CN114644042B - Universal movable AGV trolley - Google Patents

Abstract

The invention belongs to the field of maintenance, and specifically relates to a universal mobile AGV trolley. It includes a vehicle frame and a universal drive device, and the universal drive device is installed at the bottom end of the vehicle frame; the universal drive device includes a connecting component, a mounting component and a driving mechanism, and the connecting component is fixedly connected to the vehicle frame, And is rotatably connected to the mounting component. The driving mechanism is installed on the mounting component. The driving mechanism includes a driver and two moving wheels symmetrically arranged on the mounting component. The driver is drivingly connected to the moving wheels. Each moving wheel can rotate independently at different speeds and directions. The present invention provides a universal mobile AGV car, which aims to solve the steering problem of existing AGV cars in a small space.

Description

A universal mobile AGV car

Technical field

The invention belongs to the field of maintenance, and specifically relates to a universal mobile AGV trolley.

Background technique

The wheel set is the part of the rolling stock that is in contact with the rails. It consists of two left and right wheels firmly mounted on the same axle. The function of the wheelset is to ensure the operation and steering of the rolling stock on the rails, bear all static and dynamic loads from the rolling stock, transfer them to the rails, and transfer the load caused by uneven lines to the various components of the rolling stock.

The bogie is one of the most important components in the rail vehicle structure. It mainly includes two wheel pairs arranged front and rear and a fixed frame used to connect the two wheel pairs.

During the maintenance process of the wheel set or bogie, the wheel set or bogie needs to be moved to different processing stations, so as to achieve different processing of the wheel set or bogie. When the wheel set or bogie is moving, since the wheel set or bogie itself has no power, the wheel set or bogie needs to be towed 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 that rotates with the driving wheels. When the AGV car turns, the wheels located at the front and bottom of the GAV car can turn, allowing the AGV car to complete the steering. However, the existing AGV trolley has a large turning radius and requires a large turning space, and the AGV trolley often works in a workshop, and the structure in the workshop is relatively complex. Therefore, when the AGV car reaches some relatively narrow areas, the AGV car may get stuck or it may be very difficult to turn.

Contents of the invention

The present invention provides a universal mobile AGV trolley, which aims to solve the steering problem of existing AGV trolleys in a narrow space.

In order to achieve the above object, the present invention provides a universal mobile AGV trolley, which includes a frame and a universal drive device, and the universal drive device is installed at the bottom end of the frame;

The universal driving device includes a connecting component, a mounting component and a driving mechanism. The connecting component is fixedly connected to the frame and rotatably connected to the mounting component. The driving mechanism is installed on the mounting component. The driving mechanism The mechanism includes a driver and two moving wheels symmetrically arranged on the mounting component. The driver is drivingly connected to the moving wheels. The two moving wheels can independently rotate at different speeds and directions.

By installing a universal drive device at the bottom of the AGV car, when the AGV car enters a narrow space, the moving wheels on both sides of the installation component can rotate in different directions, or in the same direction but at different speeds. This allows the AGV car to turn (or even move 90° laterally) to avoid the AGV car being trapped, and the steering efficiency is also higher.

Furthermore, in order to drive the moving wheels on both sides separately, two drivers are provided in this solution, and are respectively connected to the moving wheels in transmission. The two drives can respectively drive the moving wheels connected thereto to rotate in different directions or at different speeds.

Furthermore, in order to solve the problem of bumps in the moving wheel when moving, the driving mechanism in this solution also includes a buffer structure, which is used to buffer and dampen the moving wheel.

Further, the buffer structure includes a support component, a buffer elastic component and a buffer support component. The moving wheel is installed on the support component. The buffer elastic component and the buffer support component are installed on the support component and the installation component corresponding to each other. , the buffer support member is used to cooperate with and limit the position of the buffer elastic member, and the buffer elastic member is used to deform with the movement of the support member.

Further, the mounting component and the connecting component are connected to a locking assembly, and the locking component is used to lock the mounting component and the connecting component so that the mounting component and the connecting component no longer rotate toward each other;

In order to realize the rotatable connection between the connecting parts and the mounting parts in this solution. The connecting parts and the mounting parts described in this solution are rotatably connected through bearings;

The rotatable connection is realized through bearings, which can reduce the friction between the mounting parts and the connecting parts.

Further, the locking mechanism in this solution includes an electromagnetic clutch and a matching component. The electromagnetic clutch and the matching component are installed in the mounting component and the connecting component in cooperation with each other. The electromagnetic clutch is used to tighten and release the matching component. .

In this solution, the electromagnetic clutch and the matching components are respectively installed on the mounting component and the connecting component corresponding to each other. When the electromagnetic clutch holds the mating component tightly, the mounting component and the connecting component are connected together, and the mounting component and the connecting component can no longer rotate; when the electromagnetic clutch releases the mating component, the mounting component and the connecting component can no longer rotate. Make a turn.

Further, this solution also includes a controller, which is connected to the driver and the locking component.

By setting the controller, the controller can control the driver to drive the moving wheel to rotate in different directions and at different speeds, thereby realizing the movement and steering of the installation components. At the same time, the controller is connected to the locking component, and the locking component can rotate the mounting component after the mounting component rotates to a predetermined angle, thereby preventing the mounting component from rotating during linear motion.

Further, in order to enable the wheelset or the bogie to be driven and moved, the frame in this solution is also connected to a lifting mechanism, and the lifting mechanism is used to connect with the wheel pair or the bogie.

When the lifting mechanism lifts the wheelset or the bogie, the driving mechanism can move, thereby moving the wheelset or the bogie.

Further, the lifting mechanism in this solution includes a lifting component, a mounting component and a lifter. The lifting component is connected to the lifter through the mounting component. The lifting component is used to hold the wheel set or the bogie. The lifting component The device is used to drive the lifting components up and down.

When the lifting component is connected to the wheel set or bogie, the lifter can drive the lifting component to rise, thereby causing the wheel set or bogie to be lifted up. When the wheel set or the bogie reaches the predetermined position, the lifter can drive the lifting component to descend, so that the wheel set or the bogie is lowered.

Furthermore, in order to make the vehicle frame in this solution more stable, the vehicle frame in this solution includes an extension part that extends outward from the connection between the lifting mechanism and the vehicle frame.

In this solution, an extension is provided on the frame, and the lifting mechanism is also installed on the frame. Therefore, when the lifting mechanism lifts the wheelset or bogie upwards, the extension on the frame can support the lifting mechanism, thereby preventing the frame from being overturned.

The beneficial effect of the present invention is that in this solution, a universal drive device is provided on the vehicle frame, and the universal drive device can be used to drive the vehicle frame to move. At the same time, the moving wheels on both sides can realize the forward, steering and 90° lateral movement of the AGV car through different rotation directions and speeds, ensuring that the AGV car can still move flexibly in a narrow space and preventing the AGV car from being trapped.

Description of the drawings

Figure 1 is a schematic structural diagram of a universal mobile AGV car.

Figure 2 is a schematic structural diagram of the universal drive device.

Figure 3 is a schematic structural diagram of the drive assembly.

Figure 4 is a schematic structural diagram of the lifting mechanism.

Figure 5 is a side view of the lifting mechanism.

Figure 6 is a schematic diagram of the AGV car before turning.

Figure 7 is a schematic diagram of the AGV car after turning.

Reference numerals include: frame 1, universal drive device 2, connecting component 21, mounting component 22, driving mechanism 23, moving wheel 231, driver 232, buffer structure 233, locking component 24, bearing 25, lifting mechanism 3, connection Frame 31, lifting component 32, lifter 33.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments more clear, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

The embodiment is basically as shown in Figures 1 to 7. A universal mobile AGV trolley includes a frame 1 and a universal drive device 2. The frame 1 is a metal frame, and a universal drive is installed at the bottom of the frame 1. Drive unit 2. The universal drive device is used to drive the vehicle frame 1 to turn and move.

In this embodiment, the universal driving device 2 includes a connecting part 21 and a mounting part 22. The connecting part 21 is installed above the mounting part 22. The connecting component 21 is fixedly connected to the vehicle frame 1, specifically through bolts or the like. The connecting component 21 and the mounting component 22 are rotatably connected, and the connecting component 21 and the mounting component 22 can rotate.

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

In this embodiment, the driving mechanism 23 specifically includes a moving wheel 231 and a driver 232. The moving wheels 231 are installed on the left and right sides of the installation component. The driver 232 can be a driving motor, and the driving wheels are directly connected to the driving motor. When the driving motor rotates, the moving wheel 231 can be driven to rotate accordingly. The moving wheels on both sides are respectively connected to drivers, and the moving wheels on both sides can be driven to rotate by the drivers on both sides, so the moving wheels on both sides can move at different speeds and directions.

It should be noted that when the moving wheels on both sides rotate in the same direction and at the same speed, the mounting components can move in a straight line, thereby making the AGV car move; when the moving wheels on both sides rotate in the same direction but different When the speed of the AGV rotates, the mounting component can rotate, so that the mounting component drives the AGV car to move in another direction; when the moving wheels on both sides rotate in different directions, the mounting component can rotate, allowing the installation The component drives the AGV car to move laterally at 90°. (For example: when the moving wheel 231 on the left and the moving wheel 231 on the right rotate in the same direction, and the rotating speed of the moving wheel 231 on the left is equal to the rotating speed of the moving wheel 231 on the right, then the AGV car moves in a straight line; when the moving wheel 231 on the left rotates in the same direction, The moving wheel 231 rotates in the same direction as the moving wheel 231 on the right, but the rotating speed of the moving wheel 231 on the left is greater than the rotating speed of the moving wheel 231 on the right, so the AGV car can move in a direction that deviates from linear motion; when the moving wheel on the left 231 rotates in the opposite direction to the moving wheel 231 on the right, so the AGV car can move 90° laterally)

It should be noted that in this embodiment, drive 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, other methods can also be used to adjust the moving wheels 231 on both sides to rotate in different directions and sizes. For example, the moving wheels 231 on both sides can be connected to the same drive motor through an adjustment mechanism, so that the rotation directions and speeds of the moving wheels 231 on both sides are different. The adjustment mechanism can be a differential.

In this embodiment, universal wheels are provided at the front and rear ends of the vehicle frame 1 respectively, and the universal wheels are used to support the front and rear ends of the vehicle frame 1 . Therefore, when the universal drive device 2 drives the AGV car to turn, the universal wheels can support the front and rear ends of the frame 1, and the universal wheels can also steer with the steering of the frame 1.

The driving mechanism 23 in this embodiment also includes a buffer structure 233. The buffer structure 233 is installed between the moving wheel 231 and the mounting component 22 for buffering and supporting the moving wheel 231.

The buffer structure 233 specifically includes a support component, a buffer elastic component and a buffer support component. The supporting component is plate-shaped and is used for mounting the driving motor and the moving wheel 231 . The support component is connected to one end of the buffer elastic component, a buffer support component is installed on the support component, and the buffer support component is connected to the other end of the buffer elastic component. The buffer support member is used to limit the buffer elastic member, and the buffer elastic member can be compressed and restored as the moving wheel 231 moves up and down.

In this embodiment, the buffer elastic member may be a buffer spring or an elastic member. The buffer support member is a cylindrical support column, and a limiting portion is provided at the end of the support column. Specifically, the buffer spring can be placed on the surface of the support column, and the buffer spring is located between the limiting part and the support component.

In this solution, the supporting component and the mounting component 22 are rotatably connected through a rotating shaft, and the supporting component can rotate around the mounting component 22 as the center. At the same time, the support column is also rotatably mounted on the mounting component 22 through a rotating shaft.

When the moving wheel 231 passes through a bumpy road surface, the supporting member will rotate due to the bumps. When the supporting component rotates, the supporting component can drive the buffer spring to compress, making the movement of the supporting component more stable. At the same time, in order to prevent the support component from being stuck and scratched by the support column when rotating, in this embodiment, the support column is rotatably arranged.

In addition to the support pillars and the support components being rotatably arranged, the support pillars can also be fixedly arranged on the mounting component 22 , and the support pillars are respectively located on both sides of the mounting component 22 . When the support member moves due to bumps, the support member will move up and down, thereby driving the buffer spring to move up and down, making the support member move more smoothly.

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

Alternatively, the connecting component 21 and the mounting component 22 may be rotatably connected through a chute. The chute can be provided on the connecting part 21 or on the connecting part 21 .

In this embodiment, a locking mechanism is also provided between the connecting component 21 and the mounting component 22 . The locking mechanism is used to lock the mounting component 22 so that the mounting component 22 and the connecting component 21 can no longer rotate.

The locking mechanism in this embodiment includes an electromagnetic clutch and matching components. The electromagnetic clutch and mating components are installed in conjunction with each other. The electromagnetic clutch can hold the mating parts tightly, so that the mounting part 22 and the connecting part 21 are connected together. Alternatively, the electromagnetic clutch can release the mating component so that the mounting component 22 and the connecting component 21 can rotate toward each other.

The matching component in this embodiment is specifically a locking post. The locking post may be disposed in the middle of the mounting part 22 or the connecting part 21, and one end of the locking post cooperates with the electromagnetic clutch.

It should be noted that in this embodiment, if the mating component is provided on the mounting component 22 , the electromagnetic clutch needs to be provided on the connecting component 21 . In this embodiment, if the matching component is provided on the connecting component 21, the electromagnetic clutch needs to be provided on the mounting component 22.

This embodiment also includes a lifting mechanism 3, which is used to cooperate 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 component 32, a connecting frame 31 and a lifter 33. In this embodiment, the lifting component 32 is used to cooperate with the wheel set or bogie, so that the wheel set or bogie and the connecting component 21 are connected together. The lifting component 32 is connected to the lifter 33 through the connecting frame 31. When the lifter 33 moves up and down, the lifting component 32 is driven by the connecting frame 31, so the lifting component 32 can be lifted and lowered. Furthermore, since the lifting component 32 is connected to the wheel set or the bogie, when the lifter 33 moves up and down, the wheel set or the bogie can also move up and down.

In this embodiment, the lifter 33 is a screw lift, but the lifter 33 can also be configured as a lifting cylinder or a linear lifting module.

The lifting component 32 in this embodiment is specifically a lifting hook, and the lifting hook is used to hook the wheel pair or the wheel axle of the bogie, so that the wheel set or the steering gear can be lifted and lowered following the lifting hook.

In this embodiment, the lifting hooks are arranged on the left and right sides of the connecting frame 31, and both sides of the wheelset or bogie can be hooked by the lifting hooks.

It should be noted that in this embodiment, the lifting hook can hook the axle of a wheel pair. When the device is used in conjunction with the bogie, the device can lift a wheel pair in the bogie. When it is necessary to use this device to lift the bogie, a lifting device can be provided at the front and rear wheel pairs of the bogie to cooperate with the bogie, so that both the front and rear ends of the bogie can be lifted.

At the same time, in this embodiment, a restricting portion is also provided at the end of the lifting hook. The restricting portion is entirely made of rubber or plastic material, and the restricting portion includes a receiving groove. When the restricting part comes into contact with the wheel set or the wheel axle of the bogie, the wheel set or the bogie axle is located in the receiving groove, and the wheel set or the bogie is constrained by the restricting part.

In this embodiment, sensors are provided between the lifting hooks on both sides. The sensor may specifically be a ranging sensor or a photoelectric sensor. When the axle of the wheel set or bogie is located above the lifting hook, it will be sensed by the sensor. The lifting hook can smoothly lift the wheel set or bogie.

The sensor is connected to the controller. When the controller receives the sensing signal from the sensor, the controller can control the lifting hook to rise or fall. In addition, the driving motors are respectively connected to the controller, so that the controller can control each driving motor respectively, thereby achieving the purpose of controlling the rotation speed and steering of each moving wheel 231 separately, and through the cooperation of the two moving wheels 231, This AGV car can not only realize straight forward, straight backward and turns of various turning radii (various turning radii are achieved by controlling the speed difference of the two moving wheels 231), but also can realize the in-situ turning function without a turning radius, especially 90-degree lateral movement is also possible. The controller is also connected to the electromagnetic clutch and is used to control whether or not the electromagnetic clutch holds the locking column, so that when the mounting component 22 rotates to the set position relative to the frame, the electromagnetic clutch can hold the locking column tightly to reach the The purpose of locking the mounting component 22 and the vehicle frame is to ensure that the mounting component 22 can remain stationary relative to the vehicle frame and to prevent the mounting component 22 from rotating when the AGV car moves.

The connecting frame 31 in this embodiment includes a guide part and a moving part. The guide part specifically includes two vertically arranged guide columns, and a connecting plate connecting the two guide columns. The moving part is specifically a rectangular frame. The moving part is installed on the guide part and can move up and down on the guide part. In this embodiment, the lifter 33 is installed on the guide part and connected to the moving part. When the lifter 33 moves up and down, the moving part can move up and down on the guide part.

At the same time, in order to avoid friction between the moving part and the guide part when moving on the guide part, a limiting wheel is provided between the guide part and the moving part. The limiting wheel is fixedly arranged on the moving part, and the limiting wheel and the guide part are in contact with each other. In addition to preventing friction problems, the limiting wheel in this embodiment can also play a role in limiting the moving part, so that the moving part can rise and fall stably along the direction in which the guide part is arranged.

In this embodiment, the upper and lower ends of the guide part are respectively provided with positioning sensors. The positioning sensors are specifically proximity switches. At the same time, a sensing part is provided on the moving part to cooperate with the proximity switch. When the moving part moves to the upper end or lower end of the guide part, the sensing part on the moving part will cooperate with the proximity switch at the upper end or lower end respectively, thereby determining the position of the moving part.

In this embodiment, the vehicle frame 1 is provided with an extension portion, and the extension portion extends outward from the connection between the lifting mechanism 3 and the vehicle frame 1 . Therefore, when the lifting mechanism 3 lifts the wheelset or bogie, the extension of the vehicle frame 1 can support the wheelset or bogie, so that the wheelset or bogie will not overturn the vehicle frame 1 .

The above are only embodiments of the present invention, and common knowledge such as the known specific structures and characteristics of the solutions are not described in detail here. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the structure of the present invention. These should also be regarded as the protection scope of the present invention and will not affect the implementation of the present invention. effectiveness and patented practicality. The scope of protection claimed in this application shall be based on the content of the claims, and the specific implementation modes and other records in the description may be used to interpret the content of the claims.

Claims (5)

1. A universal mobile AGV car, characterized by: including a frame (1) and a universal drive device (2), the universal drive device (2) is installed at the bottom of the frame (1) ; The universal driving device (2) includes a connecting component (21), a mounting component (22) and a driving mechanism (23). The connecting component (21) is fixedly connected to the frame (1) and is connected to the mounting component. (22) Rotably connected, the driving mechanism is installed on the mounting component (22), and the driving mechanism includes a driver (232) and two moving wheels (231) symmetrically arranged on the mounting component (22), so The driver (232) can respectively drive the moving wheel (231) to move; The frame (1) is also connected to a lifting mechanism (3). The lifting mechanism (3) is used to connect with a wheel set or a bogie. The lifting mechanism (3) includes a connecting frame (31) and a lifting component (31). 32) and lifter (33), the lifter (33) is connected to the lifting component (32) through the connecting frame (31), and the lifting component (32) is used to support the wheel pair or bogie, so The lifter (33) is used to drive the lifting component (32) to lift, and the lifting component (32) is a lifting hook, and the lifting hook is used to hook the axle of the wheel pair or the bogie; The vehicle frame (1) includes an extension portion that extends outward from the connection between the lifting mechanism (3) and the vehicle frame (1), so that the entire vehicle frame (1) is in the shape of a triangle. The front and rear ends of the frame (1) are also respectively provided with universal wheels, and the universal wheels are used to support the front and rear ends of the frame (1); The driving mechanism (23) also includes a buffer structure (233). The buffer structure (233) is provided between the moving wheel (231) and the mounting component (22). The buffer structure (233) includes a support component, a buffer The elastic member and the buffer support member, the moving wheel (231) is installed on the support member, the buffer elastic member and the buffer support member are installed on the support member and the installation member (22) corresponding to each other, the buffer support member The buffer elastic member is used to cooperate with and limit the position of the buffer elastic member. The buffer elastic member is used to deform with the movement of the support member; the buffer support member is a cylindrical support column, and the end of the support column is set Limiting part; the buffering elastic member is a buffering spring, the buffering spring is sleeved on the surface of the support column, and the buffering spring is located between the limiting part and the supporting component. 2. A universal mobile AGV trolley according to claim 1, characterized in that: the driver is provided in two, and each driver is connected to the moving wheel. 3. A universal mobile AGV trolley according to claim 1, characterized in that: the mounting component (22) and the connecting component (21) are connected to a locking component (24), and the locking component (24) is To lock the mounting component (22) and the connecting component (21) so that the mounting component (22) and the connecting component (21) no longer rotate toward each other; The mounting component (22) and the connecting component (21) are rotatably connected through a bearing (25). 4. A universal mobile AGV trolley according to claim 3, characterized in that: the locking assembly (24) includes an electromagnetic clutch and a matching component, and the electromagnetic clutch and the matching component are installed in a mounting component ( 22) and the connecting component (21), the electromagnetic clutch is used to tighten and release the mating component. 5. A universal mobile AGV car according to claim 3, characterized in that: it also includes a controller, the controller is connected to the driver (232) and the locking assembly (24), the controller is The driver is controlled to drive the moving wheel (231), and the locking assembly (24) is controlled to lock the mounting component (22).