CN114644042A

CN114644042A - Universal movable AGV trolley

Info

Publication number: CN114644042A
Application number: CN202210323518.3A
Authority: CN
Inventors: 周俊; 莫泉湖; 李思俊
Original assignee: Sichuan Guoruan Technology Group Co Ltd
Current assignee: Sichuan Guoruan Technology Group Co Ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2022-06-21
Anticipated expiration: 2042-03-29
Also published as: CN114644042B

Abstract

The invention belongs to the field of maintenance, and particularly relates to a universal movable AGV. The universal driving device is mounted at the bottom end of the frame; the universal driving device comprises a connecting part, a mounting part and a driving mechanism, wherein the connecting part is fixedly connected with the frame and is rotatably connected with the mounting part, the driving mechanism is mounted on the mounting part, the driving mechanism comprises a driver and two moving wheels which are symmetrically arranged on the mounting part, the driver is in transmission connection with the moving wheels, and the two moving wheels can respectively and independently rotate according to different speeds and directions. The invention provides a universal movable AGV (automatic guided vehicle), which aims to solve the problem of steering of the conventional AGV in a narrow space.

Description

Universal movable AGV trolley

Technical Field

The invention belongs to the field of maintenance, and particularly relates to a universal movable AGV.

Background

The wheel set is the part of the rolling stock contacting with the steel rail and consists of two wheels firmly pressed on the same axle. The wheel pair is used to ensure the running and steering of the rolling stock on the rail, bear all static and dynamic loads from the rolling stock, transfer the static and dynamic loads to the rail and transfer the loads generated by the irregularity of the lines to the parts of the rolling stock.

The bogie is one of the most important parts in the structure of the railway vehicle and mainly comprises two wheel pairs arranged in tandem and a fixed frame for connecting the two wheel pairs.

In the maintenance process of the wheel set or the bogie, the wheel set or the bogie is required to move at different processing stations, and then different processing of the wheel set or the bogie is realized. When the wheel set or the bogie moves, the wheel set or the bogie has no power, so the wheel set or the bogie needs to be dragged and moved by the AGV trolley.

However, the existing driving mechanism usually includes wheels arranged at the four corners of the bottom of the GAV car and a driver rotating with the driving wheels. When the AGV dolly turns to, be located the wheel of GAV dolly the place ahead bottom alright turn to in order to turn to make the AGV dolly accomplish to turn to. However, the turning radius of the conventional AGV is large, a large turning space is required, the AGV often works in a workshop, and the structure in the workshop is complicated. Thus, when an AGV reaches some narrow area, the AGV may become stuck or may turn very hard.

Disclosure of Invention

The invention provides a universal movable AGV (automatic guided vehicle), which aims to solve the problem of steering of the conventional AGV in a narrow space.

In order to achieve the purpose, the invention provides a universal mobile AGV, which comprises a frame and a universal driving device, wherein the universal driving device is arranged at the bottom end of the frame;

the universal driving device comprises a connecting part, a mounting part and a driving mechanism, wherein the connecting part is fixedly connected with the frame and rotatably connected with the mounting part, the driving mechanism is mounted on the mounting part, the driving mechanism comprises a driver and two moving wheels symmetrically arranged on the mounting part, the driver is in transmission connection with the moving wheels, and the two moving wheels can respectively and independently rotate in different speeds and directions.

Through the bottom installation universal drive arrangement at the AGV dolly, after the AGV dolly enters into narrow space, the removal wheel alright in both sides rotate according to the direction of difference in the installing part, perhaps rotate according to the same direction but not equidistance to just make the AGV dolly turn to (90 lateral shifting even), avoid the AGV dolly to be stranded, the efficiency that turns to simultaneously is also higher.

Further, in order to drive the moving wheels on the two sides respectively, the two drivers are arranged in the scheme and are in transmission connection with the moving wheels respectively. The two drivers can respectively drive the moving wheels connected with the drivers to rotate according to different directions or different speeds.

Further, in order to solve the problem that the moving wheel jolts during moving, the driving mechanism in the scheme further comprises a buffering structure, and the buffering structure is used for buffering and damping the moving wheel.

Furthermore, buffer structure includes supporting component, buffering elastic component and buffering support piece, the removal wheel install in supporting component, buffering elastic component and buffering support piece correspond each other and install in supporting component and installing component, buffering support piece be used for with buffering elastic component is mutually supported and spacing, buffering elastic component is used for taking place deformation along with supporting component's motion.

Further, the mounting part and the connecting part are connected with a locking assembly, and the locking assembly is used for locking the mounting part and the connecting part so that the mounting part and the connecting part can not rotate towards each other any more;

in order to achieve a rotatable connection of the coupling part and the mounting part in the solution. In the scheme, the connecting part and the mounting part are rotatably connected through a bearing;

the rotatable connection is realized by means of bearings, which makes it possible to make the friction between the mounting part and the coupling part smaller.

Furthermore, in this scheme the locking mechanical system includes electromagnetic clutch and cooperation part, electromagnetic clutch and cooperation part mutually support install in installation component and adapting unit, electromagnetic clutch is used for holding tightly and releasing cooperation part.

In the scheme, the electromagnetic clutch and the matching component are correspondingly arranged on the mounting component and the connecting component respectively. When the electromagnetic clutch holds the matching component tightly, the mounting component and the connecting component are connected together, and the mounting component and the connecting component can not rotate any more; when the electromagnetic clutch releases the engagement member, the mounting member and the connection member can be rotated.

Further, the scheme also comprises a controller, and the controller is connected with the driver and the locking assembly.

Through setting up the controller, then the controller can control the driver and drive the removal wheel and rotate according to different directions and different speeds, and then realize the removal and the turning to installation component. Meanwhile, the controller is connected with the locking assembly, and the locking assembly can rotate the mounting part after the mounting part rotates to a preset angle, so that the mounting part is prevented from rotating during linear motion.

Furthermore, in order to enable the wheel set or the bogie to be driven to move, the vehicle frame is further connected with a lifting mechanism in the scheme, and the lifting mechanism is used for being connected with the wheel set or the bogie.

When the lifting mechanism lifts the wheel set or the bogie, the driving mechanism can move, so that the wheel set or the bogie can move.

Furthermore, the lifting mechanism in this scheme includes lifting means, installation component and riser, lifting means passes through installation component and links to each other with the riser, lifting means is used for holding wheel pair or bogie, the riser is used for driving lifting means and goes up and down.

After the lifting component is connected with the wheel set or the bogie, the lifter can drive the lifting component to ascend, and then the wheel set or the bogie is lifted and ascended. When the wheel set or the bogie reaches a preset position, the lifter can drive the lifting component to descend, so that the wheel set or the bogie is put down.

Further, in order to make the frame more stable in this scheme, this scheme the frame includes the extension, the extension outwards extends from the junction of hoist mechanism and frame.

In the scheme, the extending part is arranged on the frame, and the lifting mechanism is also arranged on the frame. Therefore, when the lifting mechanism lifts the wheel pair or the bogie upwards, the extending part on the frame can support the lifting mechanism, and the frame is prevented from being overturned.

The invention has the beneficial effects that: through setting up universal drive arrangement on the frame in this scheme, universal drive arrangement can be used for driving the frame and remove. Meanwhile, the moving wheels on the two sides can move forwards, turn and transversely move for 90 degrees through different rotating directions and rotating speeds, so that the AGV can still flexibly move in a narrow space, and the AGV is prevented from being trapped.

Drawings

FIG. 1 is a schematic diagram of a gimbaled AGV configuration.

Fig. 2 is a schematic structural diagram of the universal driving device.

Fig. 3 is a schematic structural diagram of the driving assembly.

Fig. 4 is a schematic structural view of the lifting mechanism.

Fig. 5 is a side view of the lifting mechanism.

FIG. 6 is a schematic diagram of an AGV before turning.

FIG. 7 is a schematic diagram of an AGV after being turned.

The reference numerals include: the vehicle comprises a vehicle frame 1, a universal driving device 2, a connecting component 21, a mounting component 22, a driving mechanism 23, a moving wheel 231, an actuator 232, a buffer structure 233, a locking assembly 24, a bearing 25, a lifting mechanism 3, a connecting frame 31, a lifting component 32 and a lifter 33.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments more apparent, the present invention is described in further detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The embodiment is basically as shown in the attached figures 1 to 7, and the universal movable AGV comprises a frame 1 and a universal driving device 2, wherein the frame 1 is a metal frame, and the universal driving device 2 is arranged at the bottom end of the frame 1. The universal driving device is used for driving the frame 1 to steer and move.

The universal driving device 2 in this embodiment includes a connecting member 21 and a mounting member 22, and the connecting member 21 is mounted above the mounting member 22. The connecting member 21 is fixedly connected to the frame 1, and may be connected by bolts or the like. The connecting part 21 and the mounting part 22 are rotatably connected, and the connecting part 21 and the mounting part 22 can rotate.

The mounting part 22 is provided with a driving mechanism which can drive the mounting part 22 and the connecting part 21 to move. At the same time, the driving mechanism can also provide the mounting part 22 with rotational power, so that the mounting part 22 can rotate relative to the connecting part 21. In this embodiment, by providing the driving mechanism, the AGV can move, and also has a function of universal steering in a narrow area.

The driving mechanism 23 in this embodiment specifically includes a moving wheel 231 and a driver 232. The moving wheels 231 are mounted on both left and right sides of the mounting part. The driver 232 may be a drive motor with which the drive wheels are directly connected. When the driving motor rotates, the movable wheel 231 is driven to rotate. The moving wheels on the two sides are respectively connected with a driver, the moving wheels on the two sides can be driven by the drivers on the two sides to rotate, and therefore the moving wheels on the two sides can move according to different speeds and directions.

It should be noted that: when the moving wheels on the two sides rotate in the same direction and at the same speed, the mounting part can do linear motion, so that the AGV trolley moves; when the moving wheels on the two sides rotate in the same direction but at different speeds, the mounting part can rotate, so that the mounting part drives the AGV to move towards the other direction; when the moving wheels on the two sides rotate in different directions, the mounting part can rotate, so that the mounting part drives the AGV to transversely move towards 90 degrees. (for example, when the left moving wheel 231 rotates in the same direction as the right moving wheel 231 and the left moving wheel 231 rotates at the same speed as the right moving wheel 231, the AGV car moves in a straight line; when the left moving wheel 231 rotates in the same direction as the right moving wheel 231 but the left moving wheel 231 rotates at a higher speed than the right moving wheel 231, the AGV car moves in a direction deviating from the straight line; and when the left moving wheel 231 rotates in the opposite direction to the right moving wheel 231, the AGV car moves in a direction transverse to the straight line.)

It should be noted that: in this embodiment, the driving motors are provided for the moving wheels 231 on both sides, so that the moving wheels 231 on both sides can rotate in different directions and sizes. However, the moving wheels 231 on both sides may be adjusted to rotate in different directions and sizes by other means. For example: can all link to each other with same driving motor through guiding mechanism with the removal wheel 231 of both sides, and then alright so that the removal wheel 231 rotation direction and the rotational speed of both sides are different, and guiding mechanism can be differential mechanism.

In this embodiment, the front and rear ends of the frame 1 are respectively provided with universal wheels, and the universal wheels are used for supporting the front and rear ends of the frame 1. Therefore, when the universal driving device 2 drives the AGV to steer, the front end and the rear end of the frame 1 can be supported by the universal wheels, and the universal wheels can also steer the frame 1 to steer along with the steering.

The driving mechanism 23 in this embodiment further includes a buffer structure 233, and the buffer structure 233 is installed between the moving wheel 231 and the installation part 22 for buffering and supporting the moving wheel 231.

The buffer structure 233 specifically includes a support member, a buffer elastic member, and a buffer support member. The support member has a plate shape for mounting the driving motor and the moving wheel 231. The supporting component is connected with one end of the buffering elastic piece, the buffering supporting piece is installed on the supporting component, and the buffering supporting piece is connected with the other end of the buffering elastic piece. The buffering support is used to limit the buffering elastic member, and the buffering elastic member may be compressed and restored along with the up-and-down movement of the moving wheel 231.

The buffering elastic member in this embodiment may be a buffering spring or an elastic member. The buffering support piece is a cylindrical supporting column, and a limiting part is arranged at the tail end of the supporting column. The buffer spring can be sleeved on the surface of the support column, and is positioned between the limiting part and the support component.

In this embodiment, the supporting member is rotatably connected to the mounting member 22 through a rotating shaft, and the supporting member can rotate around the mounting member 22. While the support post is also rotatably mounted on the mounting member 22 by a pivot.

When the moving wheel 231 passes through a bumpy road surface, the support member rotates due to the bump. When the supporting component rotates, the supporting component can drive the buffer spring to compress, so that the movement of the supporting component is more stable. Meanwhile, in order to avoid the support component being clamped and scratched by the support column during rotation, the support column is rotatably arranged in the embodiment.

In addition to the rotatable arrangement of the support post and the support member, the support post may be fixedly disposed on the mounting member 22 with the support post disposed on each side of the mounting member 22. When the supporting component moves due to bumping, the supporting component can move up and down, and then the buffer spring is driven to move up and down, so that the movement of the supporting component is more stable.

In the embodiment, the mounting part 22 and the connecting part 21 can be rotatably connected through the bearing 25, so that the friction force between the mounting part 22 and the connecting part 21 is smaller, and the rotation is more stable.

Or may be rotatably connected between the connecting member 21 and the mounting member 22 by a sliding slot. The slide groove may be provided in the connecting member 21, or may be provided in the connecting member 21.

In this embodiment, a locking mechanism is further disposed between the connecting member 21 and the mounting member 22, and the locking mechanism is used to lock the mounting member 22, so that the mounting member 22 and the connecting member 21 can no longer rotate.

The lock mechanism in the present embodiment includes an electromagnetic clutch and a mating member. The electromagnetic clutch and the mating member are fitted to each other. The electromagnetic clutch may hold the mating member tightly so that the mounting member 22 and the connecting member 21 are connected together. Alternatively, the electromagnetic clutch may release the engaging member, so that the mounting member 22 and the connecting member 21 may be rotated toward each other.

The mating part in this embodiment is embodied as a locking stud. The locking stud may be provided in the middle of the mounting member 22 or the connecting member 21, and one end of the locking stud is engaged with the electromagnetic clutch.

It should be noted that: in the present embodiment, if the mating member is provided at the mounting member 22, the electromagnetic clutch needs to be provided at the connecting member 21. In the present embodiment, if the mating member is provided at the connecting member 21, the electromagnetic clutch needs to be provided at the mounting member 22.

The lifting mechanism 3 is further included in the embodiment, and the lifting mechanism 3 is used for being matched with the wheel set or the bogie, so that the wheel set or the bogie is in a suspended state.

The lifting mechanism 3 in this embodiment specifically includes a lifting member 32, a connecting frame 31, and a lifter 33. The lifting member 32 in this embodiment is adapted to cooperate with the wheel set or bogie to connect the wheel set or bogie to the connecting member 21. The lifting member 32 is connected to the lifter 33 through the connecting frame 31, and when the lifter 33 ascends and descends, the lifting member 32 can ascend and descend through the transmission of the connecting frame 31. Since the lifting member 32 is connected to the wheel set or the bogie, the wheel set or the bogie can be lifted up and down even when the lifter 33 is lifted up and down.

In the present embodiment, the lifter 33 is a screw lifter, but the lifter 33 may be a lifting cylinder or a linear lifting module.

The lifting member 32 is embodied in the present embodiment as a lifting hook for hooking the wheel set or the wheel axle of the bogie so that the wheel set or the steering gear can be lifted and lowered along with the lifting hook.

In the present embodiment, the lifting hooks are provided on both left and right sides of the link frame 31, and both sides of the wheel set or the bogie can be hooked by the lifting hooks.

It should be noted that: the lifting hook in this embodiment can hook the axle of one wheel pair. When the device is used for matching with a bogie, the device can lift one wheel pair in the bogie. When needing to use this device to promote the bogie, can set up a hoisting device respectively in the wheel pair department around the bogie and cooperate with the bogie to both ends can both be promoted around finally making the bogie.

Simultaneously, the end at the lifting hook still is provided with the restriction part in this embodiment, and the restriction part is whole to be made for rubber or plastics material, includes an accommodation tank in the restriction part. When the restricting portion comes into contact with the wheel set or the wheel shaft of the bogie, the wheel set or the wheel shaft of the bogie is located in the receiving groove, and the wheel set or the bogie is restrained by the restricting portion.

In this embodiment, inductors are disposed between the lifting hooks on both sides. The sensor may be a distance measuring sensor or a photoelectric sensor. When the wheel pair or the wheel shaft of the bogie is positioned above the lifting hook, the sensor senses the wheel pair or the wheel shaft of the bogie. So that the lifting hook can smoothly lift the wheel set or the bogie.

The sensor is connected with the controller. When the controller receives the sensing signal of the sensor, the controller can control the lifting hook to lift or descend. In addition, driving motor respectively with the controller links to each other for each driving motor can be controlled respectively to the controller, thereby reach respectively, the purpose that each removes wheel 231 rotational speed and turns to of independent control, and through the cooperation of two removal wheels 231, this AGV dolly not only can realize that the straight line moves ahead, the straight line is backed off and various turning radius's turn (realizes various turning radius through the rotational speed difference of controlling two removal wheels 231), but also can realize pivot turning function, does not have turning radius, especially can also realize 90 degrees lateral shifting. The controller is further connected with the electromagnetic clutch and used for controlling whether the electromagnetic clutch tightly holds the locking column or not, so that when the mounting part 22 rotates to a set position relative to the frame, the electromagnetic clutch can tightly hold the locking column to achieve the purpose of locking the mounting part 22 and the frame, the mounting part 22 can be guaranteed to be static relative to the frame, and the mounting part 22 is prevented from rotating when the AGV trolley moves.

The link frame 31 in this embodiment includes a guide portion and a moving portion. The guide part specifically includes the guide post of two vertical settings to and connect the connecting plate of two guide posts. The moving part is embodied as a rectangular frame. The moving part is mounted on the guide part and can move up and down on the guide part. The lifter 33 in this embodiment is attached to the guide portion and connected to the moving portion. When the lifter 33 is lifted, the moving part can be moved up and down on the guide part.

And a limiting wheel is arranged between the guide part and the moving part to avoid friction between the moving part and the guide part when the moving part moves on the guide part. The limiting wheel is fixedly arranged on the moving part, and simultaneously the limiting wheel is contacted with the guide part. The limiting wheel in this embodiment can play a role in limiting the moving part in addition to the function of preventing friction, so that the moving part can stably ascend and descend along the arrangement direction of the guide part.

In this embodiment the upper and lower both ends of guide part are provided with positioning sensor respectively, and positioning sensor specifically is proximity switch, is provided with the response portion simultaneously and this proximity switch cooperation in the removal portion. When the moving part moves to the upper end or the lower end of the guide part, the sensing parts on the moving part are matched with the proximity switches at the upper end or the lower end respectively, and then the position of the moving part is determined.

The frame 1 is in this embodiment provided with an extension extending outwards from the connection of the lifting mechanism 3 and the frame 1. Thus, when the lifting mechanism 3 lifts the wheel set or bogie, the extended portion of the frame 1 can support the wheel set or bogie so that the wheel set or bogie does not topple over the frame 1.

The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. The utility model provides a universal movable formula AGV dolly which characterized in that: the device comprises a frame (1) and a universal driving device (2), wherein the universal driving device (2) is arranged at the bottom end of the frame (1);

universal drive arrangement (2) are including adapting unit (21), installing component (22) and actuating mechanism (23), adapting unit (21) and frame (1) fixed connection, and with installing component (22) rotatable coupling, actuating mechanism install in installing component (22), actuating mechanism includes driver (232) and two symmetrical arrangement in the removal wheel (231) of installing component (22), driver (232) can drive respectively remove wheel (231) and move.

2. The AGV of claim 1, wherein said AGV comprises: the number of the drivers is two, and the drivers are respectively connected with the movable wheels in a transmission way.

3. The AGV of claim 1, wherein said AGV comprises: the driving mechanism further comprises a buffer structure (233), and the buffer structure (233) is arranged between the moving wheel (231) and the mounting part (22).

4. The AGV of claim 3, wherein said AGV comprises: the buffer structure (233) comprises a supporting part, a buffer elastic part and a buffer supporting part, the moving wheel (231) is installed on the supporting part, the buffer elastic part and the buffer supporting part are correspondingly installed on the supporting part and the installing part (22), the buffer supporting part is used for being matched with the buffer elastic part and limiting, and the buffer elastic part is used for deforming along with the movement of the supporting part.

5. The AGV of claim 1, wherein said AGV comprises: the mounting part (22) and the connecting part (21) are connected with a locking assembly (24), and the locking assembly (24) is used for locking the mounting part (22) and the connecting part (21) so that the mounting part (22) and the connecting part (21) can not rotate towards each other any more;

and/or the mounting part (22) and the connecting part (21) are rotatably connected through a bearing (25).

6. The AGV of claim 5, wherein said AGV comprises: the locking mechanism comprises an electromagnetic clutch and a matching component, the electromagnetic clutch and the matching component are mutually matched and installed on the installation component (22) and the connecting component (21), and the electromagnetic clutch is used for tightly holding and releasing the matching component.

7. The AGV of claim 5, wherein said AGV comprises: the device also comprises a controller, wherein the controller is connected with the driver (232) and the locking assembly (24) and is used for controlling the driver to drive the moving wheel (231) and controlling the locking assembly (24) to lock the mounting component (22).

8. The AGV of claim 1, wherein said AGV comprises: the frame (1) is further connected with a lifting mechanism (3), and the lifting mechanism (3) is used for being connected with a wheel pair or a bogie.

9. The AGV of claim 8, wherein said AGV comprises: the connecting device comprises a connecting frame (31), a lifting part (32) and a lifter (33), wherein the lifter (33) is connected with the lifting part (32) through the connecting frame (31), the lifting part (32) is used for supporting a wheel pair or a bogie, and the lifter (33) is used for driving the lifting part (32) to lift.

10. The AGV of claim 8, wherein said AGV comprises: the frame (1) comprises an extension which extends outwardly from the connection of the lifting mechanism (3) and the frame (1).