planetary gear reducer drive the single-pole driving synchronous wheel to move;
the single-pole driving synchronous pulley drives the single-group synchronous pulley to move;
the single group of synchronous wheel belts drive the fork expansion plate to realize the reciprocating translation motion of the fork expansion plate;
the embodiment of the invention also provides a material storing and taking method of the AGV trolley applied to the high-position material storing and taking, which comprises the following steps:
the gravity center balance intelligent trolley controls the balance shock-absorbing universal wheels and the driving shock-absorbing wheel mechanism according to signals to drive the AGV trolley to move to a specified position;
the lifting mechanism controls the second servo motor according to signals to drive the synchronous belt to move, so that the pallet fork translation mechanism which vertically moves up and down along with the synchronous belt moves to a specified position;
the fork translation mechanism controls the third servo motor to drive the fork expansion plate to move in a translation mode according to signals, so that the fork expansion plate moves to a specified position, and goods can be stored and taken conveniently.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
the AGV trolley applied to the high-position storage and taking comprises a gravity-center balance intelligent trolley, a lifting mechanism and a fork translation mechanism, wherein the lifting mechanism is arranged above the gravity-center balance intelligent trolley, and the fork translation mechanism is arranged in a frame of the lifting mechanism. The whole vehicle has the advantages of compact structure, narrow occupied walkway space during driving, more placement space advantages for the goods shelves, application to material systematic management, capability of solving the problems of intelligent modification and high economic cost of modification of the warehouse, capability of delivering goods into and out of the warehouse without manual operation, and capability of being used for placing and taking goods of common goods shelves.
Drawings
Fig. 1 is a schematic diagram of a three-dimensional structure of a gravity-balanced intelligent vehicle applied to an AGV for high-level storage and retrieval according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a two-dimensional structure of the gravity-balanced intelligent AGV applied to high-level storage and retrieval in the embodiment of the present application;
FIG. 3 is a schematic diagram of a simulation structure of the gravity center balanced intelligent vehicle applied to an AGV for high-level storage and retrieval according to an embodiment of the present application;
FIG. 4 is a schematic three-dimensional structural diagram of two sets of driving shock absorbing wheel mechanisms of the gravity center balance intelligent vehicle applied to an AGV vehicle for high-level storage and retrieval according to the embodiment of the present application;
FIG. 5 is a schematic diagram of a two-dimensional structure of two sets of driving shock absorbing wheel mechanisms of the gravity center balance intelligent vehicle applied to an AGV vehicle for high-level storage and retrieval according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a simulation structure of two sets of driving shock absorbing wheel mechanisms of the gravity center balance intelligent vehicle applied to an AGV vehicle for high-level storage and retrieval according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a three-dimensional structure of the lifting mechanism of an AGV applied to high-level storage and retrieval according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of a two-dimensional structure of the lifting mechanism of an AGV applied to high-level storage and retrieval according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram of a simulation structure of the lifting mechanism in the AGV applied to the high-level storage and retrieval according to the embodiment of the present application;
FIG. 10 is a schematic three-dimensional structure diagram of the fork translation mechanism of an AGV for high-level storage and retrieval according to an embodiment of the present disclosure;
FIG. 11 is a schematic diagram of a two-dimensional structure of a fork translation mechanism of an AGV for high-level storage and retrieval according to an embodiment of the present disclosure;
FIG. 12 is a schematic diagram of a simulation structure of the fork translation mechanism in the AGV applied to high-level storage and retrieval according to the embodiment of the present application;
FIG. 13 is a schematic diagram of an AGV according to an embodiment of the present disclosure;
fig. 14 is a schematic flowchart of a storing and fetching method of an AGV car for high-level storing and fetching according to an embodiment of the present application.
In the figure: 1-balance shock-absorbing universal wheel, 2-universal wheel cushion block, 3-stainless steel base plate, 4-stainless steel base plate mounting column, 5-edge-touching sensor, 6-laser sensor, 7-two sets of driving shock-absorbing wheel mechanisms, 8-gravity balance steel plate, 9-charging brush plate, 10-lithium battery, 11-two emergency stop switches, 12-fixing seat, 13-charging station, 14-first servo motor, 15-planetary gear right-angle reducer, 16-driving wheel hub, 17-wheel hub limiting rod, 18-shock-absorbing spring, 19-shock-absorbing spring limiting rod, 20-driving wheel, 21-driving wheel bearing, 22-frame, 23-second servo motor, 24-worm gear double-output shaft reducer, 25-first linear guide rail, 26-driving synchronous pulley, 27-driven synchronous pulley, 28-synchronous belt, 29-synchronous belt tensioning shaft, 30-synchronous belt tensioning adjusting seat, 31-lifting drag chain component, 32-second linear guide rail, 33-single group of synchronous pulley belt, 34-third servo motor, 35-planetary gear reducer, 36-monopole driving synchronous pulley, 37-driven synchronous pulley bearing seat, 38-synchronous belt adjusting bearing seat, 39-synchronous belt tensioning block, 40-guide rail plate, 41-first slide block connecting plate, 42-second slide block connecting plate, 43-synchronous belt pressing plate, 44-fork expansion plate, 45-nylon sliding supporting guide bar, 46-metal sliding supporting guide bar, 47-anti-track-out plate, 48-two groups of synchronous belt guide shafts and guide wheels, 49-guide rail plate stiffening ribs.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, which are provided for a more complete understanding of the present disclosure.
Referring to fig. 13, an AGV cart for high-level material storage and retrieval according to an embodiment of the present invention includes a gravity-balanced smart cart, a lifting mechanism and a fork translation mechanism, wherein the lifting mechanism is disposed above the gravity-balanced smart cart, and the fork translation mechanism is disposed in a frame of the lifting mechanism.
Referring to fig. 1-6, in the present embodiment, the gravity center balance intelligent cart includes four balance shock-absorbing universal wheels 1, universal wheel pads 2, a stainless steel base plate 3, a stainless steel base plate mounting column 4, a contact edge sensor 5, a laser sensor 6, two sets of driving shock-absorbing wheel mechanisms 7, a gravity center balance steel plate 8, a charging brush plate 9, a lithium battery 10, two emergency stop switches 11, a fixing base 12, and a charging station 13; the driving damper wheel mechanism 7 comprises a first servo motor 14, a planetary gear right-angle speed reducer 15, a driving hub 16, a hub limiting rod 17, a damper spring 18, a damper spring limiting rod 19, a driving wheel 20 and a driving wheel bearing 21.
Specifically, the stainless steel bottom plate 3 is mounted at the bottom of the gravity center balance steel plate 8 by using the stainless steel bottom plate mounting column 4; the fixed seat 12 is fixed on the gravity center balance steel plate 8 and used for fixing the lifting mechanism; the driving wheel 20 is mounted at the bottom of the gravity center balance steel plate 8 by using the hub limiting rod 17 and the shock absorbing spring limiting rod 19; the shock absorbing spring 18 is arranged between the driving hub 16 and the shock absorbing spring limiting rod 19; the first servo motor 14 drives the planetary gear right-angle reducer 15 to operate so as to drive the driving hub 16.
Specifically, the gravity center balance intelligent trolley adopts six-wheel balance bearing, wherein the drive is two middle wheels (driving a shock absorption wheel mechanism 7), the rest four wheels adopt shock absorption universal wheel balance bearing (balance shock absorption universal wheels 1) and have a shock absorption function; the balance shock-absorbing universal wheel 1 is used for balancing the bearing capacity of the gravity center balance intelligent trolley and plays a role in guiding, buffering and damping the gravity center balance intelligent trolley; the balance shock-absorbing universal wheel 1 and the universal wheel cushion block 2 are mounted at the bottom of the gravity center balance steel plate 8 together, and the universal wheel cushion block 2 is used for heightening the balance shock-absorbing universal wheel 1, so that the balance shock-absorbing universal wheel 1 is at a proper horizontal height.
Preferably, the gravity center balance intelligent trolley further comprises a laser sensor 6, a side contact sensor 5 and an emergency stop switch 11; the laser sensor 6 is arranged at the bottom edge of the gravity balance steel plate 8; the edge touch sensor 5 is arranged at the edge of the stainless steel bottom plate 3; the emergency stop switch 11 performs emergency braking on the driving damper wheel mechanism 7.
In one embodiment, the gravity center balance steel plate 8 is a heavy steel plate with the weight of not less than 100kg and is used for balancing the gravity center, so that safety accidents caused by unstable gravity center of the trolley when the trolley is lifted to a high place are prevented; the capacity of the battery adopting a 50AH lithium battery 10 can reach 50AH, so that the cruising ability can be improved; the four balance shock-absorbing universal wheels 1 have the shock absorption and buffering functions, and the single bearing capacity is greater than 200 kg; the universal wheel cushion block 2 is made of aluminum alloy, and the surface is subjected to oxidation sand blasting treatment; the stainless steel bottom plate 3 is made of stainless steel, and the surface is subjected to wire drawing treatment; the stainless steel bottom plate mounting column 4 is made of stainless steel; the edge contact sensor 5 adopts a special-shaped bent pipe processing form; the laser sensor 6 adopts CAN communication and a 90-degree elbow data line; the two sets of driving shock absorption wheel mechanisms 7 adopt a servo control system and a spring shock absorption mode; the gravity center balance steel plate 8 is galvanized by adopting a Q235 steel plate with the thickness of 30 mm; the charging brush plate 9 is subjected to insulation treatment by adopting a bakelite plate; the two emergency stop switches 11 adopt an emergency stop switch 11 in a mushroom head beating mode; the fixed seat 12 is made of 60 sections and welded by Q235 materials, and the surface of the fixed seat is galvanized; the charging station 13 adopts WiFi communication and outputs voltage of 48V; the power of the first servo motor 14 is 400W and 3000 r/min; the planetary gear right-angle reducer 15 adopts a 1:16 speed ratio; the driving hub 16 is made of aluminum alloy, and the surface is subjected to oxidation sand blasting treatment; the hub limiting rod 17 is made of stainless steel; the shock absorbing spring 18 is made of 65Mn steel; the shock absorbing spring limiting rod 19 is formed by turning a stainless steel screw; the driving wheel 20 adopts imported polyurethane as a wear-resistant surface, and the hardness of the driving wheel can reach 90 degrees Shore; the driving wheel bearing 21 adopts 61822-2RZ and is provided with sealing rings on two sides.
Referring to fig. 7-9, in the present embodiment, the lifting mechanism includes a frame 22, a synchronous belt tensioning shaft 29, a synchronous belt tensioning adjusting seat 30 and a lifting driving device; the lifting driving device comprises a second servo motor 23, a worm and gear double-output-shaft speed reducer 24, two groups of first linear guide rails 25, two driving synchronous wheels 26, two driven synchronous wheels 27, a synchronous belt 28 and a lifting drag chain 31.
Specifically, the frame 22 is connected with the fixed seat 12 of the intelligent gravity balance trolley; the lifting driving device is used for driving the fork translation mechanism to lift up and down; the first linear guide 25 and the lifting drag chain 31 are mounted on the frame 22; the second servo motor 23 and the worm and gear double-output shaft reducer 24 are fixed on the gravity balance intelligent trolley and used as an output unit of lifting power; the driving synchronous wheel 26 and the driven synchronous wheel 27 establish a connection relationship through the synchronous belt 28; the synchronous belt tensioning shaft 29 and the synchronous belt tensioning adjusting seat 30 are used for adjusting the tensioning degree of the synchronous belt 28;
specifically, a worm gear speed reducer adopted by the lifting mechanism is stressed more safely in the lifting process, has a mechanical self-locking function, can play a role in safety protection in the lifting process, and prevents safety accidents caused by sudden electrical faults in the lifting process; the lifting mechanism is only provided with one second servo motor 23 as a power set, so that programming and debugging are facilitated, the precision of the lifting positioning aspect by using the servo motor is higher, and the positioning height can be changed at will by a program; the lifting mechanism adopts a synchronous wheel synchronous belt as a power transmission component, is more stable and silent in the transmission process and has high precision.
In one embodiment, the frame body of the lifting mechanism is made of aluminum alloy square section, so that the lifting mechanism is lighter, firmer and convenient to install; the frame 22 is formed by splicing 60mmx60mm square aluminum alloy sections; the power of the second servo motor 23 is 400W, and the rotating speed is 3000 r/min; the speed reducer 24 with the worm gear and the double output shafts adopts the speed ratio of 1: 25; the basic dynamic rated load of the two groups of first linear guide rails 25 is 32.75KN, and the basic static rated load is 49.44 KN; the tooth shapes of the two driving synchronous wheels 26 adopt HTD8M/24 teeth, and the effective width of the two driving synchronous wheels is 33 mm; the tooth form of the two driven synchronizing wheels 27 adopts HTD8M/24 teeth, and the effective width of the tooth form is 43 mm; the two synchronous belt 28 tooth shapes adopt HTD8M, the width is 30mm, and the length is 5555 mm; the tensioning shaft 29 of the synchronous belt is made of 45# steel, and the hardness of the 45# steel is HRC 48-50 through quenching and tempering; the synchronous belt tensioning adjusting seat 30 is formed by machining 304 stainless steel; the length of the lifting drag chain 31 is 2546 mm.
Referring to fig. 10-12, in the present embodiment, the fork translation mechanism includes a second linear guide rail 32, a synchronous pulley belt 33, a third servo motor 34, a planetary gear reducer 35, a single-pole driving synchronous pulley 36, a driven synchronous pulley bearing seat 37, a synchronous belt adjusting bearing seat 38, a synchronous belt tensioning block 39, a guide rail plate 40, a first slider connecting plate 41, a second slider connecting plate 42, a synchronous belt pressing plate 43, a fork expansion plate 44, a nylon sliding support guide bar 45, a metal sliding support guide bar 46, an anti-derailment plate 47, two sets of synchronous belt guide shafts, guide wheels 48, and a guide rail plate reinforcing rib 49.
Wherein, the third servo motor 34, the planetary gear reducer 35, the single-stage driving synchronous wheel 26, the nylon sliding support guide bar 45, the single-group synchronous wheel belt 33 and the two groups of second linear guide rails 32 form a translation driving device; the translation driving device is used for driving the fork telescopic plate 44 to translate relative to the guide rail plate 40.
Specifically, the first slider connecting plate 41 is used to connect the rail plate 40 and the rail plate reinforcing rib 49; the first slider connecting plate 41 and the second slider connecting plate 42 are used for connecting the first linear guide 25 in the lifting mechanism; the second linear guide rail 32 is fixed to the guide rail plate 40; the third servo motor 34 and the planetary gear reducer 35 drive the single-pole driving synchronizing wheel 36 to move; the single-pole driving synchronous wheel 36 drives the single group of synchronous wheel belts 33 to move; the single group of synchronous pulley belts 33 drives the fork expansion plate 44 to realize the reciprocating translational motion of the fork expansion plate 44.
Specifically, the fork translation mechanism is pulled by a synchronous belt 28 wheel, so that the fork translation mechanism vertically moves up and down, the transmission is silent and stable, and the precision is high; the fork translation mechanism is provided with the third servo motor 34 as a power set, programming and debugging are facilitated, the servo motor and the planetary gear speed reducer 35 are adopted for driving, the fork translation positioning precision is higher, the positioning length can be changed randomly by a program, and the planetary gear speed reducer 35 is used, so that the fork translation mechanism is higher in transmission precision and large in speed ratio.
Preferably, the fork translation mechanism adopts an aluminum alloy material as an accessory mechanism body, so that the whole weight of the fork translation mechanism is greatly reduced, and safety accidents caused by gravity center deviation due to too high rise height and too large couple are reduced.
In one embodiment, the two sets of second linear guides 32 have a basic dynamic rated load of 32.75KN and a basic static rated load of 49.44 KN; the tooth shape of the single-group synchronous belt 33 is HTD5M/20 teeth, and the effective width is 27 mm; the synchronous belt 28 is an endless belt with a length of 1455 mm; the power of the third servo motor 34 is 400W, and the rotating speed is 3000 r/min; the reduction ratio of the planetary gear reducer 35 is 1: 20; the tooth shape of the monopole driving synchronous wheel 36 is HTD5M/28 teeth, and the effective width is 27 mm; the driven synchronous wheel bearing seat 37, the synchronous belt adjusting bearing seat 38, the synchronous belt tensioning block 39, the guide rail plate 40, the first slider connecting plate 41, the second slider connecting plate 42, the fork telescopic plate 44, the anti-derailment plate 47 and the guide rail plate reinforcing rib 49 are all made of aluminum alloy materials, and the surfaces are subjected to oxidation sand blasting; the tooth shape of the synchronous belt pressing plate 43 is HTD8M/7 teeth; the nylon sliding support guide bar 45 is made of oil-containing nylon PA 66; the metal sliding support guide bar 46 is made of stainless steel 304, and the surface of the metal sliding support guide bar is polished; two sets of hold-in range guiding axle and leading wheel 48, the leading wheel adopts oiliness nylon PA66 material, and the guiding axle adopts 304 stainless steel material.
Referring to fig. 14, an embodiment of the present invention further provides a material storing and taking method for an AGV car with high position material storing and taking, which is applied to the AGV car with high position material storing and taking in any one of the above embodiments. The method comprises the following steps:
s1, controlling the balance shock-absorbing universal wheel 1 and the driving shock-absorbing wheel mechanism 7 by the gravity center balance intelligent trolley according to the signals to drive the AGV trolley to move to the designated position;
s2, controlling the second servo motor 23 by the lifting mechanism according to the signal to drive the synchronous belt 28 to move, enabling the fork translation mechanism to vertically move up and down along with the synchronous belt 28, and enabling the fork translation mechanism to move to a specified position;
s3, the fork translation mechanism controls the third servo motor 34 to drive the fork expansion plate 44 to move in a translation mode according to the signal, so that the fork expansion plate 44 moves to a specified position to store and take goods.
The operations of step S1, step S2, and step S3 are not limited in order.
As shown in fig. 4 and 5, specifically, the first servo motor 14 drives the planetary right-angle reducer 15 to operate, and drives the driving hub 16; six wheels are adopted for balanced bearing, wherein the driving is two wheels in the middle (driving the shock-absorbing wheel mechanism 7), and the rest four wheels are adopted for balanced bearing of shock-absorbing universal wheels (the balanced shock-absorbing universal wheels 1) and have shock-absorbing function; the balance shock-absorbing universal wheel 1 is used for balancing the bearing capacity of the gravity center balance intelligent trolley and plays a role in guiding, buffering and damping the gravity center balance intelligent trolley.
As shown in fig. 7 and 8, in particular, the second servo motor 23 drives the driving synchronous wheel 26 to rotate, the synchronous belt 28 rotates along with the driving synchronous wheel 26, and the synchronous belt tensioning shaft 29 and the synchronous belt tensioning adjusting seat 30 are used for adjusting the tensioning degree of the synchronous belt 28; the worm gear speed reducer adopted by the lifting mechanism is stressed more safely in the lifting process, has a mechanical self-locking function, can play a role in safety protection in the lifting process, and prevents safety accidents caused by sudden electrical faults in the lifting process; the lifting mechanism adopts a synchronous wheel synchronous belt as a power transmission component, is more stable and silent in the transmission process and has high precision.
As shown in fig. 10 and 11, in particular, the third servomotor 34 and the planetary gear reducer 35 drive the fork telescopic plate 44 in translational motion.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (9)
1. The AGV trolley is characterized by comprising a gravity center balance intelligent trolley, a lifting mechanism and a fork translation mechanism, wherein the lifting mechanism is arranged above the gravity center balance intelligent trolley, and the fork translation mechanism is arranged in a frame of the lifting mechanism;
the gravity center balance intelligent trolley comprises a stainless steel bottom plate, a stainless steel bottom plate mounting column, a gravity center balance steel plate and a fixed seat; the stainless steel bottom plate is arranged at the bottom of the gravity center balance steel plate by using the stainless steel bottom plate mounting column; the fixed seat is fixed on the gravity center balance steel plate and used for fixing the lifting mechanism;
the lifting mechanism comprises a frame and a lifting driving device; the frame is connected with a fixed seat of the gravity balance intelligent trolley; the lifting driving device is used for driving the fork translation mechanism to lift up and down;
the fork translation mechanism comprises a fork expansion plate, a guide rail plate and a translation driving device; the translation driving device is used for driving the fork telescopic plate to translate relative to the guide rail plate.
2. The AGV trolley applied to high-level material storage and taking of claim 1, wherein the gravity center balance intelligent trolley further comprises two sets of driving shock absorbing wheel mechanisms;
the driving shock-absorbing wheel mechanism comprises a first servo motor, a planetary gear right-angle speed reducer, a driving wheel, a wheel hub limiting rod, a shock-absorbing spring and a driving wheel hub;
the driving wheel is arranged at the bottom of the gravity center balance steel plate by using the hub limiting rod and the shock-proof spring limiting rod;
the shock-absorbing spring is arranged between the driving hub and the shock-absorbing spring limiting rod;
the first servo motor drives the planetary gear right-angle speed reducer to operate so as to drive the driving hub.
3. The AGV dolly of claim 2, wherein the gravity center balance intelligent dolly further comprises a sudden stop switch, and the sudden stop switch performs emergency braking on the driving shock absorbing wheel mechanism.
4. The AGV car for high level storage and retrieval of claim 1, wherein said gravity center balanced smart cart further comprises four balanced shock absorbing universal wheels;
the balance shock-absorbing universal wheel is used for balancing the bearing capacity of the gravity center balance intelligent trolley and plays a role in guiding, buffering and absorbing shock for the gravity center balance intelligent trolley;
the balance shock-absorbing universal wheel and the universal wheel cushion block are mounted at the bottom of the gravity center balance steel plate together, and the universal wheel cushion block is used for heightening the balance shock-absorbing universal wheel to enable the balance shock-absorbing universal wheel to be at a proper horizontal height.
5. The AGV car for high level storage and retrieval of claim 1, wherein said gravity center balanced smart cart further comprises a laser sensor and a touch edge sensor;
the laser sensor is arranged at the bottom edge of the gravity balance steel plate; the edge touch sensor is arranged at the edge of the stainless steel bottom plate.
6. The AGV trolley applied to high-level material storage and taking of claim 1, wherein the lifting driving device comprises a second servo motor, a worm gear and worm double output shaft speed reducer, two driving synchronizing wheels, two driven synchronizing wheels, a synchronous belt, a lifting drag chain and two groups of first linear guide rails;
the first linear guide rail and the lifting drag chain are arranged on the frame;
the second servo motor and the worm and gear double-output shaft speed reducer are fixed on the gravity balance intelligent trolley and are used as output units of lifting power;
the driving synchronous wheel and the driven synchronous wheel establish a connection relation through the synchronous belt;
the synchronous belt tensioning shaft and the synchronous belt tensioning adjusting seat are used for adjusting the tensioning degree of the synchronous belt;
the worm gear and worm double-output shaft speed reducer has a mechanical self-locking function.
7. The AGV car for high level storage and retrieval of claim 1, wherein said fork translation mechanism further comprises a guide rail plate stiffener, a first slider attachment plate, a second slider attachment plate,
The first slide block connecting plate is used for connecting the guide rail plate and the guide rail plate reinforcing rib;
the first slider connecting plate and the second slider connecting plate are used for connecting the first linear guide rail in the lifting mechanism.
8. The AGV car for high level storage and retrieval of claim 1, wherein said translational driving device comprises a third servo motor, a planetary gear reducer, a single-stage driving synchronous wheel, a nylon sliding support bar, a single-group synchronous wheel belt and two sets of second linear guide rails;
the second linear guide rail is fixed on the guide rail plate;
the third servo motor and the planetary gear reducer drive the single-pole driving synchronous wheel to move;
the single-pole driving synchronous pulley drives the single-group synchronous pulley to move;
the single group of synchronous wheel belts drive the fork expansion plate to realize the reciprocating translation motion of the fork expansion plate.
9. A storage and retrieval method for AGV with high access according to any of claims 1 to 8, comprising:
the gravity center balance intelligent trolley controls the balance shock-absorbing universal wheels and the driving shock-absorbing wheel mechanism according to signals to drive the AGV trolley to move to a specified position;
the lifting mechanism controls the second servo motor according to a signal to drive the synchronous belt to move, so that the fork translation mechanism moves to a specified position;
the fork translation mechanism controls the third servo motor to drive the fork expansion plate to do translation motion according to signals, so that the fork expansion plate moves to a specified position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010501345.0A CN111704075A (en) | 2020-06-04 | 2020-06-04 | AGV trolley applied to high-position storage and taking and material storing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010501345.0A CN111704075A (en) | 2020-06-04 | 2020-06-04 | AGV trolley applied to high-position storage and taking and material storing method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN111704075A true CN111704075A (en) | 2020-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010501345.0A Pending CN111704075A (en) | 2020-06-04 | 2020-06-04 | AGV trolley applied to high-position storage and taking and material storing method thereof |
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| Country | Link |
|---|---|
| CN (1) | CN111704075A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722067A (en) * | 2020-12-24 | 2021-04-30 | 黄日民 | Storage conveying robot |
| CN113003128A (en) * | 2021-03-29 | 2021-06-22 | 浙江鸿盛新材料科技集团股份有限公司 | Get yarn and floor truck |
| CN113734680A (en) * | 2021-09-13 | 2021-12-03 | 南通理工学院 | Intelligent material storage management system based on big data |
| CN113955514A (en) * | 2021-11-16 | 2022-01-21 | 橡技工业(苏州)有限公司 | Automatic feeding process of AGV trolley |
| CN113955515A (en) * | 2021-11-16 | 2022-01-21 | 橡技工业(苏州)有限公司 | AGV dolly |
| WO2022143696A1 (en) * | 2020-12-31 | 2022-07-07 | 华为技术有限公司 | Apparatus assembly system and method |
| WO2022222554A1 (en) * | 2021-04-21 | 2022-10-27 | 深圳市海柔创新科技有限公司 | Robot and warehousing system |
| CN115583453A (en) * | 2022-07-25 | 2023-01-10 | 国网浙江省电力有限公司杭州供电公司 | AGV for automatically switching three-dimensional warehouse and flat warehouse |
| CN116395607A (en) * | 2023-06-05 | 2023-07-07 | 四川吉埃智能科技有限公司 | Intelligent storage and transportation robot and control method |
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2020
- 2020-06-04 CN CN202010501345.0A patent/CN111704075A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722067A (en) * | 2020-12-24 | 2021-04-30 | 黄日民 | Storage conveying robot |
| WO2022143696A1 (en) * | 2020-12-31 | 2022-07-07 | 华为技术有限公司 | Apparatus assembly system and method |
| CN113003128A (en) * | 2021-03-29 | 2021-06-22 | 浙江鸿盛新材料科技集团股份有限公司 | Get yarn and floor truck |
| WO2022222554A1 (en) * | 2021-04-21 | 2022-10-27 | 深圳市海柔创新科技有限公司 | Robot and warehousing system |
| CN113734680A (en) * | 2021-09-13 | 2021-12-03 | 南通理工学院 | Intelligent material storage management system based on big data |
| CN113955514A (en) * | 2021-11-16 | 2022-01-21 | 橡技工业(苏州)有限公司 | Automatic feeding process of AGV trolley |
| CN113955515A (en) * | 2021-11-16 | 2022-01-21 | 橡技工业(苏州)有限公司 | AGV dolly |
| CN113955515B (en) * | 2021-11-16 | 2023-03-24 | 橡技工业(苏州)有限公司 | AGV dolly |
| CN115583453A (en) * | 2022-07-25 | 2023-01-10 | 国网浙江省电力有限公司杭州供电公司 | AGV for automatically switching three-dimensional warehouse and flat warehouse |
| CN116395607A (en) * | 2023-06-05 | 2023-07-07 | 四川吉埃智能科技有限公司 | Intelligent storage and transportation robot and control method |
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