CN116142352A - AGV trolley with independent lifting gear trains and vehicle body posture adjusting method thereof - Google Patents

AGV trolley with independent lifting gear trains and vehicle body posture adjusting method thereof Download PDF

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Publication number
CN116142352A
CN116142352A CN202211433478.4A CN202211433478A CN116142352A CN 116142352 A CN116142352 A CN 116142352A CN 202211433478 A CN202211433478 A CN 202211433478A CN 116142352 A CN116142352 A CN 116142352A
Authority
CN
China
Prior art keywords
steering wheel
agv
steering
lifting
goods
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211433478.4A
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Chinese (zh)
Inventor
聂勇刚
韩深深
刘明
马春岭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jianrui Intelligent Technology Kunshan Co ltd
Original Assignee
Jianrui Intelligent Technology Kunshan Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jianrui Intelligent Technology Kunshan Co ltd filed Critical Jianrui Intelligent Technology Kunshan Co ltd
Priority to CN202211433478.4A priority Critical patent/CN116142352A/en
Publication of CN116142352A publication Critical patent/CN116142352A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
    • 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
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0418—Electric motor acting on road wheel carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories

Abstract

The invention discloses an AGV trolley with an independent lifting gear train and a vehicle body posture adjusting method thereof. Through the mode, the invention accurately completes the butt joint and transfer of the AGV conveying platform and the goods by adjusting the lifting and position relation of each gear train of the steering wheel, has small structure and simple and convenient operation, and solves the stability of the AGV in transferring the goods in different states.

Description

AGV trolley with independent lifting gear trains and vehicle body posture adjusting method thereof
Technical Field
The invention relates to the technical field of AGV carrying, in particular to an AGV trolley with an independent lifting gear train and a vehicle body posture adjusting method thereof.
Background
The AGV carries the goods operation to fixed point position and treat that the butt joint object carries out accurate butt joint and accomplish the locking, and the butt joint goods is as shown in FIG. 1, and goods A and the accurate butt joint and the transportation of goods B in three-dimensional space, and the precision requirement is higher, and most AGV car at present can carry out gyration and walking on the plane, in order to satisfy the butt joint in three-dimensional space, this just requires the AGV car to have certain raising and lowering functions, and current AGV dolly structure installs adjustment structure additional for ordinary four train AGVs usually, and this structure is loaded down with trivial details, the function is complicated.
Based on the defects and shortcomings, the prior art needs to be improved, and an AGV trolley with an independent lifting gear train and a vehicle body posture adjusting method thereof are designed.
Disclosure of Invention
The invention mainly solves the technical problem of providing an AGV trolley with independent lifting gear trains and a vehicle body posture adjusting method thereof, wherein the AGV adjusts the vehicle body posture by adjusting the independent lifting and position relations of each gear train, and the accurate butt joint and transfer of goods A and goods B on the AGV in a three-dimensional space are completed.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides an AGV dolly of independent elevating gear train and automobile body gesture adjustment method thereof, this kind of AGV dolly of independent elevating gear train include the AGV chassis, install the support frame that is used for supporting the load goods on the AGV chassis, install four sets of lift steering wheel on the AGV chassis, set up in peripheral vision of goods or laser sensor, vision or laser sensor scans butt joint goods characteristic discernment goods gesture and feeds back to AGV system, AGV control system is according to feedback numerical value adjustment each lift steering wheel lift and positional relationship.
Preferably, the lifting steering wheel adopts a horizontal steering wheel structure.
Preferably, the lifting steering wheel comprises a steering wheel lifting mechanism, a steering wheel mounting plate driven by the steering wheel lifting mechanism to perform lifting motion, a steering mechanism fixed on the steering wheel mounting plate, a steering wheel mounting frame driven by the steering mechanism to rotate, a steering wheel inserted on the steering wheel mounting frame and a running motor for driving the steering wheel to rotate and run.
Preferably, the steering wheel elevating system includes bearing seat, trapezoidal lead screw, lift driving motor, bears frame and linear guide, the bearing seat is installed in the frame upper surface on AGV chassis, installs the trapezoidal lead screw that can rotate in the bearing seat, and trapezoidal lead screw is rotated by lift driving motor drive, installs on the lead screw nut of trapezoidal lead screw and bears the frame, bear the frame both sides and pass through linear guide and the frame side direction connection on AGV chassis.
Preferably, the steering mechanism comprises a rotary support arranged on the steering wheel mounting plate, a rotating plate arranged on the rotary part of the rotary support, a steering motor arranged on the rotating plate, and a driving gear driven by the steering motor to rotate, wherein the driving gear is meshed with the gear part of the rotary support, and the steering wheel mounting frame is arranged at the lower end of the rotating plate.
Preferably, the lifting steering wheel further comprises a damping floating assembly, and the bearing frame of the steering wheel lifting mechanism is connected with the steering wheel mounting plate through the damping floating assembly.
Preferably, the damping floating assembly comprises damping guide posts and damping springs, the steering wheel mounting plate and a bearing frame of the steering wheel lifting mechanism are connected in a guiding manner through at least four groups of damping guide posts, and the steering wheel mounting plate and the bearing frame are also connected in a floating manner through a plurality of groups of damping springs.
A method for adjusting the body posture of an AGV trolley of an independent lifting gear train is characterized by comprising the following steps of: the method comprises the following steps: the AGV dolly is carried to transfer goods and moves to near the butt joint goods, scans the butt joint goods characteristic through vision or radar sensor and discerns the goods gesture and feeds back to AGV system, and AGV control system adjusts each train promptly according to feedback numerical value and goes up and down to steering wheel lift and positional relationship, adjusts AGV automobile body gesture, makes transfer goods and butt joint goods installation hole site carry out accurate butt joint.
Preferably, the AGV utilizes four groups of lifting steering wheels to have lifting, driving and turning functions, and the precise adjustment of the vehicle body posture is completed through the compound movement of the lifting steering wheels of each gear train.
Preferably, the motion states of the four sets of lift steering wheels include the following:
and (3) longitudinally moving: the steering wheels of the four groups are driven by the steering mechanism to rotate to the longitudinal direction, and the traveling motor controls the steering wheels to rotate so as to realize longitudinal movement;
and (3) transversely moving: the steering wheels of the four groups are driven by the steering mechanism to rotate to the transverse direction, and the traveling motor controls the steering wheels to rotate so as to realize transverse movement;
normal movement: the four groups of steering wheels are synchronously driven to lift by a steering wheel lifting mechanism, so that the normal movement of the vehicle body is realized;
in-situ rotation: according to the gear train control principle, the steering mechanism drives each steering wheel to rotate for a certain angle and then drives the steering wheel to walk so as to realize in-situ rotation;
pitch adjustment: the elevation of the front steering wheel and the elevation of the rear steering wheel are respectively controlled to be completed, the elevation and the mode of the steering wheels on the same side are the same, the elevation of the steering wheels is regulated by a steering wheel elevation mechanism, and the elevation regulation of the AGV is realized;
roll adjustment: the lifting heights of the left steering wheel and the right steering wheel are respectively controlled to be completed, the lifting heights and the modes of the steering wheels on the same side are the same, and the steering wheel height is regulated by a steering wheel lifting mechanism to realize AGV rolling regulation;
yaw adjustment: with the equipment to be loaded automobile body center as the center of revolution, two steering wheels of front side are located on same circular arc, two steering wheels of rear side are located on same circular arc, and the AGV dolly rotates towards the center of revolution, and the AGV dolly can dock with the equipment to be loaded, realizes the AGV yaw adjustment.
Compared with the prior art, the invention has the beneficial effects that:
the steering wheel lifting mechanism drives the steering wheels to lift, the driving force of a single steering wheel is fixedly connected with the AGV chassis frame through four groups of linear guide rails, the driving force is uniformly dispersed to the AGV chassis frame, the whole set of structure is uniformly stressed, the running stability of the AGV chassis is improved, and even if an AGV trolley is suddenly stopped, the shaking of cargoes can be effectively reduced, so that the safety of transporting the reversed cargoes is ensured;
the bearing frame is connected with the steering wheel mounting plate through the damping floating assembly, when the ground is not level, the vibration of the AGV body is reduced through the damping of the damping spring, the compression height of the damping spring is reasonably designed, the driving force of the steering wheel and the ground is effectively enhanced, and the AGV trolley is prevented from slipping during walking;
the travelling motor and the steering mechanism are arranged at the lower end of the bearing surface of the steering wheel, so that the height space is released as much as possible, the width of the bearing surface of the steering wheel is increased, the diameter of the steering wheel is reduced, and the size of the steering wheel is effectively controlled;
through integrating the AGV automobile body structure of adjusting appearance in each rudder unit, through the lift and the positional relationship of each train of adjustment rudder, the butt joint and the transportation of accurate completion AGV conveying platform and goods, this structure is small and exquisite, easy and simple to handle. Stability when having solved AGV and different states under the goods transportation.
Drawings
Fig. 1 is a schematic diagram of cargo to be docked.
FIG. 2 is a schematic diagram of an AGV with independent lift trains.
FIG. 3 is a bottom view of an AGV cart with an independent lift train.
Fig. 4 is a schematic view of the steering wheel structure of an AGV trolley with an independent lifting gear train.
FIG. 5 is a cross-sectional view of an AGV with an independent lift train.
Wherein, 1, AGV chassis, 2, support frame, 3, lifting steering wheel, 31, steering wheel lifting mechanism, 311, bearing seat, 312, trapezoidal screw, 313, lifting driving motor, 314, bearing frame, 315, linear guide rail, 32, steering wheel mounting plate, 33, steering mechanism, 331, slewing bearing, 332, rotating plates 332, 333, steering motor, 334, driving gear, 34, steering wheel mounting frame, 35, steering wheel, 36, walking motor, 37, damping floating component, 371, damping guide post, 372 and damping spring.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
Referring to fig. 1 to 5, an embodiment of the present invention includes:
the utility model provides an AGV dolly of independent elevating gear train and automobile body gesture adjustment method thereof, this kind of AGV dolly of independent elevating gear train includes AGV chassis 1, install on AGV chassis 1 be used for supporting the support frame 2 that loads the goods, install four sets of lift steering wheel 3 on AGV chassis 1, set up in peripheral vision of goods or laser sensor, vision or laser sensor scans butt joint goods characteristic discernment goods gesture and feeds back to AGV system, AGV control system is according to the elevating steering wheel 3 of feedback numerical value adjustment and positional relationship.
The lifting steering wheel 3 adopts a horizontal steering wheel structure, and can realize the walking, steering and lifting functions at the same time for realizing the steering wheel structure in a limited space; the lifting steering wheel 3 comprises a steering wheel lifting mechanism 31, a steering wheel mounting plate 32 driven by the steering wheel lifting mechanism 31 to perform lifting movement, a steering mechanism 33 fixed on the steering wheel mounting plate 32, a steering wheel mounting frame 34 driven by the steering mechanism 33 to rotate, steering wheels 35 inserted on the steering wheel mounting frame 34, and a traveling motor 36 driving the steering wheels 35 to rotate and travel, wherein the traveling motor 36 and the steering mechanism 33 are arranged at the lower end of a steering wheel bearing surface, so that the height space is released as much as possible, the bearing surface width of the steering wheels 35 is increased, the diameter of the steering wheels 35 is reduced, and the size of the steering wheels 35 is effectively controlled.
Steering wheel elevating system 31 includes bearing seat 311, trapezoidal lead screw 312, lift driving motor 313, load-bearing frame 314, and linear guide 315, bearing seat 311 installs in the frame upper surface on AGV chassis 1, installs trapezoidal lead screw 312 that can rotate in bearing seat 311, and trapezoidal lead screw 312 is rotated by lift driving motor 313 drive, installs load-bearing frame 314 on the lead screw nut of trapezoidal lead screw 312, the frame side direction connection of bearing frame 314 both sides through linear guide 315 and AGV chassis 1, and bearing seat 311 and linear guide 315 are installed respectively in AGV chassis upper surface and side, are used for fixed and bear the forward load and the side load that the steering wheel received, and during steering wheel 35 acceleration and deceleration motion, the driving force of single steering wheel passes through four sets of linear guide and AGV chassis fixed connection, evenly distributes the driving force to the AGV chassis frame, makes whole set of structure 315 atress even, adopts linear guide to make steering wheel 35 and AGV chassis frame form organic holistic design form, increases the stability that the AGV chassis moved, even if the dolly takes place to stop, can effectively reduce the rocking of goods to guarantee the safety of elevating cargo transportation.
The steering mechanism 33 includes a turning support 331 mounted on the steering wheel mounting plate 32, a turning plate 332 mounted on a turning part of the turning support 331, a steering motor 333 mounted on the turning plate 332, and a driving gear 334 driven to rotate by the steering motor 333, wherein the driving gear 334 is meshed with a gear part of the turning support 331, the steering wheel mounting frame 34 is mounted at the lower end of the turning plate 332, and the turning motor 333 drives the turning plate 332 to rotate because the gear part of the turning support 331 is fixed.
The lifting steering wheel 3 further comprises a damping floating assembly 37, and the bearing frame of the steering wheel lifting mechanism 31 is connected with the steering wheel mounting plate 32 through the damping floating assembly 37, so that when the ground is uneven, the vehicle body shaking is reduced.
The damping floating assembly 37 comprises damping guide posts 371 and damping springs 372, the steering wheel mounting plate 32 and the bearing frame 314 of the steering wheel lifting mechanism 31 are connected in a guiding manner through at least four groups of damping guide posts 371, the steering wheel mounting plate 32 and the bearing frame 314 are further connected in a floating manner through a plurality of groups of damping springs 372, the steering wheel 35 and the bearing frame 314 form an integral body with adjustable height direction, the steering wheel mounting plate 32 is arranged on the bearing frame 314 in a floating manner, eight groups of damping springs 372 are arranged above the steering wheel mounting plate 32, when the ground is uneven, the AGV body is reduced to shake through buffering of the damping springs 372, the compression height of the damping springs is reasonably designed, the driving force of the steering wheel 35 and the ground is effectively enhanced, and slipping of the AGV trolley during walking is avoided.
A method for adjusting the body posture of an AGV trolley of an independent lifting gear train is characterized by comprising the following steps of: the method comprises the following steps: the AGV dolly is carried to transfer goods and is moved to near the butt joint goods, scans the butt joint goods characteristic through vision or radar sensor and discerns the goods gesture and feeds back to AGV system, and AGV control system adjusts each train promptly and goes up and down to steering wheel 3 lift and positional relationship according to feedback numerical value, adjusts AGV automobile body gesture, makes transfer goods and butt joint goods installation hole site carry out accurate butt joint.
The AGV utilizes four groups of lifting steering wheels 3 to have lifting, driving and turning functions, and the precise adjustment of the vehicle body posture is completed through the compound movement of the lifting steering wheels 3 of each gear train; the motion states of the four sets of lift steering wheels 3 include the following:
and (3) longitudinally moving: the steering wheels 35 of the four groups are driven by the steering mechanism 33 to rotate to the longitudinal direction, and the steering wheels 35 are controlled by the traveling motor 36 to rotate so as to realize the longitudinal movement;
and (3) transversely moving: the steering wheels 35 of the four groups are driven by the steering mechanism 33 to rotate to the transverse direction, and the steering wheels 35 are controlled by the traveling motor 36 to rotate so as to realize transverse movement;
normal movement: the four groups of steering wheels 35 are synchronously driven to lift by the steering wheel lifting mechanism 31, so that the normal movement of the vehicle body is realized;
in-situ rotation: according to the gear train control principle, the steering mechanism 33 drives each steering wheel 35 to rotate a certain angle and then drives the steering wheel 35 to walk so as to realize in-situ rotation;
pitch adjustment: the elevation of the front steering wheel 35 and the elevation of the rear steering wheel 35 are controlled respectively to be completed, the elevation of the steering wheel 35 on the same side is the same as the elevation of the steering wheel 35 in the same way, and the elevation of the steering wheel 35 is regulated by the steering wheel elevating mechanism 31 to realize the elevation regulation of the AGV;
roll adjustment: the lifting heights of the left steering wheel 35 and the right steering wheel 35 are respectively controlled to finish, the lifting heights and the modes of the steering wheels 35 on the same side are the same, and the height of the steering wheels 35 is regulated by the steering wheel lifting mechanism 31 to realize AGV rolling regulation;
yaw adjustment: with the equipment to be loaded automobile body center as the center of revolution, front side two steering wheels 35 are located on same circular arc, rear side two steering wheels 35 are located on same circular arc, the AGV dolly rotates towards the center of revolution, the AGV dolly can dock with the equipment to be loaded, realizes the AGV yaw adjustment.
When the AGV trolley with the independent lifting gear trains and the vehicle body posture adjusting method thereof work, the lifting function is added on the basis of the original steering wheel rotation and walking functions, the AGV system scans the positions and postures of cargoes through vision or laser sensors and feeds back the positions and postures to the AGV system, and the AGV control system adjusts the lifting and position relations of all gear trains in a combined mode according to feedback parameters to complete adjustment of the vehicle body postures, so that the accuracy and stability of the cargoes in butt joint with cargoes on the AGV under different postures are solved, the AGV trolley carries the cargoes to a fixed point to be in accurate butt joint with an object to be butted, and locking is completed.
According to the AGV trolley with the independent lifting gear trains and the vehicle body posture adjusting method thereof, through integrating the lifting function in each gear train and adjusting the position and posture of the AGV through adjusting the lifting and position relation of each gear train, accurate butt joint of cargoes on the AGV and butt joint cargoes is ensured, and the accurate butt joint of the cargoes is completed.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims (10)

1. An AGV dolly of independent elevating gear train, its characterized in that: including the AGV chassis, install the support frame that is used for supporting the load goods on the AGV chassis, install four sets of lift steering wheel on the AGV chassis, set up in peripheral vision of goods or laser sensor, vision or laser sensor scan butt joint goods characteristic discernment goods gesture and feed back to AGV system, AGV control system adjusts each lift steering wheel lift and positional relationship according to the feedback numerical value.
2. The AGV cart of claim 1, wherein: the lifting steering wheel adopts a horizontal steering wheel structure.
3. The AGV cart of claim 2, wherein: the lifting steering wheel comprises a steering wheel lifting mechanism, a steering wheel mounting plate driven by the steering wheel lifting mechanism to perform lifting movement, a steering mechanism fixed on the steering wheel mounting plate, a steering wheel mounting frame driven by the steering mechanism to rotate, a steering wheel inserted on the steering wheel mounting frame and a walking motor for driving the steering wheel to rotate and walk.
4. An AGV trolley with an independent lifting gear according to claim 3 wherein: steering wheel elevating system includes bearing seat, trapezoidal lead screw, lift driving motor, load-bearing frame and linear guide, the bearing seat is installed in the frame upper surface on AGV chassis, installs trapezoidal lead screw that can rotate in the bearing seat, and trapezoidal lead screw is rotated by lift driving motor drive, installs the load-bearing frame on the lead screw nut of trapezoidal lead screw, the frame side direction connection of load-bearing frame both sides through linear guide and AGV chassis.
5. An AGV trolley with an independent lifting gear according to claim 3 wherein: the steering mechanism comprises a rotary support arranged on the steering wheel mounting plate, a rotating plate arranged on the rotary part of the rotary support, a steering motor arranged on the rotating plate, and a driving gear driven by the steering motor to rotate, wherein the driving gear is meshed with the gear part of the rotary support, and the steering wheel mounting frame is arranged at the lower end of the rotating plate.
6. An AGV trolley with an independent lifting gear according to claim 3 wherein: the lifting steering wheel also comprises a damping floating assembly, and the bearing frame of the steering wheel lifting mechanism is connected with the steering wheel mounting plate through the damping floating assembly.
7. The AGV cart of claim 6, wherein: the damping floating assembly comprises damping guide posts and damping springs, the steering wheel mounting plate and a bearing frame of the steering wheel lifting mechanism are connected in a guiding manner through at least four groups of damping guide posts, and the steering wheel mounting plate and the bearing frame are also connected in a floating manner through a plurality of groups of damping springs.
8. A method for adjusting the attitude of an AGV car employing an independent lifting gear train according to any one of claims 1 to 7, characterized by: the method comprises the following steps: the AGV dolly is carried to transfer goods and moves to near the butt joint goods, scans the butt joint goods characteristic through vision or radar sensor and discerns the goods gesture and feeds back to AGV system, and AGV control system adjusts each train promptly according to feedback numerical value and goes up and down to steering wheel lift and positional relationship, adjusts AGV automobile body gesture, makes transfer goods and butt joint goods installation hole site carry out accurate butt joint.
9. The method for adjusting the body posture of the AGV trolley of the independent lifting gear train according to claim 8, wherein the method comprises the following steps: the AGV utilizes four groups of lifting steering wheels to have lifting, driving and turning functions, and the precise adjustment of the vehicle body posture is completed through the compound movement of the lifting steering wheels of each gear train.
10. The method for adjusting the body posture of an AGV trolley with an independent lifting gear train according to claim 9, wherein: the motion states of the four groups of lifting steering wheels comprise the following steps:
and (3) longitudinally moving: the steering wheels of the four groups are driven by the steering mechanism to rotate to the longitudinal direction, and the traveling motor controls the steering wheels to rotate so as to realize longitudinal movement;
and (3) transversely moving: the steering wheels of the four groups are driven by the steering mechanism to rotate to the transverse direction, and the traveling motor controls the steering wheels to rotate so as to realize transverse movement;
normal movement: the four groups of steering wheels are synchronously driven to lift by a steering wheel lifting mechanism, so that the normal movement of the vehicle body is realized;
in-situ rotation: according to the gear train control principle, the steering mechanism drives each steering wheel to rotate for a certain angle and then drives the steering wheel to walk so as to realize in-situ rotation;
pitch adjustment: the elevation of the front steering wheel and the elevation of the rear steering wheel are respectively controlled to be completed, the elevation and the mode of the steering wheels on the same side are the same, the elevation of the steering wheels is regulated by a steering wheel elevation mechanism, and the elevation regulation of the AGV is realized;
roll adjustment: the lifting heights of the left steering wheel and the right steering wheel are respectively controlled to be completed, the lifting heights and the modes of the steering wheels on the same side are the same, and the steering wheel height is regulated by a steering wheel lifting mechanism to realize AGV rolling regulation;
yaw adjustment: with the equipment to be loaded automobile body center as the center of revolution, two steering wheels of front side are located on same circular arc, two steering wheels of rear side are located on same circular arc, and the AGV dolly rotates towards the center of revolution, and the AGV dolly can dock with the equipment to be loaded, realizes the AGV yaw adjustment.
CN202211433478.4A 2022-11-16 2022-11-16 AGV trolley with independent lifting gear trains and vehicle body posture adjusting method thereof Pending CN116142352A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211433478.4A CN116142352A (en) 2022-11-16 2022-11-16 AGV trolley with independent lifting gear trains and vehicle body posture adjusting method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211433478.4A CN116142352A (en) 2022-11-16 2022-11-16 AGV trolley with independent lifting gear trains and vehicle body posture adjusting method thereof

Publications (1)

Publication Number Publication Date
CN116142352A true CN116142352A (en) 2023-05-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211433478.4A Pending CN116142352A (en) 2022-11-16 2022-11-16 AGV trolley with independent lifting gear trains and vehicle body posture adjusting method thereof

Country Status (1)

Country Link
CN (1) CN116142352A (en)

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