CN207536669U - 客车转向架agv运载小车 - Google Patents
客车转向架agv运载小车 Download PDFInfo
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- CN207536669U CN207536669U CN201721652454.2U CN201721652454U CN207536669U CN 207536669 U CN207536669 U CN 207536669U CN 201721652454 U CN201721652454 U CN 201721652454U CN 207536669 U CN207536669 U CN 207536669U
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- 239000000969 carrier Substances 0.000 title claims abstract description 18
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- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims abstract description 8
- 239000003638 reducing agent Substances 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000000153 supplemental Effects 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000007689 inspection Methods 0.000 description 3
- 230000000875 corresponding Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N lithium Chemical compound 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- GLUCAHCCJMJHGV-UHFFFAOYSA-N dilithium;dioxido(oxo)titanium Chemical compound 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Abstract
本实用新型公开了一种客车转向架AGV运载小车,包括AGV车架和控制系统,AGV车架设有支撑装置、一对对角设置的舵轮和一对对角设置的万向轮,舵轮为驱动轮,支撑装置包括4台涡轮丝杆升降机和1台控制电机。涡轮丝杆升降机包括传动轴、T系列锥齿轮减速机一、联轴器、支撑杆和支撑杆座,支撑杆上方设有一个滑销组件。控制系统包括工业控制计算机、可编程逻辑控制器、触摸屏、驱动器、互联辅助通讯器。可代替悬链、人工运载车等零件运送;其速度调整方便,路线灵活,非常适用于工艺复杂的生产线及装配线;能有效提高转向架运输效率和转向架输送的自动化水平,实现转向架的自动输送。
Description
客车转向架AGV运载小车
技术领域
[0001] 本实用新型涉及一种客车转向架检修装备,尤其涉及一种客车转向架AGV运载小 车。
背景技术
[0002] 随着中国铁路的快速发展,与之相配套的铁路客车检修装备水平也再迅速的发展 更新。转向架是铁路车辆运行的关键部件,与列车的行驶安全息息相关,客车转向架检修也 是各个车辆段和检修车间最主要的检修内容之一,客车转向架检修装备水平的发展相对缓 慢,这与客车转向架检修量相对较小和客车转向架检修时间较长的检修特点有关。虽然现 在有些单位也开始研宄如何改进客车转向架检修工艺、提高工装水平的问题,但总体而言, 大部分客车车辆检修部门仍旧采用天车辅助的定点检修作业方式进行检修,生产效率和检 修自动化水平较低。
[0003] 如何确保和提高客车的检修质量,是摆在我国铁路客车检修部门面前的一个重要 课题。客车转向架检修过程极其重要,对车辆安全行驶是关键环节,而且运输过程中安全和 高效是重要因素,因此传统的运载方式已不能适应客车转向架检修需要。
发明内容
[0004] 本实用新型的目的是提供一种客车转向架AGV运载小车。
[0005] 本实用新型的目的是通过以下技术方案实现的:
[0006] 本实用新型的客车转向架AGV运载小车,包括AGV车架和控制系统,所述AGV车架设 有支撑装置、一对对角设置的舵轮和一对对角设置的万向轮,所述舵轮为驱动轮,所述支撑 装置包括4台涡轮丝杆升降机和1台控制电机。
[0007] 由上述本实用新型提供的技术方案可以看出,本实用新型实施例提供的客车转向 架AGV运载小车,采用AGV对转向架进行运输,AGV在无人驾驶条件下将转向架运送至各个位 置检修工位,运行过程中车辆按既定路线行驶,转向架保持平稳,车辆可自动识别路径上的 障碍实施并进行避让,在运输过程中大大提高效率。用于对转向架进行整体搬运作业,实现 无人化操作,可替代人工运输,与生产线准确对接,提高生产效率。
附图说明
[0008] 图la为本实用新型实施例提供的客车转向架AGV运载小车的仰视结构示意图。 [0009]图lb为本实用新型实施例提供的客车转向架AGV运载小车的侧视结构示意图。 [0010]图lc为图la的右视结构示意图。
[0011]图2为本实用新型实施例中舵轮(AGV驱动轮)的结构示意图。
[0012]图3为本实用新型实施例中控制系统的结构示意图。
[0013]图中标号如下:
[0014] 1、舵轮(AGV驱动轮),2、联轴器一,3、传动轴,4、联轴器二,5、涡轮丝杆升降机一, 6、联轴器三,7、联轴器四,8、联轴器五,9、T系列锥齿轮减速机一,10、涡轮丝杆升降机二, 11、万向轮,1240¥车架,13、滑销组件,14、支撑杆,15、支撑杆座,16、1'系列锥齿轮减速机 二,17、T系列锥齿轮减速机三,18、驱动轮连接座,19、万向轮连接座,20、锂电池放置架,21、 工业控制计算机,22、无线通讯模块,23、可编程逻辑控制器(PLC),24、磁导航传感器,25、互 联辅助控制器,26、编码器,27、驱动器,28、舵轮(AGV驱动轮),29、触摸屏。
具体实施方式
[0015]下面将对本实用新型实施例作进一步地详细描述。本实用新型实施例中未作详细 描述的内容属于本领域专业技术人员公知的现有技术。
[0016]本实用新型的客车转向架AGV运载小车,其较佳的具体实施方式是:
[0017]包括AGV车架和控制系统,所述AGV车架设有支撑装置、一对对角设置的舵轮和一 对对角设置的万向轮,所述舵轮为驱动轮,所述支撑装置包括4台涡轮丝杆升降机和1台控 制电机。
[0018] 所述涡轮丝杆升降机包括传动轴、T系列锥齿轮减速机一、联轴器、支撑杆和支撑 杆座,所述支撑杆上方设有一个滑销组件。
[0019] 所述控制系统包括工业控制计算机、可编程逻辑控制器、触摸屏、驱动器、互联辅 助通讯器,所述可编程逻辑控制器设有无线通讯模块。
[0020] 所述控制系统设有外部遥控器。
[0021] 本实用新型的客车转向架AGV运载小车,采用承载式车体结构,可代替悬链、人工 运载车等零件运送;其速度调整方便,路线灵活,非常适用于工艺复杂的生产线及装配线; 车身外观美观,表面禁锢耐腐蚀,具有高效安全的锂电池,节能环保成本更加低廉;采用智 能调度系统,能够实现所有AGV同步运行,安全可靠。
[0022]本实用新型采用自动导航无人驾驶对转向架进行输送,有效提高转向架运输效率 和转向架输送的自动化水平,实现转向架的自动输送。
[0023]本实用新型的主要设计创新点有:
[0024] (1)运载配件托架设计:
[0025]根据配送配件的形状、尺寸、重量等特点,设计通用的或多种配件托架。
[0026] (2)AGV运载车设计:
[0027] 根据配件运载要求和车间工作环境要求,设计合适的AGV运载车。
[0028] AGV车型采用背负式式车型。车上安装有构架支撑装置,构架支撑装置采用可调支 承结构,适应各型构架的支撑承载,并且与构架升降装置的支承结构互不干涉。车辆驶入检 修工位中,起重机或机械手将构架抓起放置在AGV车身上并输送到指定工位,再由另一侧机 械装置放下托架,驶离工位。长方形车身由2对车轮支撑,其中一对对角线上为支撑轮,另一 对为驱动轮,驱动轮采用双舵轮驱动方式,每一台舵轮由前进和转向2台电机组成(如图2)。 [0029]电机方向相互垂直,通过齿轮进行转向控制,每台电机都配备有编码器以采集数 据,可对舵轮运行的速度,角度信号进行反馈。每台舵轮都由一个驱动器来控制,整车配备2 台驱动器,前后左右各一个磁导航传感器,以及地标传感器。通过CANBUS总线,驱动器将舵 轮、磁导航传感器、地标传感器整合到一起,通过PLC集中控制,实现车辆的自动运行。车辆 在运行中按提前铺设好的磁条路径行进,车辆会根据驱动器控制沿磁条走行(包括转弯、直 行等),车辆到达特殊位置时会通过地标传感器接收信号,采取相应的动作(加减速,停止, 岔路选择等)。
[0030] AGV携带无线通讯模块,在车辆运行过程中可通过外部输入信息号对AGV车辆进行 操纵,执行启动,停止,任务选择,装卸,充电,紧急制动,报警等命令,同时也可通过无线通 讯对车辆进行远程监控。
[0031] 车辆采用大容量钛酸锂电池,电池安装在AGV车上,随小车同步运动,电量耗尽前, AGV车会到相应的充电站上进行充电以保证足够车辆有足够的电量来运行。
[0032] 本实用新型的有益效果:
[0033] 采用AGV对转向架进行运输,AGV在无人驾驶条件下将转向架运送至各个位置检修 工位,运行过程中车辆按既定路线行驶,转向架保持平稳,车辆可自动识别路径上的障碍实 施并进行避让,在运输过程中大大提高效率。
[0034]具体实施例:
[0035]如图la至图3所示,AGV车架12采用焊接钢结构,车身更加坚固牢靠。牵引装置由车 身上舵轮1驱动对AGV进行牵引。由于转向架质量较大,在装卸过程中产生的压力会对舵轮 产生磨损,AGV车身上需要一套支撑装置在装卸转向架时将车身架起,对舵轮1及万向轮11 起到保护作用。整个支撑装置有4台涡轮丝杆升降机5、10,由1台电机控制,通过传动轴3、T 系列锥齿轮减速机一 9、联轴器2、4、6、7、8、支撑杆14和支撑杆座15等组成。电机工作时通过 传动轴将4台升降机同时升降,把小车支撑到地面,待装卸完毕后,电机再将支撑杆收回,小 车开始行驶。
[0036] 为了满足多种型号转向架的装卸及搬运,在支撑杆上方设置一个滑销组件13对于 不同型号的转向架可进行调整来满足装卸,支撑杆及滑销组件装卸简单,可以拆卸下来更 换其他型号的配件来满足多种转向架装卸。
[0037] 控制系统包括工业控制计算机21、可编程逻辑控制器(PLC) 23、触摸屏29、驱动器 27、互联辅助通讯器25等组成。驱动轮28由一个驱动器来控制,驱动通讯器负责整合2台驱 动器,控制信号由PLC发出,通讯器接收到PLC指令信号后对2台驱动器进行同时控制,保证2 台驱动轮同步运行,PLC由外部遥控器与上位机通过远程无线通讯模块22通讯,实现无人驾 驶自动控制。
[0038]以上所述,仅为本实用新型较佳的具体实施方式,但本实用新型的保护范围并不 局限于此,任何熟悉本技术领域的技术人员在本实用新型披露的技术范围内,可轻易想到 的变化或替换,都应涵盖在本实用新型的保护范围之内。因此,本实用新型的保护范围应该 以权利要求书的保护范围为准。
Claims (4)
1.一种客车转向架AGV运载小车,其特征在于,包括AGV车架和控制系统,所述AGV车架 设有支撑装置、一对对角设置的航轮和一对对角设置的万向轮,所述航轮为驱动轮,所述支 撑装置包括4台涡轮丝杆升降机和1台控制电机。
2. 根据权利要求1所述的客车转向架AGV运载小车,其特征在于,所述涡轮丝杆升降机 包括传动轴、T系列锥齿轮减速机一、联轴器、支撑杆和支撑杆座,所述支撑杆上方设有一个 滑销组件。
3. 根据权利要求1或2所述的客车转向架AGV运载小车,其特征在于,所述控制系统包括 工业控制计算机、可编程逻辑控制器、触摸屏、驱动器、互联辅助通讯器,所述可编程逻辑控 制器设有无线通讯模块。
4. 根据权利要求3所述的客车转向架AGV运载小车,其特征在于,所述控制系统设有外 部遥控器。
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Cited By (3)
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CN108726437A (zh) * | 2018-07-27 | 2018-11-02 | 郑州轻工业学院 | 可升降agv |
CN110471424A (zh) * | 2019-08-30 | 2019-11-19 | 上海工程技术大学 | 一种可适应复杂路面的agv小车结构 |
WO2020233017A1 (zh) * | 2019-05-20 | 2020-11-26 | 兰剑智能科技股份有限公司 | 双舵轮底盘及全向agv叉车 |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108726437A (zh) * | 2018-07-27 | 2018-11-02 | 郑州轻工业学院 | 可升降agv |
WO2020233017A1 (zh) * | 2019-05-20 | 2020-11-26 | 兰剑智能科技股份有限公司 | 双舵轮底盘及全向agv叉车 |
CN110471424A (zh) * | 2019-08-30 | 2019-11-19 | 上海工程技术大学 | 一种可适应复杂路面的agv小车结构 |
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