CN116039315B - AGV dolly with turn to and hang regulatory function - Google Patents
AGV dolly with turn to and hang regulatory function Download PDFInfo
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- CN116039315B CN116039315B CN202310342612.8A CN202310342612A CN116039315B CN 116039315 B CN116039315 B CN 116039315B CN 202310342612 A CN202310342612 A CN 202310342612A CN 116039315 B CN116039315 B CN 116039315B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D24/00—Connections between vehicle body and vehicle frame
- B62D24/04—Vehicle body mounted on resilient suspension for movement relative to the vehicle frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to the field of AGV trolleys, and aims to solve the problems that in the prior art, a suspension system of the AGV trolley is easy to cause rollover of the AGV trolley and the AGV trolley runs on an uneven road surface, and goods bump and drop are easy to cause, in particular to the AGV trolley with a steering suspension adjusting function; according to the invention, the primary suspension and the secondary suspension are arranged on the AGV trolley to jointly reduce the influence caused by road jolt and road fluctuation, and the road condition is scanned, so that the AGV trolley can timely send signals to the suspension control unit according to the road information to change the suspension height in a targeted manner, the AGV trolley is more stable on the road surface with fluctuation or pothole, and the secondary suspension mechanism is changed by combining and analyzing the preset path information and the temporary path information, so that the secondary suspension mechanism has different bearing capacities, and the condition that cargoes on the AGV trolley are turned over is prevented.
Description
Technical Field
The invention relates to the technical field of AGV trolleys, in particular to an AGV trolley with a steering suspension adjusting function.
Background
The backpack AGV trolley is an AGV trolley which bears the weight of goods by the AGV trolley body, the AGV trolley is mainly used in the fields of assembly, logistics and the like, in the warehouse logistics field, in order to improve the use efficiency of warehouse space, goods are often very compact, the size of the backpack AGV trolley is smaller and more flexible, the chassis of the conventional AGV trolley is often limited by the space size, and a suspension system is not arranged, so that the phenomenon that a driving wheel is suspended easily occurs when the AGV trolley is used on uneven ground;
although the suspension type AGV trolley exists in the prior art, the suspension system of most AGV trolleys is simpler, the suspension system can be passively adapted to uneven ground during running, meanwhile, due to the addition of the suspension system, the chassis of the AGV trolley is lifted to cause the gravity center of the AGV trolley to be raised, and because the suspension travel causes the AGV trolley to roll over more easily during running, the suspension system is inconvenient for normal running of the AGV trolley;
aiming at the technical problems, the application provides a solution.
Disclosure of Invention
According to the invention, the influence caused by road jolt and road fluctuation is reduced by arranging the primary suspension and the secondary suspension on the AGV trolley, and the road condition is scanned, so that the AGV trolley can timely send signals to the suspension control unit according to the road information to change the suspension height in a targeted manner, the AGV trolley is more stable on the road surface with fluctuation or pothole, and the secondary suspension mechanism is changed by combining and analyzing the preset path information and the temporary path information, so that the secondary suspension mechanism has different bearing capacities, the gravity center of the goods on the connection plate can be changed in advance, the gravity center change caused by inertia can be counteracted when the movement direction and the speed are changed, and the situation that the goods on the AGV trolley are turned over is prevented, so that the AGV trolley is easy to cause the problem that the AGV trolley is turned over on an uneven road surface and the goods are easy to drop is solved.
The aim of the invention can be achieved by the following technical scheme:
the AGV trolley with the steering suspension adjusting function comprises a trolley shell, wherein a connection plate is fixedly arranged on the upper surface of the trolley shell, scanning radars are fixedly arranged at the front end and the rear end of the trolley shell, a chassis frame is arranged in the trolley shell, a supporting frame is fixedly arranged on the upper surface of the chassis frame, a structural frame is fixedly arranged at the top end of the supporting frame, and the upper surface of the structural frame is connected to the inner wall of the trolley shell through a secondary suspension mechanism;
the two sides of the chassis frame are rotationally connected with hanging plates, the upper surface of the hanging plates is fixedly provided with positioning plates, bearings are fixedly arranged in the positioning plates, the upper surface of the chassis frame is fixedly provided with differential transmission boxes, the two ends of each differential transmission box are rotationally connected with transmission shafts, the transmission shafts can swing up and down at the two ends of each differential transmission box, one end of each transmission shaft far away from each differential transmission box penetrates through the positioning plates, the part of the transmission shaft passing through the positioning plate is rotationally connected with a bearing in the positioning plate, the outer end of the transmission shaft is fixedly provided with a wheel, the upper surface of the positioning plate is rotationally connected with a primary suspension spring, two ends of the structure frame are fixedly provided with suspension brackets, two sides of each suspension bracket are fixedly provided with telescopic sleeve rods, the output shaft of each telescopic sleeve rod penetrates through the suspension bracket, and the bottom end of the output shaft of the telescopic loop bar is fixedly provided with a connecting plate, the top end of the primary suspension spring is fixedly arranged on the lower surface of the connecting plate, the outer part of the primary suspension spring is sleeved with a centering loop bar, the bottom end of the centering loop bar is abutted to the upper surface of the positioning plate, the top end of the centering loop bar is fixedly arranged on the lower surface of the connecting plate, the inside of the telescopic loop bar pushes the output bar to slide through oil pressure, the secondary suspension mechanism is fixedly arranged at the front end and the rear end of the upper surface of the structural frame, two groups of differential transmission boxes are symmetrically arranged on the upper surface of the chassis frame and are connected through driving rods, four groups of telescopic loop bars are arranged on the upper surface of the chassis frame, the upper surface of the structural frame is fixedly provided with a control module, and two ends of the control module are provided with a plurality of control passages.
As a preferred implementation mode of the invention, the secondary suspension mechanism comprises a lower mounting plate, a secondary suspension spring, an air pressure loop bar and an upper mounting plate, wherein the lower mounting plate is fixedly arranged on the upper surface of the structural frame, the bottom end of the air pressure loop bar is fixedly arranged on the upper surface of the lower mounting plate, the top of the air pressure loop bar is fixedly connected with the lower surface of the upper mounting plate, two ends of the secondary suspension spring are respectively abutted to the lower mounting plate and the upper mounting plate, and an air pump source is externally connected with the air pressure loop bar.
As a preferred embodiment of the present invention, the control path is connected to four sets of telescopic loop bars, four sets of pneumatic loop bars, and two sets of scanning radars, the control module includes a central processing unit, a structure acquisition unit, a path analysis unit, a suspension control unit, and a secondary control unit, the structure acquisition unit acquires road surface structure information through the scanning radars and transmits the road surface structure information to the central processing unit, wherein the road surface structure information includes a ground surface relief gradient and a road surface pit depth, the path analysis unit is used for acquiring preset path information and marking turning points and acceleration and deceleration points in the preset path information, the path analysis unit acquires vehicle body surrounding obstacle information through the scanning radars and generates temporary path information according to the vehicle body surrounding obstacle information and marks turning points and acceleration and deceleration points in the temporary path information, the path analysis unit transmits the turning points and the acceleration and deceleration points to the central processing unit, the central processing unit is used for analyzing the ground surface relief gradient, the road surface pit depth, the points, and the acceleration and deceleration points, generating corresponding suspension control signals and the secondary control signals, and transmitting the suspension control signals to the secondary control unit.
As a preferred embodiment of the present invention, the central processing unit analyzes the ground rolling gradient, collects a ground rolling gradient angle X, generates a suspension inclination angle X0 according to the ground rolling gradient angle X, and uses the suspension inclination angle X0 as a suspension control signal, wherein the suspension inclination angle X0 is complementary to the ground rolling gradient angle X, the ground rolling gradient angle X is an angle between a ground rolling portion and an advancing direction of the AGV trolley, the suspension inclination angle X0 is an angle between the advancing direction of the AGV trolley and a center line of a front wheel and a rear wheel of the AGV trolley, the suspension control unit controls the telescopic sleeve rod to enter a suspension action state after receiving the suspension inclination angle X0, calculates a suspension action execution time through a current travelling speed of the AGV trolley, the suspension action execution time is the speed of the AGV trolley divided by the front wheel distance and the rear wheel distance of the AGV trolley, and is started when two sets of wheels in front of the AGV trolley reach the ground rolling position for the first time, the suspension control unit completes when the two sets of wheels in back of the AGV trolley reach the ground rolling position again, and the suspension control unit reverses the suspension action when the two sets of wheels in front of the AGV trolley leave the ground rolling position.
As a preferred embodiment of the present invention, the central processing unit analyzes the road surface hole depth, compares the road surface hole depth with a preset road surface hole depth threshold, if the road surface hole depth is smaller than the preset road surface hole depth threshold, does not react, if the road surface hole depth is greater than or equal to the preset road surface hole depth threshold, acquires the road surface hole depth Y0, takes the hole depth Y0 as a suspension control signal, and sends the suspension control signal to the suspension control unit, and when the hole depth Y0 is received, when two sets of wheels in front of the AGV trolley contact the road surface hole position, controls the two sets of telescopic sleeve rods in front to extend by Y0 distance, when the two sets of wheels in back of the AGV trolley contact the hole position, controls the two sets of telescopic sleeve rods in front to retract by Y0 distance, when the two sets of wheels in front contact the hole position, controls the two sets of telescopic sleeve rods in back of the telescopic sleeve rods when the hole depth Y0 is negative, and controls the two sets of telescopic sleeve rods in back of the telescopic sleeve rods.
As a preferred implementation mode of the invention, after the central processing unit acquires the turning point, the central processing unit acquires the circle center direction on the turning path, takes the circle center direction as a secondary control signal and sends the circle center direction to the secondary control unit, and when the secondary control unit receives the circle center direction and the AGV trolley drives to the turning point, the secondary control unit controls the air pressure loop bar in the secondary suspension unit, which is close to the circle center direction, to perform air leakage and depressurization, and when the air pressure loop bar is away from the turning point, controls the air pressure loop bar, which is close to the circle center direction, to perform pressurization again.
As a preferred embodiment of the present invention, the central processing unit generates an acceleration signal when the AGV trolley is about to accelerate after acquiring the acceleration point, and sends the acceleration signal as a secondary control signal to the secondary control unit, the secondary control unit controls the two sets of air pressure loop bars in the advancing direction of the AGV trolley to perform air release and depressurization after receiving the acceleration signal, and controls the two sets of air pressure loop bars in the advancing direction of the AGV trolley to perform pressurization after accelerating, and generates a deceleration signal when the AGV trolley is about to decelerate, and sends the deceleration signal as a secondary control signal to the secondary control unit, and the secondary control unit controls the two sets of air pressure loop bars in the advancing direction of the AGV trolley to perform air release and depressurization after receiving the deceleration signal.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the primary suspension and the secondary suspension are arranged on the AGV trolley, so that the load borne on the AGV trolley can be minimally influenced by road surface jolt and road surface fluctuation when the AGV trolley walks, meanwhile, the height of the primary suspension and the hardness of the secondary suspension are actively controlled by the control module, the gravity center deviation of the load on the AGV trolley caused by inertia can be reduced when the AGV trolley turns and is accelerated and decelerated, and the AGV trolley is prevented from rollover or falling.
2. According to the invention, the road condition is scanned by the scanning radar, so that the AGV trolley can timely acquire road condition information and timely send signals to the suspension control unit according to the road information, the suspension height is changed pertinently, the AGV trolley is more stable on a road surface with undulation or pothole, and the AGV trolley is prevented from being blocked from moving caused by jolt.
3. According to the invention, through the combined analysis of the preset path information and the temporary path information, when the AGV trolley turns or accelerates and decelerates, the secondary suspension mechanism is changed, so that the secondary suspension mechanism has different bearing capacities, the gravity center of the goods on the connection plate can be changed in advance, and the gravity center change caused by inertia can be counteracted when the movement direction and the speed are changed, so that the situation of side turning of the goods on the AGV trolley is prevented.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is a schematic diagram of the front view of the structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic view of a telescopic loop bar according to the present invention;
FIG. 4 is an enlarged schematic view of the structure of FIG. 2A according to the present invention;
FIG. 5 is a schematic cross-sectional view of the present invention;
FIG. 6 is a system block diagram of the present invention;
fig. 7 is a schematic view of the ground heave gradient angle according to the invention.
In the figure: 1. a vehicle shell; 2. a wheel; 3. a connection plate; 4. scanning a radar; 5. a chassis frame; 6. a structural frame; 7. a hanging plate; 8. a transmission shaft; 9. a differential transmission case; 10. a hanging bracket; 11. a positioning plate; 12. a primary suspension spring; 13. centering sleeve rod; 14. a telescopic loop bar; 15. a driving rod; 16. a connecting plate; 17. a lower mounting plate; 18. a secondary suspension spring; 19. an air pressure loop bar; 20. an upper mounting plate; 21. a control path; 22. a control module; 23. and (5) supporting frames.
Description of the embodiments
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
referring to fig. 1-5, an AGV trolley with a steering suspension adjustment function includes a trolley shell 1, a connection plate 3 is fixedly mounted on the upper surface of the trolley shell 1, structures such as directly stacking cargoes or other external cargoes are arranged on the connection plate 3 to improve applicability of the AGV trolley, a scanning radar 4 is fixedly mounted at the front end and the rear end of the trolley shell 1, the scanning radar 4 can scan and model an external environment, the AGV trolley avoids obstacles and determines a travelling route, a chassis frame 5 is arranged in the trolley shell 1, a support frame 23 is fixedly mounted on the upper surface of the chassis frame 5, a structure frame 6 is fixedly mounted at the top end of the support frame 23, a cavity formed by the support frame 23, the chassis frame 5 and the structure frame 6 is used for penetrating through a driving rod 15 and other operation components required by the AGV trolley, and the upper surface of the structure frame 6 is connected to the inner wall of the trolley shell 1 through a secondary suspension mechanism, and the trolley shell 1 is connected with the structure frame 6 through the secondary suspension mechanism;
the two sides of the chassis frame 5 are rotationally connected with suspension plates 7, the upper surface of the suspension plates 7 is fixedly provided with positioning plates 11, the inside of the positioning plates 11 is fixedly provided with bearings, the upper surface of the chassis frame 5 is fixedly provided with differential transmission boxes 9, the two ends of each differential transmission box 9 are rotationally connected with transmission shafts 8, the transmission shafts 8 can swing up and down at the two ends of each differential transmission box 9, the transmission shafts 8 can move up and down in cooperation with wheels 2, the two groups of transmission shafts 8 in the differential transmission boxes 9 are connected through differential gears, the transmission shafts 8 at the two sides can have different rotating speeds, one end of each transmission shaft 8 far away from each differential transmission box 9 penetrates through the corresponding positioning plate 11, and the part of each transmission shaft 8 penetrating through the corresponding positioning plate 11 is rotationally connected with the bearings inside the corresponding positioning plates 11;
the outer end of the transmission shaft 8 is fixedly provided with a wheel 2, the upper surface of the positioning plate 11 is rotationally connected with a first-stage suspension spring 12, two ends of the structural frame 6 are fixedly provided with suspension brackets 10, two sides of each suspension bracket 10 are fixedly provided with telescopic sleeve rods 14, the output shafts of the telescopic sleeve rods 14 penetrate through the suspension brackets 10, the bottom ends of the output shafts of the telescopic sleeve rods 14 are fixedly provided with connecting plates 16, the top ends of the first-stage suspension springs 12 are fixedly arranged on the lower surface of the connecting plates 16, the outer parts of the first-stage suspension springs 12 are sleeved with centering sleeve rods 13, the bottom ends of the centering sleeve rods 13 are abutted to the upper surface of the positioning plate 11, and no air pressure or oil pressure resistance exists in the centering sleeve rods 13 and only used for keeping the telescopic direction of the first-stage suspension springs 12 as the axial direction;
the top end of the centering sleeve rod 13 is fixedly arranged on the lower surface of the connecting plate 16, the inside of the telescopic sleeve rod 14 pushes the output rod to slide through oil pressure, the secondary suspension mechanism is fixedly arranged at the front end and the rear end of the upper surface of the structural frame 6, two groups of differential transmission boxes 9 are symmetrically arranged on the upper surface of the chassis frame 5, the two groups of differential transmission boxes 9 are connected through the driving rod 15, meanwhile, the two groups of differential transmission boxes 9 can be independently driven without being connected through the driving rod 15, the two groups of driving mechanisms are adopted for independent driving, four groups of telescopic sleeve rods 14 are arranged on the upper surface of the chassis frame 5 in total, a control module 22 is fixedly arranged on the upper surface of the structural frame 6, a plurality of control channels 21 are arranged at the two ends of the control module 22, and the control channels 21 are used for connecting the control module 22 with corresponding controllers so as to realize information transmission of the scanning radar, the air pressure sleeve rod and the telescopic sleeve rod.
The secondary suspension mechanism comprises a lower mounting plate 17, a secondary suspension spring 18, an air pressure loop bar 19 and an upper mounting plate 20, wherein the lower mounting plate 17 is fixedly mounted on the upper surface of the structural frame 6, the bottom end of the air pressure loop bar 19 is fixedly mounted on the upper surface of the lower mounting plate 17, the top of the air pressure loop bar 19 is fixedly connected with the lower surface of the upper mounting plate 20, two ends of the secondary suspension spring 18 are respectively abutted to the lower mounting plate 17 and the upper mounting plate 20, an air pump source is externally connected with the air pressure loop bar 19, and the pressure bearing capacity of the secondary suspension mechanism during expansion and contraction is changed by controlling the air pressure inside the air pressure loop bar 19 through the externally connected air pump source, so that the softness and hardness of the secondary suspension mechanism can be more in line with the actual conditions.
Embodiment two:
referring to fig. 1 to 5, a control path 21 is respectively connected to four sets of telescopic loop bars 14, four sets of air pressure loop bars 19 and two sets of scanning radars 4, and a control module 22 includes a central processing unit, a structure acquisition unit, a path analysis unit, a suspension control unit and a secondary control unit;
the structure acquisition unit acquires road surface structure information through the scanning radar 4 and sends the road surface structure information to the central processing unit, wherein the road surface structure information comprises a ground fluctuation gradient and a road surface pothole depth, and the central processing unit is used for analyzing the ground fluctuation gradient and the road surface pothole depth, generating a corresponding suspension control signal and sending the suspension control signal to the suspension control unit.
The central processing unit analyzes the ground fluctuation gradient, collect ground fluctuation gradient angle X, and according to ground fluctuation gradient angle X generates suspension inclination angle X0, and will hang inclination angle X0 as hanging control signal, wherein hang inclination angle X0 and ground fluctuation gradient angle X angle complementation, ground fluctuation gradient angle X is the contained angle of ground fluctuation part and AGV dolly advancing direction, hang inclination angle X0 for AGV dolly advancing direction and AGV dolly front and back shaft heart line's contained angle, hang control unit after receiving and hang inclination angle X0, control flexible loop bar 14 gets into and hangs action state, calculate through the AGV dolly current velocity of travel and hang action execution time, wherein hang action execution time is AGV dolly speed divided by AGV dolly front and back wheel span, and begin to carry out when two sets of wheels 2 in the place ahead of AGV dolly arrive ground fluctuation position once more, hang the control unit and hang the action when two sets of wheels 2 in the place ahead leave the place of ground fluctuation position, in reverse running, in order to guarantee that the dolly can be through having the change the slope of messenger's level slope that the AGV ground that can be close to the level of fluctuation ground surface when having the change all the time, because of falling down of the AGV is caused by the slope.
The center processing unit analyzes road surface hole depth to compare road surface hole depth with a preset road surface hole depth threshold value, if road surface hole depth is smaller than the preset road surface hole depth threshold value, it is smaller to indicate that bottom surface hole depth, the vehicle suspension of AGV dolly can absorb jolting that this hole depth produced, then do not respond, if road surface hole depth is greater than or equal to preset road surface hole depth threshold value, then acquire road surface hole depth Y0, regard as suspension control signal with suspension control signal to suspension control unit, suspension control unit is after receiving hole depth Y0, when hole depth Y0 is the positive value, indicate that there is a hole that is lower than horizontal road surface, two sets of telescopic links 14 in front of AGV dolly stretch out the Y0 distance, make the AGV dolly of contact hole earlier, guarantee the level of dolly and travel, then acquire road surface hole depth Y0 when two sets of AGV dolly rear of contact the hole 2, make two sets of telescopic links 2 of AGV rear contact the hole 2, make the AGV rear contact the hole 2, and make the AGV rear contact the two sets of telescopic links 2, and make the AGV rear contact the hole 2, and make the AGV rear contact the distance 2, and the AGV front contact the front 2, and the front contact the front 2, thereby the AGV front contact the front 2.
Embodiment III:
referring to fig. 1-5, the path analysis unit is configured to obtain preset path information, mark a turning point and an acceleration and deceleration point in the preset path information, the path analysis unit obtains information about obstacles around a vehicle body through the scanning radar 4, generates temporary path information according to the information about obstacles around the vehicle body, marks the turning point and the acceleration and deceleration point in the temporary path information, and sends the turning point and the acceleration and deceleration point to the central processing unit, the central processing unit analyzes the turning point and the acceleration and deceleration point, generates a corresponding secondary control signal, sends the secondary control signal to the secondary control unit, the central processing unit obtains a circle center direction on a turning path after obtaining the turning point, takes the circle center direction as the secondary control signal, sends the circle center direction to the secondary control unit, and when the secondary control unit receives the circle center direction, when the AGV trolley travels to the turning point, controls the air pressure loop bar 19 close to the circle center direction in the secondary suspension unit to perform air pressure release and pressure reduction, so that goods above the AGV can lean towards the direction of the circle center when turning, generate a corresponding secondary control signal, the air pressure loop bar can be turned to the air pressure loop bar is turned around the air pressure loop, and the inertia state is reduced when the AGV is turned, and the air pressure loop load is turned around the air pressure loop bar is turned around the air-speed when the air pressure loop is turned around the air pump.
After the central processing unit obtains the acceleration point, when the AGV dolly is about to accelerate, generate the acceleration signal, and send the acceleration signal to the secondary control unit as the secondary control signal, the secondary control unit is after receiving the acceleration signal, two sets of pneumatic loop bars 19 of control AGV dolly advancing direction carry out the release and step down, make the goods on the AGV dolly can incline towards the place ahead, the influence of goods self inertia when reducing accelerating, prevent goods backward topple over when accelerating, and control two sets of pneumatic loop bars 19 of AGV dolly advancing direction and pressurize after accelerating, when the AGV dolly is about to slow down, generate the deceleration signal, and send the deceleration signal to the secondary control unit as the secondary control signal, the secondary control unit is after receiving the deceleration signal, control two sets of pneumatic loop bars 19 of dolly advancing direction carry out the pressurization, make the goods on the AGV dolly incline backward, the influence of goods self inertia when reducing the speed down, prevent the goods forward topple over when the speed down, and control two sets of pneumatic loop bars 19 of AGV dolly advancing direction carry out the release and step down after accelerating, make the goods resume normal state.
According to the invention, the primary suspension and the secondary suspension are arranged on the AGV trolley, so that the load borne by the AGV trolley can be minimally influenced by road surface jolt and road surface fluctuation when the AGV trolley walks, meanwhile, the road surface condition is scanned by the scanning radar, the AGV trolley can timely acquire road surface condition information, and timely send signals to the suspension control unit according to the road surface information, so that the suspension height is changed pertinently, the AGV trolley is more stable on the road surface with fluctuation or pothole, the movement of the AGV trolley caused by jolt is prevented from being blocked, the preset path information and the temporary path information are analyzed, and when the AGV trolley is about to turn or accelerate and decelerate, the secondary suspension mechanism is changed, so that the load on the connection plate can make the change of the center of gravity in advance, and the change of the center of gravity brought by inertia can be counteracted when the movement direction and speed are changed, and the situation of rollover of the load on the AGV trolley is prevented.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (7)
1. The utility model provides an AGV dolly with turn to hang regulatory function, includes car shell (1), its characterized in that, car shell (1) upper surface fixed mounting has connection board (3), both ends fixed mounting has scanning radar (4) around car shell (1), car shell (1) inside is provided with chassis frame (5), chassis frame (5) upper surface fixed mounting has support frame (23), support frame (23) top fixed mounting has structure frame (6), structure frame (6) upper surface passes through second grade and hangs the mechanism and connect at car shell (1) inner wall;
the utility model discloses a chassis frame, chassis frame (5) both sides rotate and are connected with suspension board (7), suspension board (7) upper surface fixed mounting has locating plate (11), locating plate (11) inside fixed mounting has the bearing, chassis frame (5) upper surface fixed mounting has differential transmission case (9), differential transmission case (9) both ends rotate and are connected with transmission shaft (8), and transmission shaft (8) can swing from top to bottom at differential transmission case (9) both ends, the one end that differential transmission case (9) were kept away from to transmission shaft (8) passes locating plate (11), part that transmission shaft (8) passed locating plate (11) rotates with the inside bearing of locating plate (11) to be connected, transmission shaft (8) outer end fixed mounting has wheel (2), locating plate (11) upper surface rotation is connected with one-level suspension spring (12), suspension bracket (10) both ends fixed mounting have at structure frame (6), suspension bracket (10) both sides fixed mounting has telescopic sleeve (14), telescopic sleeve (14) output shaft runs through suspension bracket (10), and telescopic sleeve (16) bottom fixed mounting has one-level suspension spring (16) fixed connection board (16), the utility model discloses a chassis frame, including chassis frame (5), centering loop bar (13) are installed to one-level suspension spring (12) outside has cup jointed centering loop bar (13), centering loop bar (13) bottom butt is in locating plate (11) upper surface, centering loop bar (13) top fixed mounting is at connecting plate (16) lower surface, flexible loop bar (14) inside is through oil pressure promotion output pole slip, second grade suspension mechanism fixed mounting is at both ends around structure frame (6) upper surface, chassis frame (5) upper surface symmetry installs two sets of differential transmission case (9), links to each other through actuating lever (15) between two sets of differential transmission case (9), chassis frame (5) upper surface is provided with four sets of flexible loop bars (14) altogether, surface fixed mounting has control module (22) on structure frame (6), control module (22) both ends are provided with many control passage (21).
2. The AGV trolley with the steering suspension adjustment function according to claim 1, wherein the secondary suspension mechanism comprises a lower mounting plate (17), a secondary suspension spring (18), an air pressure loop bar (19) and an upper mounting plate (20), the lower mounting plate (17) is fixedly mounted on the upper surface of the structural frame (6), the bottom end of the air pressure loop bar (19) is fixedly mounted on the upper surface of the lower mounting plate (17), the top of the air pressure loop bar (19) is fixedly connected with the lower surface of the upper mounting plate (20), two ends of the secondary suspension spring (18) are respectively abutted to the lower mounting plate (17) and the upper mounting plate (20), and an air pump source is externally connected to the air pressure loop bar (19).
3. An AGV trolley with steering suspension adjustment according to claim 1, characterized in that the control path (21) is connected to four sets of telescopic loop bars (14), four sets of pneumatic loop bars (19) and two sets of scanning radars (4), respectively, the control module (22) comprising a central processing unit, a structure acquisition unit, a path analysis unit, a suspension control unit and a secondary control unit;
the road surface structure information comprises a ground fluctuation gradient, a road surface depression depth, a turning point and an acceleration and deceleration point, wherein the road surface structure information comprises a ground fluctuation gradient and a road surface depression depth, the path analysis unit is used for acquiring preset path information and marking the turning point and the acceleration and deceleration point in the preset path information, the path analysis unit acquires the obstacle information around the vehicle body through the scanning radar (4), generates temporary path information according to the obstacle information around the vehicle body and marks the turning point and the acceleration and deceleration point in the temporary path information, the path analysis unit sends the turning point and the acceleration and deceleration point to the central processing unit, and the central processing unit is used for analyzing the ground fluctuation gradient, the road surface depression depth, the turning point and the acceleration and deceleration point, generating corresponding suspension control signals and secondary control signals, sending the suspension control signals to the suspension control unit and sending the secondary control signals to the secondary control unit.
4. An AGV car with a steering suspension adjustment function according to claim 3, wherein the central processing unit analyzes the ground heave gradient, collects a ground heave gradient angle X, generates a suspension inclination angle X0 according to the ground heave gradient angle X, and uses the suspension inclination angle X0 as a suspension control signal, wherein the suspension inclination angle X0 is complementary to the ground heave gradient angle X, the ground heave gradient angle X is an angle between a ground heave portion and an advancing direction of the AGV car, the suspension inclination angle X0 is an angle between the advancing direction of the AGV car and a center line of a front wheel and a rear wheel of the AGV car, the suspension control unit controls the telescopic loop bar (14) to enter a suspension action state after receiving the suspension inclination angle X0, calculates a suspension action execution time by a current traveling speed of the AGV car, wherein the suspension action execution time is an AGV car speed divided by an AGV car front-rear wheel distance, and starts to execute when two sets of wheels (2) in front of the AGV car reach the ground heave position for the first time, and completes suspension action when two sets of wheels (2) in front of the AGV car reach the ground heave position again, and the suspension action is completed when two sets of wheels (2) of the suspension action are moved in reverse direction.
5. The AGV trolley with the steering suspension adjustment function according to claim 3, wherein the central processing unit analyzes the road surface depression depth, compares the road surface depression depth with a preset road surface depression depth threshold, does not react if the road surface depression depth is smaller than the preset road surface depression depth threshold, acquires the road surface depression depth Y0 if the road surface depression depth is equal to or larger than the preset road surface depression depth threshold, takes the depression depth Y0 as a suspension control signal, and sends the suspension control signal to the suspension control unit, and when the depression depth Y0 is positive, controls the front two sets of telescopic sleeves (14) to extend by a Y0 distance when the two sets of wheels (2) at the front of the AGV trolley contact the road surface depression position, controls the front two sets of telescopic sleeves (14) to extend by a Y0 distance when the two sets of wheels (2) at the rear of the trolley contact the depression position, and controls the front two sets of wheels (14) to extend by a Y0 distance when the two sets of wheels (2) at the rear of the front and the two sets of the telescopic sleeves (14) contact the depression position when the two sets of wheels (2) contact the depression position.
6. An AGV trolley with a steering suspension adjustment function according to claim 3, wherein the central processing unit acquires the direction of the center of the circle on the turning path after acquiring the turning point, takes the direction of the center of the circle as a secondary control signal, and sends the direction of the center of the circle to the secondary control unit, and the secondary control unit controls the air pressure loop bar (19) close to the direction of the center of the circle in the secondary suspension unit to perform air release and depressurization when the AGV trolley moves to the turning point after receiving the direction of the center of the circle, and controls the air pressure loop bar (19) close to the direction of the center of the circle to perform pressurization again when leaving the turning point.
7. An AGV trolley with a steering suspension adjustment function according to claim 3, wherein the central processing unit generates an acceleration signal when the AGV trolley is about to accelerate after acquiring the acceleration point, and transmits the acceleration signal as a secondary control signal to the secondary control unit, the secondary control unit controls the two sets of air pressure loop bars (19) in the forward direction of the AGV trolley to perform air release and depressurization after receiving the acceleration signal, and controls the two sets of air pressure loop bars (19) in the forward direction of the AGV trolley to perform pressurization after the acceleration is finished, and generates a deceleration signal when the AGV trolley is about to decelerate, and transmits the deceleration signal as a secondary control signal to the secondary control unit, and the secondary control unit controls the two sets of air pressure loop bars (19) in the forward direction of the AGV trolley to perform air release and depressurization after receiving the deceleration signal.
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| CN202310342612.8A CN116039315B (en) | 2023-04-03 | 2023-04-03 | AGV dolly with turn to and hang regulatory function |
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| CN202310342612.8A CN116039315B (en) | 2023-04-03 | 2023-04-03 | AGV dolly with turn to and hang regulatory function |
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| CN116039315B true CN116039315B (en) | 2023-05-26 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN206187159U (en) * | 2016-11-30 | 2017-05-24 | 郑州大河智信科技股份公司 | Formula AGV trolley drive mechanism slips into |
| CN107021148A (en) * | 2017-04-19 | 2017-08-08 | 无锡新创力工业设备有限公司 | The transfer robot that comprehensive full landform is guided automatically |
| CN109733150A (en) * | 2018-12-18 | 2019-05-10 | 盐城汇金科技信息咨询服务有限公司 | A kind of damping and implementation method of physical-distribution intelligent floor truck |
| CN209159845U (en) * | 2018-09-13 | 2019-07-26 | 广东嘉腾机器人自动化有限公司 | A kind of AGV with adaptive inclined-plane function |
| EP3757056A1 (en) * | 2019-06-24 | 2020-12-30 | Arrival Limited | Automatic guided vehicles with integrated lifting apparatus |
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2023
- 2023-04-03 CN CN202310342612.8A patent/CN116039315B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206187159U (en) * | 2016-11-30 | 2017-05-24 | 郑州大河智信科技股份公司 | Formula AGV trolley drive mechanism slips into |
| CN107021148A (en) * | 2017-04-19 | 2017-08-08 | 无锡新创力工业设备有限公司 | The transfer robot that comprehensive full landform is guided automatically |
| CN209159845U (en) * | 2018-09-13 | 2019-07-26 | 广东嘉腾机器人自动化有限公司 | A kind of AGV with adaptive inclined-plane function |
| CN109733150A (en) * | 2018-12-18 | 2019-05-10 | 盐城汇金科技信息咨询服务有限公司 | A kind of damping and implementation method of physical-distribution intelligent floor truck |
| EP3757056A1 (en) * | 2019-06-24 | 2020-12-30 | Arrival Limited | Automatic guided vehicles with integrated lifting apparatus |
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| CN116039315A (en) | 2023-05-02 |
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