CN115743363A

CN115743363A - AGV floor truck with initiative vibration isolation function

Info

Publication number: CN115743363A
Application number: CN202211626261.5A
Authority: CN
Inventors: 章锋; 李剑涛
Original assignee: Yijiahe Technology Co Ltd
Current assignee: Yijiahe Technology Co Ltd
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-03-07

Abstract

The invention discloses an AGV (automatic guided vehicle) carrying trolley with an active vibration isolation function, which comprises an AGV chassis and an active vibration isolation platform arranged on the AGV chassis, wherein the bottom of the AGV chassis is provided with driving wheels and universal casters, the active vibration isolation platform comprises an upper platform, a lower platform and a plurality of identical driving shafts arranged between the upper platform and the lower platform, each driving shaft is provided with an upper free end and a lower free end, an acceleration sensor and an actuator are integrated in each driving shaft, the bottom wall of the upper platform is provided with a plurality of upper connecting blocks, the top wall of the lower platform is provided with a plurality of lower connecting blocks, every two adjacent driving shafts are perpendicular to each other, and the upper free end of each driving shaft is connected with the upper connecting block and the lower free end of each driving shaft is connected with the lower connecting block. The passive vibration reduction device is arranged in the driving shaft, has a compact structure, and can counteract the vibration from the ground through the active work of the active vibration reduction platform, thereby realizing the vibration isolation protection of the transported products.

Description

AGV floor truck with initiative vibration isolation function

Technical Field

The invention relates to the technical field of AGV carriers, in particular to an AGV carrier with an active vibration isolation function.

Background

Along with the development of semiconductor trade, the transportation of semiconductor product has very high requirement to the vibration, and the vibration has great safe risk to the product transportation, and AGV (Automated Guided Vehicle abbreviation, automated guidance transport vechicle) + passive vibration isolation platform realization unmanned transport are generally adopted in the existing market, and passive vibration isolation platform can only weaken to the vibration, and damping efficiency generally is no more than 80%, and is not good for low frequency vibration's vibration isolation effect, when crossing elevator or protruding step, can have great vibration. Most of semiconductor material transportation at the present stage is manual cart transportation or automatic passive vibration reduction AGV cart transportation, but all the semiconductor material transportation does not have the function of active vibration reduction, so that the problem that the quality of workpieces cannot be guaranteed in the transportation process exists.

Disclosure of Invention

The technical purpose is as follows: aiming at the technical problem, the AGV carrying trolley with the active vibration isolation function is provided, passive vibration isolation is arranged in a driving shaft, the structure is more compact, the built-in acceleration sensor is used for detecting the magnitude and direction of vibration from the ground in real time, and the active vibration isolation platform works actively to counteract the vibration from the ground, so that vibration isolation protection of transported products is realized.

The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme:

an AGV carrying trolley with an active vibration isolation function is characterized by comprising an AGV chassis and an active vibration isolation platform arranged on the AGV chassis, wherein the bottom of the AGV chassis is provided with a driving wheel and universal casters, wherein,

the active vibration isolation platform comprises an upper platform, a lower platform and a plurality of identical driving shafts arranged between the upper platform and the lower platform, each driving shaft is provided with an upper free end and a lower free end, acceleration sensors and actuators are integrated inside the driving shafts, the bottom wall of the upper platform is provided with a plurality of identical upper connecting blocks, the top wall of the lower platform is provided with a plurality of identical lower connecting blocks, every two adjacent driving shafts are perpendicular, and the upper free end of each driving shaft is connected with the upper connecting block and the lower free end is connected with the lower connecting block respectively.

Preferably, the upper platform is provided with a through hole for wiring, and the through hole is provided with a detachable upper sealing plate.

Preferably, the active vibration isolation platform is further provided with a controller, the acceleration sensor is used for collecting real-time acceleration information from the driving shaft and transmitting the real-time acceleration information to the controller, the actuator can calculate the acting force size and direction required to be output through an algorithm according to vibration source data collected by the sensor, the controller is used for receiving the acceleration information transmitted by the acceleration sensor in real time and sending an action instruction to the actuator according to the acceleration information, and the actuator is used for performing real-time action according to the action instruction of the controller.

Preferably, the active vibration isolation platform is provided with 6 identical driving shafts to form a six-shaft active vibration isolation platform.

Preferably, the middle outer side of the bottom of the AGV chassis is provided with a group of driving wheels, and the outer sides of the two ends of the bottom are respectively provided with two groups of universal casters.

Preferably, the AGV chassis trolley is provided with a servo driving system, a battery management system and a navigation positioning system.

Has the advantages that: due to the adoption of the technical scheme, the invention has the following beneficial effects:

the AGV carrying trolley with the active vibration isolation function has a unique active vibration isolation design, can meet the 6-degree-of-freedom vibration isolation, can perform vibration isolation in moving, and has an obvious effect on low-frequency vibration.

Drawings

FIG. 1 is a schematic diagram illustrating an entire vehicle explosion of an AGV with an active vibration isolation function according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an AGV with active vibration isolation capability handling materials;

FIG. 3 is a schematic layout of the chassis wheel train of the AGV;

wherein, 1-AGV chassis; 2-a lower platform; 3, a lower connecting block; 4-a drive shaft; 5, connecting a block; 6-upper platform; 7-upper closing plate; 8-active vibration isolation platform; 9-material workpiece handled; 10-universal caster wheel; 11-driving the wheels.

Detailed Description

The following describes embodiments of the present invention in detail with reference to the accompanying drawings.

Example one

The embodiment provides an AGV carrying trolley with an active vibration isolation function, the AGV carrying trolley comprises an AGV chassis trolley, a trolley self-driven, a battery and a navigation system, the automatic carrying of materials is completed according to the task planning of a scheduling system, as shown in the figures 1 and 2, the AGV carrying trolley comprises a chassis 1 and an active vibration isolation platform 8, the active vibration isolation platform 8 is an independent detachable module, and an independent product is installed on the AGV chassis 1 for use; the material-carrying workpiece 9 can be directly placed on the active vibration isolation platform 8 or fixedly connected by adopting other connection modes.

The AGV chassis trolley is provided with a servo driving system, a battery management system and a navigation positioning system, and the automatic handling of materials is completed according to the task planning of a scheduling system, namely the AGV chassis trolley comprises the servo driving system which is used for the automatic walking of the trolley; the battery management system is used for providing energy of the whole vehicle; the navigation positioning system is used for positioning a trolley, walking and avoiding obstacles and other structural modules.

As shown in fig. 1, in the active vibration isolation platform 8, the lower connecting block 3 is connected with the lower platform 2; the six same driving shafts 4 are respectively connected with the 3 lower connecting blocks 3 and the 3 upper connecting blocks 5; the upper platform 6 is connected with 3 upper connecting blocks 6, and the upper sealing plate 7 is connected with the upper platform 6. The six-axis active vibration isolation platform is formed, and vibration generated by the walking of the trolley is balanced through the telescopic action. In the active vibration isolation platform 8, six identical driving shafts 4 are arranged according to a Stewart form in a figure 1, every two of the six driving shafts are perpendicular, the arrangement mode ensures that the upper platform can carry out 6-degree-of-freedom vibration isolation, and meanwhile, every two of the 6 driving shafts 4 are perpendicular, so that the stability of the platform is greatly increased, the coupling of each shaft is greatly reduced, and the mutual interference is reduced.

In the active damping platform of the present embodiment, for a single drive shaft: the driving shaft is internally provided with an acceleration sensor for detecting the motion trend acting on the driving shaft in real time, and meanwhile, the actuator performs reverse action to balance unidirectional vibration in the driving shaft. And (3) analyzing a six-axis active vibration isolation platform: the trolley walks on the ground to generate irregular vibration, the trolley transmits the irregular vibration to the 6 driving shafts simultaneously, and the function of isolating the vibration is achieved through active balance of the driving shafts.

In addition, the AGV trolley automatic carrying function optimization is based on common AGV trolley automatic carrying, the pavement on which the AGV travels is generally the floor of a warehouse or a processing workshop, the floor flatness has high and low fall, meanwhile, some scenes need to enter an elevator for interlayer transportation, vibration is always generated in the transportation process, as shown in fig. 3, the AGV trolley is a common 6-wheel AGV chassis, two groups of same driving wheels 11 are arranged in the middle, four groups of same universal casters 10 are arranged at four corners, each wheel can generate irregular vibration, and therefore irregular 6-degree-of-freedom vibration is transmitted to a vibration isolation system, and the vibration isolation system needs to meet the 6-degree-of-freedom vibration isolation requirement. An acceleration sensor and an actuator are integrated in each driving shaft, the driving shafts can be actively extended and shortened, 6 groups of sensors can collect the acceleration motion trend received by the driving shafts, the actuator can calculate the size and the direction of acting force required to be output through an algorithm according to vibration source data collected by the sensors, and the actuator acts and balances vibration, so that the vibration isolation function of the upper platform is realized; the material carrying workpiece 9 may have electrical requirements for power-on or communication, and the vibration isolation platform 8 is provided with a detachable upper sealing plate 7, so that hole sites for wiring are reserved.

The vibration isolation operation flow of the active vibration isolation trolley during walking is described with reference to fig. 1:

the method comprises the following steps: the wheels of the trolley on the ground walking generate irregular vibration;

step two: the wheel vibrations are transmitted to the lower platform 2, the lower platform 2 transmitting the vibrations to six drive shafts 4 (in the axial direction);

step three: the built-in acceleration sensors of the six driving shafts 4 acquire information of vibration acceleration and transmit the information to the controller;

step four: the controller calculates the force required to be output by the actuator through a software algorithm and gives an action instruction;

step five: the 6 actuators act in real time to balance the vibration of the vibration source, so that the vibration is eliminated at the position of the driving shaft;

step six: the upper platform and the materials transported by the upper platform are always kept in a relative balance state.

The AGV has the advantages that a new solution is provided for carrying vibration-sensitive products, particularly for a transportation scene with vibration requirements, the AGV has lower requirements on ground flatness, can be transported at a higher speed, and can safely pass through an elevator or other road surfaces with steps and gaps.

In the technical scheme provided by the invention, the arrangement form of the six groups of driving shafts of the active vibration isolation platform comprises but is not limited to the form described in the first embodiment, and the AGV chassis structure comprises but is not limited to the form described in the first embodiment.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. An AGV carrying trolley with an active vibration isolation function is characterized by comprising an AGV chassis (1) and an active vibration isolation platform (8) arranged on the AGV chassis (1), wherein the bottom of the AGV chassis (1) is provided with a driving wheel (11) and universal casters (10), wherein,

the active vibration isolation platform (8) comprises an upper platform (6), a lower platform (2), a plurality of identical driving shafts (4) arranged between the upper platform (6) and the lower platform (2), each driving shaft (4) is provided with an upper free end and a lower free end, the internal integrated acceleration sensors and the actuators of the driving shafts (4), the bottom wall of the upper platform (6) is provided with a plurality of identical upper connecting blocks (5), the top wall of the lower platform (2) is provided with a plurality of identical lower connecting blocks (3), all the driving shafts (4) are arranged in a Stewart form, every two adjacent driving shafts (4) are perpendicular to each other, the upper free end of each driving shaft (4) is connected with the upper connecting block (5), and the lower free end is connected with the lower connecting block (3).

2. The AGV with active vibration isolation of claim 1, wherein: the upper platform (6) is provided with a through hole for wiring, and the through hole is provided with a detachable upper sealing plate (7).

3. An AGV transport cart with active vibration isolation according to claim 1, wherein: the active vibration isolation platform (8) is further provided with a controller, the acceleration sensor is used for collecting real-time acceleration information from the driving shaft (4) and transmitting the real-time acceleration information to the controller, the actuator can calculate the size and the direction of acting force to be output through an algorithm according to vibration source data collected by the sensor, the controller is used for receiving the acceleration information transmitted by the acceleration sensor in real time and sending an action instruction to the actuator according to the acceleration information, and the actuator is used for carrying out real-time action according to the action instruction sent by the controller.

4. The AGV with active vibration isolation of claim 1, wherein: the active vibration isolation platform (8) is provided with 6 same driving shafts (4) to form a six-shaft active vibration isolation platform.

5. An AGV transport cart with active vibration isolation according to claim 1, wherein: the outside is equipped with a set of drive wheel (11) in the middle of the bottom of AGV chassis (1), the bottom both ends outside is equipped with two sets of casters (10) respectively.

6. The AGV with active vibration isolation of claim 1, wherein: the AGV chassis trolley is provided with a servo driving system, a battery management system and a navigation positioning system.