CN206188308U - Formula AGV lifts - Google Patents

Formula AGV lifts Download PDF

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Publication number
CN206188308U
CN206188308U CN201621017869.8U CN201621017869U CN206188308U CN 206188308 U CN206188308 U CN 206188308U CN 201621017869 U CN201621017869 U CN 201621017869U CN 206188308 U CN206188308 U CN 206188308U
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CN
China
Prior art keywords
agv
car bodies
lifting type
lifting
agv car
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CN201621017869.8U
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Chinese (zh)
Inventor
彭华明
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GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
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GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
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Abstract

The utility model discloses a formula AGV lifts, it includes the AGV automobile body and locates the lifting mechanism on the AGV automobile body that the bottom of AGV automobile body is equipped with two and is the drive steering wheel that the diagonal angle set up. The utility model discloses a setting up two in the bottom of AGV automobile body and being the drive steering wheels that the diagonal angle set up, when traveling forward or backward, these two drive steering wheels provide the drive power that formula AGV lifts travel, and when turning to, under the certain condition of the electric power that provides, the drive steering wheel that is the diagonal angle setting acts on whole formula AGV lifts's driving -steering moment can the maxmizing, formula AGV lifts alright light, all -round turning to in a flexible way, and realization qxcomm technology traveles.

Description

A kind of lifting type AGV
Technical field
The utility model is related to intelligent carriage apparatus field, and in particular to a kind of lifting type AGV.
Background technology
AGV dollies, i.e. automatical pilot transportation vehicle, belong to wheeled mobile robot field, can be pressed under the monitoring of computer The automatic path of navigation along regulation of instruction is travelled, and reaches appointed place, completes a series of job task, is factory and storage One of main equipment of material handling automation, is particularly suited for warehousing industry, manufacturing industry, tobacco, medicine and extraordinary danger field Institute, the features such as it has efficient, quick, flexible, has been greatly improved production automation degree and production efficiency.To make AGV Dolly passage is narrow and the limited environment in space under operation, it must just have the ability of omnidirectional running.In existing industry skill In art, usually driven or single wheel drive using twin-differential, due to the mode that twin-differential drives be complete inner outer deflecting roller it Between speed difference realize what is turned to, can there is the inaccurate situation of control in the controller of AGV, then dolly is in the process for turning to In will produce situations such as wheelslip, vibrations, and then easily cause the abrasion of wheel;Single wheel drive is then using only a drive Driving wheel recycles two driven pulleys as support in addition come the function of realizing travelling and turning to, and the dolly of this type of drive is transported Driven pulley easily deviates guide line when moving slightly worse performance, turning, and radius of turn is big.Lifting type AGV generally comprises a lifting machine Structure, for by the lifting type AGV of the material receiving of material handling to a certain height, particularly carrying large material, its lifting machine The weight of structure is also self-evident, so that the weight of whole lifting type AGV is also to greatly increase, under certain power conditions, according to Driven by twin-differential or single wheel drive makes lifting type AGV steerings not be just so easy.
Utility model content
The purpose of this utility model be to provide it is a kind of turn to flexibly, can omnidirectional running and stable direction lifting type AGV.
To achieve these goals, the utility model provides a kind of lifting type AGV, and it includes AGV car bodies and located at institute The lifting mechanism on AGV car bodies is stated, the bottom of the AGV car bodies is provided with two diagonally positioned driving steering wheels.
In above-mentioned lifting type AGV, the bottom of the AGV car bodies is provided with two floating brackets, the driving steering wheel point An Zhuan not be on the floating bracket.
In above-mentioned lifting type AGV, the lifting mechanism is scissor-type lifting mechanism.
In above-mentioned lifting type AGV, the scissor-type lifting mechanism is driven by ball screw.
In above-mentioned lifting type AGV, the ball screw is provided with two, and described two ball screws pass through sync driver With motor connection.
In above-mentioned lifting type AGV, a universal caster wheel is respectively provided with four angles of the bottom of the AGV car bodies.
In above-mentioned lifting type AGV, the bottom of the AGV car bodies is provided with the rfid interrogator for reading ground object information.
In above-mentioned lifting type AGV, the bottom of the AGV car bodies be respectively arranged in the front and the rear with one reading ground magnetic stripe navigation Magnetic stripe.
In above-mentioned lifting type AGV, side is touched in the anticollision for being formed around safeguard protection effect of the AGV car bodies.
In above-mentioned lifting type AGV, four angles of the AGV car bodies are provided with the tri coloured lantern of display running status.
Implement lifting type AGV of the present utility model, had the following advantages relative to prior art:
The utility model sets two diagonally positioned driving steering wheels by the bottom of AGV car bodies, forward or backward During traveling, the two drive steering wheel to provide the lifting type AGV driving forces of traveling, during steering, in the certain feelings of the electric power for being provided Under condition, the steering driving moment that diagonally positioned driving steering wheel acts on whole lifting type AGV can reach maximum, lifting type AGV just can light, neatly comprehensive steering, realize omnidirectional running.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of specific embodiment of lifting type AGV of the present utility model;
Fig. 2 is a kind of bottom view of specific embodiment of lifting type AGV of the present utility model;
Fig. 3 is that the structure of the scissor-type lifting mechanism in a kind of specific embodiment of lifting type AGV of the present utility model is shown It is intended to;
Wherein, 1, AGV car bodies;2nd, lifting mechanism;3rd, steering wheel is driven;4th, floating bracket;5th, ball screw;6th, it is synchronous to drive Device;7th, motor;8th, universal caster wheel;9th, side is touched in anticollision;10th, rfid interrogator;11st, tri coloured lantern;12nd, obstacle sensor;13rd, loudspeaker ;14th, emergency stop switch;15th, starting switch;16th, touch-screen;17th, electric on-off switch;18th, charging brush;19th, steel plate;20th, electricity Pond case;21st, scissor-type lift assemblies;22nd, pallet component.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below Embodiment is used to illustrate the utility model, but is not limited to scope of the present utility model.
As shown in Figure 1 to Figure 3, preferred embodiment of the present utility model, a kind of lifting type AGV, it includes the He of AGV car bodies 1 Lifting mechanism 2 on AGV car bodies 1, a universal caster wheel 8 is respectively provided with four angles of the bottom of AGV car bodies 1, is the act Lift-type AGV provides support, and lifting type AGV can be travelled with any direction;The bottom of AGV car bodies 1 is provided with reading ground object The rfid interrogator 10 of information, and the bottom of AGV car bodies 1 be respectively arranged in the front and the rear with one reading ground magnetic stripe navigation magnetic stripe, should Lifting type AGV just can walk with the magnetic stripe circuit on landing ground;The anticollision for being formed around safeguard protection effect of AGV car bodies 1 Side 9 is touched, as long as encountering object, anticollision is touched side 9 and immediately halts lifting type AGV and alarm;Barrier is provided with before and after AGV car bodies 1 Sensor 12, the obstacle sensor 12 ceaselessly does 180 degree scanning, perceives front and whether there is barrier, has obstacle then to stand Horse halts lifting type AGV;The rear of AGV car bodies 1 is provided with loudspeaker 13, music or alarm is played in real time, during normal work then Play music;The front and back of AGV car bodies 1 are equipped with start button 15 and emergency stop switch 14, and manually jerk is operated during abnormal conditions Switch 14 stops the operation of lifting type AGV;The front of AGV car bodies 1 is provided with touch-screen 16, there is provided exercisable man-machine interface;AGV Four angles of car body 1 are provided with the tri coloured lantern 11 of display running status, and operator can intuitively see machine in any direction The running status of device;The front of AGV car bodies 1 is additionally provided with electric on-off switch 17;The side of AGV car bodies 1 is provided with charging brush 18, with Online charging is provided;The steel plate 19 for being available for trampling is installed on four sides of AGV car bodies 1;It is lifting type that the inside of AGV car bodies 1 is provided with The operation of AGV provides the battery case 20 of electric power.
The bottom of the AGV car bodies 1 of the present embodiment is provided with two diagonally positioned driving steering wheels 3.Gone forward or backward When sailing, the two drive steering wheel 3 to provide the lifting type AGV driving forces of traveling, during steering, in the certain situation of the electric power for being provided Under, the steering driving moment that diagonally positioned driving steering wheel 3 acts on whole lifting type AGV can reach maximum, lifting type AGV just can light, neatly comprehensive steering, realize omnidirectional running.
The bottom of the AGV car bodies 1 of the present embodiment is provided with two floating brackets 4, drives steering wheel 3 to be separately mounted to branch of floating On frame 4.Floating bracket 4 can adjust the adhesive force for driving steering wheel 3 and ground, make driving steering wheel 3 keep contacting always with ground, And protection driving steering wheel 3 can also be played a part of, extension drives the service life of steering wheel 3.
The lifting mechanism 2 of the present embodiment is the scissor-type lifting mechanism, and it includes scissor-type lift assemblies 21 and located at cutting Pallet component 22 in V shape lift assemblies 21, the scissor-type lifting mechanism is driven by ball screw 5, and the level of ball screw 5 sets Put in the lower section of scissor-type lift assemblies 21, scissor-type lift assemblies 21 is intersected by the rotary motion of ball screw 5 Support angle increase or reduce so that the raising and lowering of pallet component 22, the structure has that rising or falling speed is fast, lifting Precision is accurate and can optional position the characteristics of stop, and convenience safe and efficient, easy to maintenance.Certainly, the scissor-type lifting machine Structure can also be by Driven by Hydraulic Cylinder.
The ball screw 5 of the present embodiment is provided with two, and the two ball screws 5 are connected by sync driver 6 with motor 7 Connect, motor 7 is power output to sync driver 6, on the synchronism output power of sync driver 6 to two ball screws 5, two Ball screw 5 drives rising or falling for scissor-type lifting mechanism simultaneously, so that lifting type AGV carries more steady during material Property.
The above is only preferred embodiment of the present utility model, it is noted that for the ordinary skill people of the art Member for, on the premise of the utility model know-why is not departed from, some improvement and replacement can also be made, these improve and Replacement also should be regarded as protection domain of the present utility model.

Claims (10)

1. a kind of lifting type AGV, it is characterised in that the lifting mechanism including AGV car bodies and on the AGV car bodies, it is described The bottom of AGV car bodies is provided with two diagonally positioned driving steering wheels.
2. lifting type AGV according to claim 1, it is characterised in that the bottom of the AGV car bodies is provided with two floatings Support, the driving steering wheel is separately mounted on the floating bracket.
3. lifting type AGV according to claim 1, it is characterised in that the lifting mechanism is scissor-type lifting mechanism.
4. lifting type AGV according to claim 3, it is characterised in that the scissor-type lifting mechanism is driven by ball screw It is dynamic.
5. lifting type AGV according to claim 4, it is characterised in that the ball screw is provided with two, described two rollings Ballscrew passes through sync driver and motor connection.
6. lifting type AGV according to claim 1, it is characterised in that respectively set on four angles of the bottom of the AGV car bodies There is a universal caster wheel.
7. lifting type AGV according to claim 1, it is characterised in that the bottom of the AGV car bodies is provided with reading ground ground The rfid interrogator of mark information.
8. lifting type AGV according to claim 1, it is characterised in that the bottom of the AGV car bodies is respectively arranged in the front and the rear with The navigation magnetic stripe of individual reading ground magnetic stripe.
9. lifting type AGV according to claim 1, it is characterised in that the AGV car bodies have been formed around safeguard protection Side is touched in the anticollision of effect.
10. lifting type AGV according to claim 1, it is characterised in that four angles of the AGV car bodies are provided with display The tri coloured lantern of running status.
CN201621017869.8U 2016-08-31 2016-08-31 Formula AGV lifts Active CN206188308U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621017869.8U CN206188308U (en) 2016-08-31 2016-08-31 Formula AGV lifts

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Application Number Priority Date Filing Date Title
CN201621017869.8U CN206188308U (en) 2016-08-31 2016-08-31 Formula AGV lifts

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106185701A (en) * 2016-08-31 2016-12-07 广州市远能物流自动化设备科技有限公司 A kind of lifting type AGV
CN107458985A (en) * 2017-09-21 2017-12-12 武汉资联虹康科技股份有限公司 A kind of Miniature lifting device and miniature Load System
CN108999452A (en) * 2018-08-02 2018-12-14 朱圣旭 A kind of parking lot intelligence AGV trolley
CN109113359A (en) * 2018-09-11 2019-01-01 山东大学 Vallum robot system and vallum method
CN110790184A (en) * 2019-10-25 2020-02-14 北京星航机电装备有限公司 AGV lifting system and lifting type AGV

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106185701A (en) * 2016-08-31 2016-12-07 广州市远能物流自动化设备科技有限公司 A kind of lifting type AGV
CN107458985A (en) * 2017-09-21 2017-12-12 武汉资联虹康科技股份有限公司 A kind of Miniature lifting device and miniature Load System
CN108999452A (en) * 2018-08-02 2018-12-14 朱圣旭 A kind of parking lot intelligence AGV trolley
CN108999452B (en) * 2018-08-02 2020-09-25 泰州市扬帆车件有限公司 Parking area is with intelligent AGV dolly
CN109113359A (en) * 2018-09-11 2019-01-01 山东大学 Vallum robot system and vallum method
CN109113359B (en) * 2018-09-11 2020-11-03 山东大学 Wall building robot system and wall building method
CN110790184A (en) * 2019-10-25 2020-02-14 北京星航机电装备有限公司 AGV lifting system and lifting type AGV
CN110790184B (en) * 2019-10-25 2021-11-23 北京星航机电装备有限公司 AGV lifting system and lifting type AGV

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Granted publication date: 20170524