CN113003496A

CN113003496A - Tire supporting mechanism for AGV (automatic guided vehicle) carrying of whole vehicle and control method of tire supporting mechanism

Info

Publication number: CN113003496A
Application number: CN202110269713.8A
Authority: CN
Inventors: 庞军舰; 朴永灿; 黄大巍; 李传州; 宋和义
Original assignee: MMI Planning and Engineering Institute IX Co Ltd
Current assignee: MMI Planning and Engineering Institute IX Co Ltd
Priority date: 2021-03-12
Filing date: 2021-03-12
Publication date: 2021-06-22
Anticipated expiration: 2041-03-12
Also published as: CN113003496B

Abstract

The invention discloses a tire supporting mechanism for transporting an AGV (automatic guided vehicle) in a whole vehicle, which comprises an AGV frame, a first clamping arm component, a second clamping arm component and a locking device component, wherein mounting grooves are integrally formed on the left side and the right side of the AGV frame, the first clamping arm component is fixedly arranged in the mounting groove of the AVG frame on the left side, the second clamping arm component is fixedly arranged in the mounting groove of the AGV frame on the right side, the first clamping arm component and the second clamping arm component are symmetrical, and the locking device component is fixedly arranged on an AGV frame wall plate between the two mounting grooves; the modular design is convenient for assembly; the structure is compact, and the bearing capacity is strong; the tire supporting mechanism is low in height, is suitable for being strong, and provides a solution for transporting an AGV by a low-chassis automobile; rotation and the locking independent control of arm lock although can increase a small amount of costs, nevertheless provide safer assurance measure for the car transport, prevent the loss of great property more.

Description

Tire supporting mechanism for AGV (automatic guided vehicle) carrying of whole vehicle and control method of tire supporting mechanism

Technical Field

The invention relates to the technical field of AGV, in particular to a tire supporting mechanism for transporting AGV by using a whole vehicle and a control method thereof.

Background

With the vigorous development of the domestic automobile industry, in order to meet the requirements of different consumers, the types of automobile models are more and more, and the automobile production line is required to have high flexibility. The AGV has the characteristics of high flexibility and intellectualization, so that the AGV is more and more widely applied to an automobile production line.

After the final assembly of the automobile is completed, the automobile is mostly manually opened and taken off the line at present, so that a large amount of material resources and human resources are wasted. In order to meet the requirement of automatic offline of the whole vehicle, more and more AGV manufacturers try to develop an ultra-low whole vehicle carrying AGV, the AGV can enter the vehicle bottom, lift the whole vehicle through a tire supporting mechanism, and then convey the whole vehicle to a specified position according to a dispatching system and a guiding system. Therefore, in the construction of an automobile intelligent factory, the whole automobile carrying AGV plays a vital role. The tire supporting mechanism is also very important as an important component of the AGV.

Disclosure of Invention

The invention aims to provide a tire supporting mechanism for transporting an AGV by a whole vehicle and a control method thereof, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a whole car transport AGV is with riding wheel child mechanism, includes AGV frame, first arm lock subassembly, second arm lock subassembly and locking device subassembly, the left side and the homogeneous integrated into one piece in right side of AGV frame have a mounting groove, first arm lock subassembly fixed mounting in the left side the mounting groove of AVG frame in, second arm lock subassembly fixed mounting in the right side the mounting groove of AGV frame in, first arm lock subassembly and second arm lock subassembly symmetry, on the AGV frame wallboard between locking device subassembly fixed mounting and the two mounting grooves.

Preferably, first arm lock subassembly includes drive assembly, electric putter subassembly, push rod connecting rod, arm lock, drive assembly fixed mounting is in the rear side wall of electric putter subassembly, the one end of the articulated push rod connecting rod of removal end of electric putter subassembly, the middle part of the articulated arm lock of the other end of push rod connecting rod, the wall of the articulated mounting groove in inner of arm lock.

Preferably, electric putter includes motor cabinet, lead screw, push rod body and slider, drive assembly fixed mounting is on the medial surface of motor cabinet, the equal fixed mounting of lead screw, push rod body is in the medial surface of motor cabinet, push rod body slidable mounting has the slide, slide and lead screw thread fit, drive assembly's output power connection lead screw.

Preferably, the clamping arm comprises an arm support, a tire carrier roller, a roller shaft and a rotating shaft, a shaft hole is formed in the inner end of the arm support, the rotating shaft is rotatably installed in the shaft hole, the roller shaft is fixedly installed on the left side of the arm support, and the tire carrier roller is rotatably installed on the periphery of the roller shaft.

Preferably, a sliding sheet bearing is arranged between the tire carrier roller and the roller shaft, a clamping plate is clamped at the outer end of the roller shaft, a ball bearing and a thrust needle roller bearing are arranged between the rotating shaft and the shaft hole, and the ball bearing is positioned above the thrust needle roller bearing.

Preferably, the rear side fixed mounting of electric putter subassembly has rotatory limit switch subassembly, rotatory limit switch subassembly includes that a centre gripping closed switch, centre gripping open switch and revolves the number plate, the equal fixed mounting in electric putter's rear side of switch is opened to centre gripping closed switch and centre gripping, rotatory number plate fixed mounting is sent out on the slide, centre gripping closed switch and centre gripping open switch are located the both sides of revolving the number plate.

Preferably, the locking device subassembly includes locking motor, electric putter, slider, connecting rod seat, splint, connecting rod, locking round pin subassembly and locking limit switch subassembly, the output fixed mounting of locking motor has electric putter, electric putter's output fixed mounting has the slider, slider fixed mounting is in the lower surface of connecting rod seat, the left side and the equal fixed mounting in right side of connecting rod seat have splint, the one end of splint centre gripping connecting rod, the other end of locking round pin fixed mounting connecting rod.

Preferably, the locking pin assembly comprises a pin boss, a bearing tile and a locking pin, the locking pin is slidably mounted in the pin boss, and the bearing tile is arranged between the locking pin and the pin boss.

Preferably, the locking device assembly further comprises a locking limit switch assembly, the locking limit switch assembly comprises a locking closing switch, a locking opening switch and a locking signaling plate, the locking closing switch and the locking opening switch are fixed on the outer wall of any one side of the electric push rod, the locking signaling plate is fixed on the outer wall of any one side of the sliding block, and the locking closing switch, the locking opening switch and the locking signaling plate are located on the same side.

The control method of the tire supporting mechanism for the AGV carrying of the whole vehicle comprises the following steps:

after the vehicle is assembled, transporting the device to the bottom of the vehicle through a moving device, and enabling each device to correspond to one tire;

driving a first clamping arm component and a second clamping arm component on each device to move, and clamping the vehicle tire through the first clamping arm component and the second clamping arm component;

step, locking device components on each device work to lock the position of the corresponding tire;

and step one, transferring the fixed vehicle through a moving device below the device.

Compared with the prior art, the invention has the beneficial effects that:

1. the modular design is convenient for assembly;

2. the structure is compact, and the bearing capacity is strong;

3. the tire supporting mechanism is low in height, is suitable for being strong, and provides a solution for transporting an AGV by a low-chassis automobile;

4. rotation and the locking independent control of arm lock although can increase a small amount of costs, nevertheless provide safer assurance measure for the car transport, prevent the loss of great property more.

Drawings

FIG. 1 is a schematic perspective view of the present invention in an operating state;

FIG. 2 is a schematic view of a combination structure of the first clamping arm assembly, the second clamping arm assembly and the locking device assembly in one working state according to the present invention;

FIG. 3 is a schematic view of a combination structure of the first clamping arm assembly, the second clamping arm assembly and the locking device assembly in another working state according to the present invention;

FIG. 4 is a schematic cross-sectional view taken along line A-A of FIG. 3;

FIG. 5 is a schematic sectional view of the combination of the roller shaft and the tire carrier roller according to the present invention;

FIG. 6 is a schematic view of the locking device assembly of the present invention;

fig. 7 is a schematic cross-sectional view at C-C in fig. 6.

In the figure: 1. the outer protective seat, 2, a lifting seat, 3, a supporting upright post, 4, a cross beam, 5, a hoisting device, 51, an upper mounting shell, 52, a lower mounting shell, 53, an electric hoist, 54, a concave steel frame, 55, a second servo motor, 56, a planetary gear reducer, 57, a rotary seat, 58, a mounting seat, 59, a plane bearing, 6, a base, 7, a hydraulic cylinder, 8, an ear seat, 9, a first servo motor, 10, a spiral lifting plate, 10a, a first plate body, 10b, a screw nut, 11, a lead screw, 12, an auxiliary positioning plate, 12a, a second plate body, 12b, a ball bearing, 12c, a side wall roller, 12d, a rear wall roller, 13, a first rear sliding rail, 14, a second rear sliding rail, 15, a first side sliding rail, 16, and a second side sliding rail.

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.

Referring to fig. 1-7, the present invention provides a technical solution: the utility model provides a whole car transport AGV is with riding in wheel child mechanism, includes AGV frame 1, first arm lock subassembly 2, second arm lock subassembly 3 and locking device subassembly 4, AGV frame 1's left side and right side homogeneous body shaping have a mounting groove, 2 fixed mounting in left side of first arm lock subassembly in AVG frame 1's the mounting groove, 3 fixed mounting in the right side of second arm lock subassembly AGV frame 1's mounting groove in, first

arm lock subassembly

2 and 3 symmetries of second arm lock subassembly, on the AGV frame 1 wallboard between 4 fixed mounting of locking device subassembly and the two mounting grooves.

AGV frame 1 bears and mounting structure for the basis, and first arm lock subassembly 2 and second arm lock subassembly 3 mutually support and carry out the centre gripping to the tire, and locking device subassembly 4 locks the tire of centre gripping for first arm lock subassembly 2 and second arm lock subassembly 3 carry out effectual position locking, thereby realize fixed to the position of tire.

Particularly, first arm lock subassembly 2 includes drive assembly 21, electric putter subassembly 22, push rod connecting rod 23, arm lock 24, drive assembly 21 fixed mounting is in electric putter subassembly 22's back lateral wall, the one end of the articulated push rod connecting rod 23 of removal end of electric putter subassembly 22, the middle part of the articulated arm lock 24 of the other end of push rod connecting rod 23, the wall of the articulated mounting groove in inner of arm lock 24.

The driving assembly 21 is the driving power of the whole device, and the electric push rod assembly 22 is driven by the driving assembly 21, so that the electric push rod assembly can drive the push rod connecting rod 23, and then the closing and the opening of the clamping arm 24 are controlled.

Specifically, the electric push rod 22 includes a motor base 221, a lead screw 222, a push rod body 223 and a slider 224, the driving assembly 21 is fixedly mounted on an inner side end surface of the motor base 221, the lead screw 222 and the push rod body 223 are both fixedly mounted on an inner side surface of the motor base 221, the push rod body 223 is slidably mounted with a slide seat 224, the slide seat 224 is in threaded fit with the lead screw 222, and an output end of the driving assembly 21 is in power connection with the lead screw 222.

The motor base 221 is a basic mounting structure, and the screw rod 222 is in threaded fit with the sliding base 224, so that the sliding base 224 can move by the rotation of the screw rod 222, and the sliding base 224 is limited by the rotation of the push rod body 223.

Specifically, the clamping arm 24 includes an arm support 241, a tire carrier roller 242, a roller shaft 243 and a rotating shaft 244, wherein a shaft hole is formed at the inner end of the arm support 241, the rotating shaft 244 is rotatably installed in the shaft hole, the roller shaft 243 is fixedly installed at the left side of the arm support 241, and the tire carrier roller 242 is rotatably installed at the periphery of the roller shaft 243.

The arm support 241 is a basic bearing structure for clamping and mounting, the tire carrier roller 242 is a structure for contacting a tire and increasing friction force, the roller shaft 243 provides a mounting base for the tire carrier roller 242, and the shaft hole is matched with the rotating shaft 244 to enable the arm support 241 to rotate around the shaft.

Specifically, a slide bearing 247 is arranged between the tire carrier roller 242 and the roller shaft 243, a clamping plate 248 is clamped at the outer end of the roller shaft 243, a ball bearing 245 and an anti-thrust needle bearing 246 are arranged between the rotating shaft 244 and the shaft hole, and the ball bearing 245 is positioned above the anti-thrust needle bearing 246.

The roller shaft 243 is conveniently installed by the catch plate 248, the sliding vane bearing 247 can reduce the friction between the roller shaft 243 and the tire carrier roller 242, and the ball bearing 245 and the thrust needle bearing 246 can reduce the friction between the rotating shaft 244 and the shaft hole, and at the same time, the position is limited.

Specifically, the rear side of the electric push rod assembly 22 is fixedly provided with a rotary limit switch assembly 25, the rotary limit switch assembly 25 includes a clamping close switch 251, a clamping open switch 252 and a rotary number plate 253, the clamping close switch 251 and the clamping open switch 252 are both fixedly installed at the rear side of the electric push rod 22, the rotary number plate 253 is fixedly installed on the slide carriage 224, and the clamping close switch 251 and the clamping open switch 252 are located at two sides of the rotary number plate 253.

By changing the position of the rotary dial 253, the clamp closing switch 251 and the clamp opening switch 252 are signaled, thereby enabling feedback on the change in position.

Specifically, locking device subassembly 4 includes locking motor 41, electric putter 42, slider 43, connecting rod seat 44, splint 45, connecting rod 46, fitting pin subassembly 47 and locking limit switch subassembly 48, the output fixed mounting of locking motor 41 has electric putter 42, electric putter 42's output fixed mounting has slider 43, slider 43 fixed mounting is in the lower surface of connecting rod seat 44, the equal fixed mounting in left side and right side of connecting rod seat 44 has splint 45, splint 45 centre gripping connecting rod 46's one end, fitting pin 47 fixed mounting connecting rod 46's the other end.

The locking motor 41 is driven by itself to change the positions of the electric push rod 42 and the slide block 43, and then the connecting rod seat 44 is changed, so that the connecting rod 46 clamped by the clamping plate 45 and the connecting locking pin assembly 47 thereof are changed in position, and then the locking of the position is realized.

Specifically, the locking pin assembly 47 includes a pin receptacle 471, a bearing tile 472 and a locking pin 473, the locking pin 473 is slidably mounted in the pin receptacle 471, and the bearing tile 472 is disposed between the locking pin 473 and the pin receptacle 471.

Effective locking is achieved by the position change of the locking pin 473 and the pin receptacle 471, while the bearing tiles 472 are able to reduce the friction between each other.

Specifically, the locking device assembly 4 further includes a locking limit switch assembly 48, the locking limit switch assembly 48 includes a locking closing switch 481, a locking opening switch 482 and a locking number plate 483, the locking closing switch 481 and the locking opening switch 482 are fixed on the outer wall of any one side of the electric push rod 42, the locking number plate 483 is fixed on the outer wall of any one side of the slider 43, and the locking closing switch 481, the locking opening switch 482 and the locking number plate 483 are located on the same side.

The change in the position of the slider 43 is monitored by the feedback of the signals from the lock signal plate 483 by the lock close switch 481 and the lock open switch 482.

step 1, after a vehicle is assembled, transporting the device to the bottom of the vehicle through a moving device, and enabling each device to correspond to one tire;

step 2, driving the first clamping arm assembly 2 and the second clamping arm assembly 3 to move on each device, and clamping the vehicle tire through the first clamping arm assembly 2 and the second clamping arm assembly 3;

step 3, locking device components on each device work to lock the positions of the corresponding tires;

and 4, transferring the fixed vehicle through a moving device below the device.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as mature bolts, rivets, welding and the like in the prior art, the machines, the parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, so that the detailed description is omitted.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a whole car transport AGV is with riding in shallow child mechanism, includes AGV frame (1), first arm lock subassembly (2), second arm lock subassembly (3) and locking device subassembly (4), its characterized in that: the left side and the homogeneous body shaping in right side of AGV frame (1) have the mounting groove, first arm lock subassembly (2) fixed mounting in the left side the mounting groove of AVG frame (1) in, second arm lock subassembly (3) fixed mounting in the right side the mounting groove of AGV frame (1) in, first arm lock subassembly (2) and second arm lock subassembly (3) symmetry, on AGV frame (1) wallboard between locking device subassembly (4) fixed mounting and the two mounting grooves.

2. The supporting tire mechanism for the AGV for transporting the whole vehicle as claimed in claim 1, wherein: first arm lock subassembly (2) are including drive assembly (21), electric putter subassembly (22), push rod connecting rod (23), arm lock (24), drive assembly (21) fixed mounting is in the back lateral wall of electric putter subassembly (22), the one end of the articulated push rod connecting rod (23) of removal end of electric putter subassembly (22), the middle part of the articulated arm lock (24) of the other end of push rod connecting rod (23), the wall of the articulated mounting groove in inner of arm lock (24).

3. The supporting tire mechanism for the AGV for transporting the whole vehicle as claimed in claim 2, wherein: electric putter (22) include motor cabinet (221), lead screw (222), push rod body (223) and slider (224), drive assembly (21) fixed mounting is on the medial surface of motor cabinet (221), lead screw (222), push rod body (223) all fixed mounting are in the medial surface of motor cabinet (221), push rod body (223) slidable mounting has slide (224), slide (224) and lead screw (222) screw-thread fit, lead screw (222) are connected to the output power of drive assembly (21).

4. The supporting tire mechanism for the AGV for transporting the whole vehicle as claimed in claim 2, wherein: the clamping arm (24) comprises an arm support (241), a tire carrier roller (242), a roller shaft (243) and a rotating shaft (244), wherein a shaft hole is formed in the inner end of the arm support (241), the rotating shaft (244) is rotatably installed in the shaft hole, the roller shaft (243) is fixedly installed on the left side of the arm support (241), and the tire carrier roller (242) is rotatably installed on the periphery of the roller shaft (243).

5. The supporting tire mechanism for the AGV for transporting the whole vehicle as claimed in claim 4, wherein: a sliding vane bearing (247) is arranged between the tire carrier roller (242) and the roller shaft (243), a clamping plate (248) is clamped at the outer end of the roller shaft (243), a ball bearing (245) and a thrust needle bearing (246) are arranged between the rotating shaft (244) and the shaft hole, and the ball bearing (245) is positioned above the thrust needle bearing (246).

6. The supporting tire mechanism for the AGV for transporting the whole vehicle as claimed in claim 2, wherein: the rear side fixed mounting of electric putter subassembly (22) has rotatory limit switch subassembly (25), rotatory limit switch subassembly (25) include that a centre gripping closes switch (251), centre gripping opens switch (252) and rotatory number plate (253), centre gripping closes switch (251) and centre gripping opens equal fixed mounting in the rear side of electric putter (22) of switch (252), number plate (253) fixed mounting is forwarded soon on slide (224), centre gripping closes switch (251) and centre gripping opens switch (252) and is located the both sides of forwarding number plate (253) soon.

7. The supporting tire mechanism for the AGV for transporting the whole vehicle as claimed in claim 1, wherein: locking device subassembly (4) are including locking motor (41), electric putter (42), slider (43), connecting rod seat (44), splint (45), connecting rod (46), fitting pin subassembly (47) and locking limit switch subassembly (48), the output fixed mounting of locking motor (41) has electric putter (42), the output fixed mounting of electric putter (42) has slider (43), slider (43) fixed mounting is in the lower surface of connecting rod seat (44), the equal fixed mounting in left side and right side of connecting rod seat (44) has splint (45), the one end of splint (45) centre gripping connecting rod (46), the other end of fitting pin (47) fixed mounting connecting rod (46).

8. The claim 7 discloses a whole car transport AGV is with supporting tire mechanism, its characterized in that: the locking pin assembly (47) comprises a pin seat (471), a bearing tile (472) and a locking pin (473), the locking pin (473) is installed in the pin seat (471) in a sliding mode, and the bearing tile (472) is arranged between the locking pin (473) and the pin seat (471).

9. The claim 7 discloses a whole car transport AGV is with supporting tire mechanism, its characterized in that: the locking device assembly (4) further comprises a locking limit switch assembly (48), the locking limit switch assembly (48) comprises a locking closed switch (481), a locking open switch (482) and a locking number plate (483), the locking closed switch (481) and the locking open switch (482) are fixed on the outer wall of any one side of the electric push rod (42), the locking number plate (483) is fixed on the outer wall of any one side of the sliding block (43), and the locking closed switch (481), the locking open switch (482) and the locking number plate (483) are located on the same side.

10. The method for controlling the tire supporting mechanism for the AGV in the whole vehicle based on the claims 1 to 9 is characterized by comprising the following steps:

step 2, driving a first clamping arm assembly (2) and a second clamping arm assembly (3) on each device to move, and clamping the vehicle tire through the first clamping arm assembly (2) and the second clamping arm assembly (3);

and 4, transferring the fixed vehicle through a moving device below the device.