CN208150334U - A kind of double lifting AGV trolleies - Google Patents

Abstract

The application discloses a kind of double lifting AGV trolleies, including trolley, the first lifting assembly set on the trolley, the second lifting assembly, wheelbase adjustment mechanism and walking assembly；The first lifting assembly and described second lifts assembly along the length direction arranged for interval of the trolley, and is located at the opposite two sides of the trolley；The second lifting assembly is fixedly installed in the trolley, the first lifting assembly is set on the adjustment platform of the wheelbase adjustment mechanism and is moved forward and backward with its length direction along the trolley, to change the spacing distance between the second lifting assembly；The walking assembly is set to the fixed position of the trolley, drives double lifting AGV trolley travellings.By scheme provided by the present application, double lifting AGV trolleies can be by engine and rear axle synchronous transport to assembly process position, and realizes synchronous assembly engine and rear axle, improves assembly efficiency, promotes yield.

Description

A kind of double lifting AGV trolleies

Technical field

This application involves AGV vehicle (intelligent vehicle device) technical fields, more particularly to a kind of double lifting AGV trolleies.

Background technique

With the development of electronics and control technology, AGV (Automated Guided Vehicle, automated guided vehicle) Technology also improve constantly, AGV vehicle can under the monitoring of computer, by instruction automatically along defined path of navigation row Sail, reach designated place, complete a series of job task, be factory and storage material carry automation main equipment it One, be particularly suitable for warehousing industry, manufacturing industry and extraordinary hazardous area, it have the characteristics that it is efficient, quick, flexible, can be significantly Improve production automation degree and production efficiency.

Wherein, in manufacturing, especially on automobile production assembly line, as soon as there is a very crucial technical process, It is split technique, it is the carbody shell for completing the dynamical system (engine) of automobile and the assembly of running gear (front-rear axle) and interior trim Split is carried out, and needs a mobile carrier before split technique, engine and rear axle are transported to the split of main line together Station is only to realize that transport is started although the prior art has put into the use of AGV vehicle on automobile production assembly line The purpose of machine and front-rear axle, and for how to be become by the synchronous assembly engine of AGV vehicle and rear axle during automobile assembling Those skilled in the art's technical problem urgently to be resolved.

Utility model content

The application provides a kind of double lifting AGV trolleies, to solve asking by the synchronous assembly engine of AGV trolley and rear axle Topic.

This application provides a kind of double lifting AGV trolleies, including trolley, set on the first lifting of the trolley Assembly, the second lifting assembly, wheelbase adjustment mechanism and walking assembly；

The first lifting assembly and described second lifts assembly along the length direction arranged for interval of the trolley, and The two sides opposite positioned at the trolley；The second lifting assembly is fixedly installed in the trolley, and described first Lifting assembly is set on the adjustment platform of the wheelbase adjustment mechanism；The wheelbase adjustment mechanism can make the adjustment platform It is moved along its length in length direction, the first lifting assembly being capable of the trolley described in the drive lower edge of the adjustment platform The length direction of car body is moved forward and backward, to change the spacing distance between the second lifting assembly；

The walking assembly is set to the fixed position of the trolley, drives the trolley travelling.

Optionally, the first lifting assembly includes the first lifting motor, the first spiral lifting machine, the first floating disc, the One idler wheel, the first terminal pad and the first firm banking；

First firm banking is arranged on the adjustment platform, and the output shaft of first lifting motor, which is connected to, to be set Set the input terminal in the first spiral lifting machine of first firm banking upper surface；The act of the first spiral lifting machine The lower end surface that end is connected to first terminal pad is risen, first floating disc is connected to described first by first idler wheel The upper surface of terminal pad, first idler wheel drive first floating disc mobile；First lifting motor driving described the One spiral lifting machine drives first terminal pad and first floating disc to rise or fall jointly；

It is described second lifting assembly include the second lifting motor, the second spiral lifting machine, the second floating disc, the second idler wheel, Second terminal pad and the second firm banking；

Second firm banking is fixed in trolley, and the output shaft of second lifting motor is connected to setting and exists The input terminal of the second spiral lifting machine of second firm banking upper surface, the lifting end of the second spiral lifting machine It is connected to the lower end surface of second terminal pad, second floating disc is connected to second connection by second idler wheel The upper surface of disk, second idler wheel drive second floating disc mobile；Second lifting motor drives second spiral shell Rotation lifting machine drives second terminal pad and second floating disc to rise or fall jointly.

Optionally, it is additionally provided with the first sliding block and first between first terminal pad and first floating disc and slides rail Road, first sliding block is fixed on the lower end surface of first floating disc, and is being correspondingly arranged at the upper of first terminal pad It is slided on first dragging track of end face, to drive first floating disc mobile；And

The second sliding block and the second dragging track are additionally provided between second terminal pad and second floating disc, it is described Second sliding block is fixed on the lower end surface of second floating disc, and the institute in the upper surface for being correspondingly arranged at second terminal pad It states and is slided on the second dragging track, to drive second floating disc mobile.

Optionally, the first lifting assembly and the second lifting assembly respectively further comprise the first scissors fork lifting device Lifting device is pitched with the second scissors；

One end of the first scissors fork lifting device is connected to the lower end surface of first terminal pad, and the other end is connected to The upper surface of first firm banking, first scissors fork lifting device with first terminal pad it is synchronous rise or under Drop；

One end of the second scissors fork lifting device is connected to the lower end surface of second terminal pad, and the other end is connected to The upper surface of second firm banking, second scissors fork lifting device with second terminal pad it is synchronous rise or under Drop.

Optionally, the wheelbase adjustment mechanism includes that wheelbase driver, ball-screw, floating slide and the adjustment are flat Platform；

The output end of the wheelbase driver is connect with one end of the ball-screw, and the other end is connected to the trolley vehicle On body；The floating slide is set on the ball-screw, and is connected to the adjustment platform of the first lifting assembly Lower end surface；When the ball-screw described in the wheelbase driver drives rotates, the floating slide is along the ball-screw Axial direction is mobile, and drives the first lifting assembly mobile；

Wherein, the axial direction of the ball-screw is consistent with the first lifting assembly moving direction.

Optionally, the wheelbase adjustment mechanism further includes：Guide sleeve and guided way, the guide sleeve are relatively arranged on described respectively The two sides of platform are adjusted, the two sides are parallel with the car body two sides on the trolley length direction, and the guide sleeve is described in It adjusts platform moving direction to be horizontally disposed with, and is moved on the guided way being socketed in the adjustment platform.

Optionally, further include：Synchronized tracking mechanism is set between the first lifting assembly and the second lifting assembly； The signal of workpiece feedback, the first lifting assembly and the second lifting assembly are obtained by the synchronized tracking mechanism by the work The assembly parts synchronous lifting of part is to predetermined position, and after the assembly is completed, the first lifting assembly and the second lifting assembly decline To original position.

Optionally, the synchronized tracking mechanism includes laser locator and adjustable track, and the laser locator setting exists On the adjustable track.

Optionally, the walking assembly includes driving wheel group and driven wheel group；The driving wheel group includes：First driving wheel Group and the second driving wheel group, the respectively diagonally positioned bottom in the trolley；The driven wheel group includes：First is driven Wheel group and the second driven wheel group, the first driven wheel group it is opposite with the first driving wheel group and with the second driving wheel group Ipsilateral, the second driven wheel group is opposite with the second driving wheel group and ipsilateral with the first driving wheel group；Described first Driving wheel group and the second driving wheel group drive the first driven wheel group and the second driven wheel group to move jointly.

Optionally, the driving wheel group includes driving motor, rotating electric machine, fulcrum bearing, first gear, second gear, rotation Pivoted frame and driving wheel；

The output end of the driving motor is connected to the driving wheel, and the driving wheel is driven to rotate, and the driving wheel is solid Due in the fulcrum bearing；

The lower end surface of the fulcrum bearing is arranged in the rotating electric machine, supports described in the output end grafting of the rotating electric machine The first gear of seat upper surface, the first gear are engaged with the second gear, and one end of the swivel mount is connected to The second gear, the other end are connected to the driving wheel, and by said mechanism, the rotation of the rotating electric machine is able to drive institute State driving wheel steering.

Optionally, the driving wheel group further includes：Driving wheel floating disc has fixed mounting plate, multiple springs and driving Mounting disc is taken turns, the fixed mounting plate is arranged in the trolley, is provided with the driving wheel mounting disc below, described Spring is set between the fixed mounting plate and the driving wheel mounting disc, and the fulcrum bearing is connected to the driving wheel installation The lower end surface of disk；The driving wheel makes the driving wheel mounting disc and described at runtime, by the tension that the spring generates Driving wheel generates pressure to ground jointly.

Optionally, the first driven wheel group and the second driven wheel group respectively include attachment base, rotationally support seat and driven Wheel；

The attachment base is fixed in the trolley, and described one end for rotationally supporting seat is connected to the attachment base, The other end is connected to the driven wheel.

Optionally, the walking assembly further includes maintenance wheel group, is set on the quadrangle of the bottom of the trolley；

The maintenance wheel group has fixing slide carriage, lift adjustment mechanism, rotation support mechanism and maintenance wheel；It is described fixed sliding Seat is connected in the trolley, and one end of the rotation support mechanism is connected to described solid by the lift adjustment mechanism Determine slide, the other end is connected to maintenance wheel.

Optionally, including：Protection shell is additionally provided on the quadrangle of the trolley, the walking assembly is placed in described In protective shell body.

Optionally, the upper surface of the protection shell is provided with antiskid plate.

Optionally, including：Bumper is set to the surrounding of the trolley.

Compared with prior art, the application has the following advantages that：This application provides a kind of double lifting AGV trolleies, including Trolley, the first lifting assembly set on the trolley, the second lifting assembly, wheelbase adjustment mechanism and walking assembly； The first lifting assembly and described second lifts assembly along the length direction arranged for interval of the trolley, and is located at described The opposite two sides of trolley；The second lifting assembly is fixedly installed in the trolley, the first lifting assembly It is set on the adjustment platform of the wheelbase adjustment mechanism；The wheelbase adjustment mechanism can make the adjustment platform in length side To moving along its length, the first lifting assembly is capable of the length of the trolley described in the drive lower edge of the adjustment platform It spends direction to be moved forward and backward, to change the spacing distance between the second lifting assembly；The walking assembly is set to institute The fixed position of trolley is stated, the trolley travelling is driven.By scheme provided by the present application, double lifting AGV trolleies can be incited somebody to action Engine and rear axle synchronous transport realize synchronous assembly engine and rear axle to assembly process position, improve assembly efficiency, Promote yield.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of double lifting AGV trolleies of the embodiment of the present application；

Fig. 2 is the left view of the structure of double lifting AGV trolleies of Fig. 1 embodiment；

Fig. 3 is the top view of the structure of double lifting AGV trolleies of Fig. 1 embodiment；

Fig. 4 is that the first lifting assembly of double lifting AGV trolleies of the embodiment of the present application and the structure of wheelbase adjustment mechanism are shown It is intended to；

Fig. 5 is the left view of the first lifting assembly of double lifting AGV trolleies of Fig. 4 embodiment and the structure of wheelbase adjustment mechanism Figure；

Fig. 6 is the vertical view of the first lifting assembly of double lifting AGV trolleies of Fig. 4 embodiment and the structure of wheelbase adjustment mechanism Figure；

Fig. 7 is the structural schematic diagram of the second lifting assembly of double lifting AGV trolleies of the embodiment of the present application；

Fig. 8 is the left view of the structure of the second lifting assembly of double lifting AGV trolleies of Fig. 7 embodiment；

Fig. 9 is the structural schematic diagram of the driving wheel floating disc of the driving wheel group of the embodiment of the present application；

Figure 10 is the structural schematic diagram of the driven wheel group of the embodiment of the present application；

Figure 11 is the structural schematic diagram of the maintenance wheel group of the embodiment of the present application.

Wherein, double lifting AGV trolleies 1, trolley 2, the first lifting assembly 3, the first lifting motor 3-1, the first spiral Lifting machine 3-2, the first floating disc 3-3, the first idler wheel 3-4, the first terminal pad 3-5, the first firm banking 3-6, the first scissors fork Lifting device 3-7；

Second lifting assembly 4, the second lifting motor 4-1, the second spiral lifting machine 4-2, the second floating disc 4-3, the second rolling It takes turns 4-4, the second terminal pad 4-5, the second firm banking 4-6, the second scissors and pitches lifting device 4-7；

Wheelbase adjustment mechanism 5, wheelbase driver 5-1, floating slide 5-2, ball-screw 5-3, adjustment platform 5-4, guide sleeve 5-5, guided way 5-6；Synchronized tracking mechanism 6, laser locator 6-1, adjustable track 6-2；

Driving wheel group 7, driving wheel floating disc 7-1, fixed mounting plate 7-2, spring 7-3, driving wheel mounting disc 7-4；It is driven Wheel group 8, attachment base 8-1, a 8-2, driven wheel 8-3 are rotationally supported；Repair wheel group 9, fixing slide carriage 9-1, lift adjustment mechanism 9- 2, rotation support mechanism 9-3, maintenance wheel 9-4；Bumper 10.

Specific embodiment

The application provides a kind of double lifting AGV trolleies 1, and described pair of lifting AGV trolleies 1 are for synchronous assembly engine with after Bridge.

Fig. 1 is a kind of structural schematic diagram of double lifting AGV trolleies provided by the embodiments of the present application.

It please refers to shown in Fig. 1, Fig. 2 and Fig. 3, the structure composition of double lifting AGV trolleies 1 includes trolley 2, is set to The first lifting assembly 3, second in the trolley 2 lifts assembly 4, synchronized tracking mechanism 6, wheelbase adjustment mechanism 5 and row Walk assembly；

From the figure 3, it may be seen that trolley 2 described in the embodiment of the present application is square structure, the first lifting assembly 3 and described Second lifts assembly 4 along the length direction arranged for interval of the trolley 2, and is located at the opposite two sides of the trolley 2, And in the middle position for the length direction that the trolley 2 is arranged in；Wherein, it is described second lifting assembly 4 fixed setting with In the trolley 2, it is particularly located at one end of 2 length direction of trolley, the second lifting assembly 4 is that fixation is set It sets, i.e., may only do lifting campaign along lifting direction；The first lifting assembly 3 is set in the wheelbase adjustment mechanism 5 It adjusts on platform 5-4, the wheelbase adjustment mechanism 5 can make the adjustment platform 5-4 along the length side of the trolley 2 To movement, the first lifting assembly 3 is capable of the length side of the trolley 2 described in the drive lower edge of the adjustment platform 5-4 (direction definition for moving ahead or retreating by the first lifting assembly 3 is front-rear direction, is easy to understand) is moved forwards, backwards, thus Change the spacing distance between the second lifting assembly 4.Relative to common AGV trolley, lifting mechanism is fixed, can only Lifting movement is completed, can not realize the relative motion between lifting mechanism, and the trolley of the embodiment of the present application not only realizes Multidirectional (lifting direction and the horizontal direction) of the first lifting assembly 3 is mobile, and also achieving double lifting AGV trolleies 1 can With the spacing between the first lifting assembly 3 according to workpiece adjust automatically and the second lifting assembly 4, i.e., according to different Workpiece makes different spacing adjustment, realizes the multifunction of lifting mechanism.

As shown in figure 4, being the structural schematic diagram of the first lifting assembly provided by the embodiments of the present application.And combine Fig. 5 It is explained with structure of the Fig. 6 to the first lifting assembly 3.

It is described first lifting assembly 3 include the first lifting motor 3-1, the first spiral lifting machine 3-2, the first floating disc 3-3, First idler wheel 3-4, the first terminal pad 3-5 and the first firm banking 3-6.In the present embodiment, in order to enable described first lifts Rise assembly 3 can in the adjustment platform 5-4 (Fig. 4 understands that the explanation first lifting assembly 3 and wheelbase adjustment mechanism 5 are matched Conjunction relationship) drive lower edge described in the length direction of trolley 2 be moved forward and backward, the first firm banking 3-6 is arranged in institute It states on adjustment platform 5-4.In the present embodiment, also for making double lifting AGV trolleies 1 overall beautiful, described first is lifted Rising 3 whole installation of assembly is square structure, then the first firm banking 3-6 is also square structure, first firm banking 3-6 not only plays the role of fixed bearing to above-mentioned each part mechanism, is also used as protection shell to corresponding part mechanism It is safeguarded, therefore the upper surface of the first firm banking 3-6 is provided with the first spiral lifting machine 3-2, the first spiral The upper surface of the first firm banking 3-6 is fixed in one end of lifting machine 3-2, the specially described first lifting motor 3-1's Output shaft is connected to the input terminal that the first spiral lifting machine 3-2 of the upper surface the first firm banking 3-6 is arranged in, separately One end is connected to the lower end surface of the first terminal pad 3-5, which can be defined as to lifting end, and the first floating disc 3-3 is logical The upper surface that the first idler wheel 3-4 is connected to the first terminal pad 3-5 is crossed, the first idler wheel 3-4 drives described first Floating disc 3-3 is mobile；The first lifting motor 3-1 drives the first spiral lifting machine 3-2 to drive first terminal pad 3-5 and the first floating disc 3-3 rise or fall jointly.Specifically, the lifting end of the first spiral lifting machine 3-2 is arranged There are lifting axis and link block, the link block is arranged and is fixed on the lifting axis, and the link block is connect with described first Disk 3-5 fixed lower end surface connection, the first floating disc 3-3 are connected to first connection by the first idler wheel 3-4 The upper surface of disk 3-5；Wherein, the first idler wheel 3-4 is fixed on the lower end surface of the first floating disc 3-3, and described first Idler wheel 3-4 is universal wheel, and has self-locking function, i.e., when reaching the configuration part position of the specified assembly workpiece, described the One idler wheel 3-4 is no longer moved, and the first idler wheel 3-4 drives the first floating disc 3-3 mobile in the process of moving.At this In embodiment, the quantity of the first idler wheel 3-4 is 4, and specific location is uniformly arranged on the four of the first floating disc 3-3 On angle, the first floating disc 3-3 not only can be made to fast move, the first floating disc 3-3 can also be carried out Stablize support.Certainly, the quantity of the first idler wheel 3-4 and position are not limited thereto, in practical applications, can be according to specific The case where specifically set.It should be noted that in the present embodiment, the movement of the first floating disc 3-3 can with automatic moving, It is also possible to artificial operate；Again it should be noted that the movement of the first floating disc 3-3 can be all around four The movement in a direction, the single movement being also possible in two of them relative direction, that is, be moved forward and backward or move left and right.

In order to enable the connection between the first floating disc 3-3 and the first terminal pad 3-5 is more firm, in this Shen The first sliding block and first please be additionally provided between the first floating disc 3-3 and the first terminal pad 3-5 in alternative embodiment Dragging track (not shown), the structure can cooperate the first idler wheel 3-4 to drive the first floating disc 3-3 mobile jointly, It can also independently drive the first floating disc 3-3 mobile；First sliding block is fixed on the lower end of the first floating disc 3-3 Face, and slided on first dragging track of upper surface for being correspondingly arranged at the first terminal pad 3-5, to drive It is mobile to state the first floating disc 3-3；The setting of corresponding first dragging track can be groined type, to realize that described first is floating The multi-direction movement of front, rear, left and right of the Moving plate 3-3 on the horizontal plane of the first terminal pad 3-5, that is, realize described first Floating disc 3-3 rotates the assembly parts along any direction, convenient for the operation of worker；Certain institute The running track for stating sliding rail can also be other shapes, can be according to specifically being set, described in the present embodiment Content has no effect on the protection scope of the application.

Equally, in order to enable the floating direction of the first floating disc 3-3 is more flexible, in the application preferred embodiment, Multiple multi-directional balls are additionally provided with above the sliding block, the multi-directional ball can make described with the first idler wheel 3-4 cooperation It is mobile that first floating disc 3-3 makees back and forth or left and right.

Likewise, as shown in fig. 7, being the structural schematic diagram of the second lifting assembly provided by the embodiments of the present application.

And be explained in conjunction with structure of the Fig. 8 to the second lifting assembly 4, the second lifting assembly 4 includes Second lifting motor 4-1, the second spiral lifting machine 4-2, the second floating disc 4-3, the second idler wheel 4-4, the second terminal pad 4-5 with And the second firm banking 4-6.In the present embodiment, in order to enable double lifting AGV trolley 1 is overall beautiful and correspond to described First lifting assembly 3, the second lifting assembly 4 is whole to be also configured as square structure, then the second firm banking 4-6 is also Square structure, the second firm banking 4-6 not only play the role of fixed bearing to above-mentioned each part mechanism, are also used as Shell is protected to safeguard corresponding part mechanism, and since the second lifting assembly 4 is that movement, institute do not occur for fixation With the second firm banking 4-6 is fixed in the trolley 2；Further, in the second firm banking 4- 6 upper surface is provided with the second spiral lifting machine 4-2, and it is solid that one end of the second spiral lifting machine 4-2 is fixed on described second Determine the upper surface of pedestal 4-6, the output shaft of the specially described second lifting motor 4-1 is connected to setting at the described second fixed bottom The input terminal of the second spiral lifting machine 4-2 of the upper surface seat 4-6, the other end are connected under the second terminal pad 4-5 The end can be defined as lifting end by end face；The second floating disc 4-3 is connected to described second by the second idler wheel 4-4 The upper surface of terminal pad 4-5, the second idler wheel 4-4 drive the second floating disc 4-3 mobile；The second lifting motor 4- 1 driving the second spiral lifting machine 4-2 drive the second terminal pad 4-5 and the second floating disc 4-3 rise jointly or Decline.

Specifically, the lifting end of the second spiral lifting machine 4-2 is provided with lifting axis and link block, the link block set And if be fixed on the lifting axis, the link block and the second terminal pad 4-5 fixed lower end surface is connect, described second Floating disc 4-3 is connected to the upper surface of the second terminal pad 4-5 by the second idler wheel 4-4；Wherein, second rolling Wheel 4-4 is fixed on the lower end surface of the second floating disc 4-3, and the second idler wheel 4-4 is universal wheel, and has self-locking function Can, i.e., when reaching the configuration part position of the specified assembly workpiece, the second idler wheel 4-4 is no longer moved, second rolling Wheel 4-4 drives the second floating disc 4-3 mobile in the process of moving.In the present embodiment, the number of the second idler wheel 4-4 Amount is 4, and specific location is uniformly arranged on the quadrangle of the second floating disc 4-3, not only can make described the Two floating disc 4-3 are fast moved, and can also carry out stablizing support to the second floating disc 4-3.Certainly, the second idler wheel 4- 4 quantity and position are not limited thereto, and in practical applications, can specifically be set according to specific circumstances.It should be noted that In the present embodiment, the movement of the second floating disc 4-3 can be also possible to artificial operate with automatic moving；It needs again It is noted that the movement of the second floating disc 4-3 can be the movement of four direction all around, it is also possible to wherein two Single movement in a relative direction, that is, be moved forward and backward or move left and right.

In order to enable the connection between the second floating disc 4-3 and the second terminal pad 4-5 is more firm, in this Shen The second sliding block and second please be additionally provided between the second floating disc 4-3 and the second terminal pad 4-5 in alternative embodiment Dragging track, the structure can cooperate the second idler wheel 4-4 to drive the second floating disc 4-3 mobile jointly, can also be only It is vertical to drive the second floating disc 4-3 mobile；Second sliding block is fixed on the lower end surface of the second floating disc 4-3, and It is correspondingly arranged on second dragging track of the upper surface of the second terminal pad 4-5 and slides, to drive described second to float Moving plate 4-3 is mobile；The setting of corresponding second dragging track can be groined type, to realize the second floating disc 4-3 The multi-direction movement of front, rear, left and right on the horizontal plane of the second terminal pad 4-5, that is, realize second floating disc 4-3 rotates the assembly parts along any direction, convenient for the operation of worker.Certain sliding The running track of track can also be other shapes, can be according to specifically being set, and content described in the present embodiment is simultaneously The protection scope of the application is not influenced.

Equally, in order to enable the floating direction of the second floating disc 4-3 is more flexible, in the embodiment of the present application, in institute State and be additionally provided with multiple multi-directional balls above the second sliding block, the multi-directional ball can the multi-directional ball can be with second idler wheel It is mobile that 4-4 cooperation makes the second floating disc 4-3 make back and forth or left and right.

In order to enable the first lifting assembly 3 and the second lifting assembly 4 are more stable in lifting process, it is described First lifting assembly 3 and the second lifting assembly 4 respectively further comprise the first scissors fork lifting device 3-7 and the second scissors fork is lifted Rise device 4-7；

Specifically, one end of the first scissors fork lifting device 3-7 is connected to described first and connects as shown in Fig. 4, Fig. 7 The lower end surface of disk 3-5 is connect, the other end is connected to the upper surface of the first firm banking 3-6, the first scissors fork lifting dress It sets 3-7 and is synchronized with the first terminal pad 3-5 and risen or fallen；It should be noted that described first in the embodiment of the present application The opposite sides of the first firm banking 3-6, the phase of the first firm banking 3-6 is arranged in scissors fork lifting device 3-7 It is parallel with the car body two sides on 2 length direction of trolley to two sides.Wherein, first scissors pitches lifting device 3-7 Scissors knuckle number can be set according to actual lift height, do not limit specifically herein.

Similarly, one end of the second scissors fork lifting device 4-7 is connected to the lower end surface of the second terminal pad 4-5, The other end is connected to the upper surface of the second firm banking 4-6, and the second scissors fork lifting device 4-7 is with described second Terminal pad 4-5, which is synchronized, to be risen or fallen.It should be noted that second scissors in the embodiment of the present application pitches lifting device 4- 7 are arranged in the opposite sides of the second firm banking 4-6, the opposite sides of the second firm banking 4-6 and the trolley Car body two sides on 2 length direction of car body are parallel.Wherein, the scissors knuckle number of the second scissors fork lifting device 4-7 can root It sets according to actual lift height, does not limit specifically herein.

Again it should be noted that first scissors fork lifting device 3-7 and the second scissors in the embodiment of the present application are pitched Lifting device 4-7 is unpowered scissors fork lifting device, i.e., is not cut by corresponding voluntarily driving motor control described first The lifting of knife and fork lifting device 3-7 and the second scissors fork lifting device 4-7；In the present embodiment, the first scissors fork lifting Device 3-7 and the second scissors fork lifting device 4-7 are respectively in corresponding first spiral lifting machine 3-2 and described second Under the drive of spiral lifting machine 4-2, respectively on corresponding first floating disc 3-3 and the second floating disc 4-3 It rises or declines.

In the embodiment of the present application, in order to enable the company of the first lifting motor 3-1 and the first spiral lifting machine 3-2 Connect it is more flexible, and in order to enable the connection of the second lifting motor 4-1 and the second spiral lifting machine 4-2 are more flexible, It is provided with first shaft coupling between the first lifting motor 3-1 and the first spiral lifting machine 3-2, i.e., described first lifting motor 3-1 is connected to the first spiral lifting machine 3-2 by the first shaft coupling；And the second lifting motor 4-1 and the second spiral shell It is provided with second shaft coupling between rotation lifting machine 4-2, i.e., the described second lifting motor 4-1 is connected to by the second shaft coupling Second spiral lifting machine 4-2.It should be noted that the setting of the first shaft coupling and the second shaft coupling, not only makes The first spiral lifting machine 3-2 that the first lifting motor 3-1 and the second lifting motor 4-1 are connected respectively It is various with the second spiral lifting machine 4-2 connection type, and can be by directly by institute during maintenance or handling It states first shaft coupling or the second shaft coupling unloads, so that the first lifting motor 3-1 and second lifting Motor 4-1 is detached from the corresponding first spiral lifting machine 3-2 and the second spiral lifting machine 4-2 respectively so that maintenance and Load and unload simplerization.Wherein, in the embodiment of the present application, the first shaft coupling and the second shaft coupling can be preferably Clamping coupling；Certainly, other kinds of shaft coupling also can be applied to the first lifting motor 3-1 and the first spiral lifting The connection of the connection of machine 3-2 and the second lifting motor 4-1 and the second spiral lifting machine 4-2.

In the embodiment of the present application, the first lifting assembly 3 and the second lifting assembly 4 are provided with protection shell, this Sample not only makes double lifting AGV trolleies 1 more beautiful, but also to the first lifting assembly 3 and the second lifting assembly 4 In part protected.

It can be seen from the above, the first lifting assembly 3 is set on the adjustment platform 5-4 in the wheelbase adjustment mechanism 5, And the length direction of the trolley 2 described in the cooperation lower edge of the adjustment platform 5-4 is mobile to second lifting platform；Institute It states why the first lifting assembly 3 can move back and forth along the length direction of the trolley 2, is by the wheelbase tune What complete machine structure 5 was realized, as shown in figure 4, in order to which clear interpretation illustrates wheelbase adjustment mechanism 5 described in the embodiment of the present application and described the The matching relationship of one lifting assembly 3, the application connect the wheelbase adjustment mechanism 5 with the structure of the first lifting assembly 3 It is placed in an attached drawing.

Specifically, the wheelbase adjustment mechanism 5 includes wheelbase driver 5-1, floating slide 5-2, ball-screw 5-3 and institute State adjustment platform 5-4；

The wheelbase driver 5-1, the ball-screw 5-3 and the floating slide 5-2 are set to the adjustment platform The output end of the bottom of 5-4 (in conjunction with Fig. 3), the wheelbase driver 5-1 is connect with one end of the ball-screw 5-3, another End is connected in the trolley 2；The floating slide 5-2 is set on the ball-screw 5-3, and is fixedly connected on institute State the lower end surface of the firm banking of the first lifting assembly；The floating slide 5-2 is described in the ball-screw 5-3 drives The hinge of first lifting assembly 3, when the wheelbase driver 5-1 drives ball-screw 5-3 rotation, the floating slide 5-2 is moved back and forth along the ball-screw 5-3, and drives the first lifting assembly mobile；Wherein, the ball-screw 5- 3 axial direction is consistent with first lifting 3 moving direction of assembly.

Wherein, ball-screw is to convert rotary motion to linear motion, and ball-screw is machine tool and precision machinery Upper most-often used actuated element, major function is to convert rotational motion to linear movement, or torque is converted into axial direction Repeated action power, while having both high-precision, invertibity and efficient feature.Due to the frictional resistance with very little, ball wire Thick stick is widely used in various industrial equipments and precision instrument.In the present embodiment, by described in ball-screw 5-3 drive First lifting assembly 3 not only realizes the reciprocal operation of the first lifting assembly 3, is also greatly improved adjustment described the The precision of spacing between one lifting assembly 3 and the second lifting assembly 4.

Likewise, in order to enable the connection of the wheelbase driver 5-1 and the ball-screw 5-3 are more flexible, at this Apply being additionally provided with third shaft coupling between the wheelbase driver 5-1 and the ball-screw 5-3 in embodiment, described the One end of three shaft couplings is connected to the output end of the wheelbase driver 5-1, and the other end is connected to the one of the ball-screw 5-3 End；It can be by the way that directly the third shaft coupling be unloaded, so that the wheelbase during maintenance or handling The ball-screw 5-3 that driver 5-1 is disconnected, so that maintenance and handling are simplified.In the embodiment of the present application, described Third shaft coupling can be clamping coupling；Certainly, other kinds of shaft coupling also can be applied to the wheelbase driver 5-1 With the connection of the ball-screw 5-3.

It can be seen from the above, the first lifting assembly 3 is set on the adjustment platform 5-4 in the wheelbase adjustment mechanism 5, And the length direction of the trolley 2 described in the drive lower edge of the adjustment platform 5-4 is mobile to second lifting platform；For It can make the first lifting assembly 3 preferably trolley 2 described in the drive lower edge of the adjustment platform 5-4 Length direction moves back and forth, and the wheelbase adjustment mechanism 5 further includes：Guide sleeve 5-5 and guided way 5-6, in the embodiment of the present application In, the guide sleeve 5-5 is relatively arranged on the two sides (structure of adjustment platform 5-4 as described in Figure 4 of the adjustment platform 5-4 respectively On plate), the two sides are parallel with the car body two sides on 2 length direction of trolley, and the guide sleeve 5-5 is flat along the adjustment Platform 5-4 moving direction is horizontally disposed, and moves on the guided way 5-6 being socketed in the adjustment platform 5-4；It is described Guided way 5-6 is 2, is successively socketed on a guided way 5-6 wherein in 2 ipsilateral guide sleeve 5-5, similarly, In addition the opposite ipsilateral 2 guide sleeve 5-5 is successively socketed on another guided way 5-6.Certainly, the guide sleeve 5- 5 can also be arranged in the middle position being relatively arranged on respectively with the two sides (structural slab) of the adjustment platform 5-4, at this point, institute The quantity for stating guide sleeve 5-5 is to share 2, i.e., respectively there is 1 guide sleeve 5-5 in the opposite baffle side, as long as can realize along described The direction guided way 5-6 is mobile.

It should be noted that in order to be protected to the mechanism in the wheelbase adjustment mechanism 5, and described first can be made Lifting assembly 3 preferably moves, and the outside of the wheelbase adjustment mechanism 5 is wrapped up by the telescopic band of scalable socket, and described Flexible socket region is separately positioned on the both ends (on the length direction of the trolley 2) of the telescopic band, described the When one lifting assembly 3 is to close to second lifting, 4 direction of assembly movement, the telescopic band closes on the second lifting assembly The flexible socket region of 4 one end gradually tapers up, and the flexible socket region of opposite one end gradually stretches；Relatively , when the first lifting assembly 3 is to far from second lifting, 4 direction of assembly movement, the telescopic band closes on described The flexible socket region of one end of second lifting assembly 4 gradually stretches, the flexible socket region of opposite one end by Contracting is tapered, to realize the spacing of the first lifting assembly 3 according to the workpiece adjust automatically and the second lifting assembly 4. Again it should be noted that the telescopic band has certain intensity, it can the weight of carrying the first lifting assembly 3, Play the role of supporting and fixing to the first lifting assembly 3.

In the embodiment of the present application, in order to enable double lifting AGV trolleies 1 assemble the workpiece in time, It is additionally provided with synchronized tracking mechanism 6 on double lifting AGV trolleies 1, as shown in figure 3, the synchronized tracking mechanism 6 is set to institute It states between the first lifting assembly 3 and the second lifting assembly 4, is specifically set to the adjustment platform 5-4 and second lifting is total At on the square casing between 4, the synchronized tracking mechanism 6 includes laser locator 6-1 and adjustable track 6-2, the laser Locator 6-1 is arranged on the adjustable track 6-2.In the embodiment of the present application, the laser locator 6-1 is for detecting simultaneously The signal for receiving reflector feedback preset on workpiece (vehicle body that the embodiment of the present application is automobile), to the workpiece (vehicle body) It is positioned.Specifically, expelling plate (preset reflector on vehicle body) is installed in the known fixed location of working region, it is described Laser locator 6-1 detects the angle or distance of double lifting the AGV trolleies 1 and each reflecting plate, according to the coordinate meter of reflecting plate Two-dimensional coordinate and the direction of double lifting the AGV trolleies 1 and workpiece (vehicle body) are calculated, and then drives the first lifting assembly 3 The assembly parts of the workpiece are lifted to specified position with the second lifting assembly 4, to complete to assemble.

In order to enable the positioning of the laser locator 6-1 is more accurate, and in the embodiment of the present application, the adjustable track 6-2 is set as I-shaped, i.e., the laser locator 6-1 is arranged in the middle position of the adjustable track 6-2, and can be Front and back operation on intermediate adjustable track 6-2, the front and back traffic direction and the first lifting assembly 3 move back and forth direction one It causes, then, the intermediate adjustment track can run (the intermediate adjustable track 6-2 along the adjustment track on both sides or so The adjustable track 6-2 on vertical both sides), to realize the comprehensive operation detection of the laser locator 6-1.In order to described Laser locator 6-1 is protected, and the present embodiment is also provided with laser locator 6-1 in the outside of the laser locator 6-1 Protective cover.Certainly, the adjustable track 6-2 of other structures is the application scope of the claimed, that is, realizes the laser positioning Device 6-1 moves all-around mobile.

In order to realize the operation of double lifting AGV trolleies 1, double lifting AGV trolleies 1 of the embodiment of the present application are also It is provided with walking assembly, the walking assembly is set to the bottom of the trolley 2, as shown in Fig. 1, the walking assembly Including driving wheel group 7 and driven wheel group 8；Wherein, the driving wheel group 7 includes：First driving wheel group and the second driving wheel group, point The not diagonally positioned bottom in the trolley 2；Specifically, the first driving wheel group and the second driving wheel component It Bao Kuo not driving motor, rotating electric machine, fulcrum bearing, first gear, second gear, swivel mount and driving wheel；

The output end of the driving motor is connected to the driving wheel, and the driving wheel is driven to rotate, and the driving wheel connects It is connected in the fulcrum bearing；The lower end surface of the fulcrum bearing, the output end cap of the rotating electric machine is arranged in the rotating electric machine It is connected to the first gear of the fulcrum bearing upper surface, the first gear is engaged with the second gear, the swivel mount One end be connected to the second gear, the other end is connected to the driving wheel, to drive the driving wheel to turn to；The driving Driving wheel linear running described in motor driven, the rotating electric machine drive the driving wheel to turn to, and realize under common cooperation The comprehensive traveling of double lifting AGV trolleies 1.Since the first driving wheel group and the second driving wheel group are usual institute The AGV driving assembly used, therefore it will not be described in detail here, equally also matches therewith without corresponding attached drawing.

Certainly, as a kind of automation equipment, the driving power of the driving wheel group 7 is derived from the battery of itself loading Or capacitor, double lifting AGV trolleies 1 can voluntarily realize charging automation, when the electricity of double lifting AGV trolleies 1 will When exhausting, it can issue request instruction to system, and request charging, those skilled in the art can preset a threshold value, when reaching When this threshold value, system control double lifting AGV trolleies 1 are lined up charging to charge position automatically.It is described in the present embodiment The electricity of double lifting AGV trolleies 1 is provided by battery, and electricity-fetching mechanism is arranged in the shell below the synchronized tracking mechanism 6, institute The battery life for stating double lifting AGV trolleies 1 is very long (10 years or more), and 15 minutes 4h or so that can work of every charging.

In the embodiment of the present application, since there may be the feelings of out-of-flatness on the ground of the operation of double lifting AGV trolleies 1 Condition, so may prevent the driving wheel group 7 (the first driving wheel group and/or the second driving wheel group) and ground from Constantly contact, so, in order to enable the driving wheel group 7 is contacted with the ground moment, the application is in the top of the driving wheel group 7 Be provided with driving wheel floating disc 7-1, the driving wheel floating disc 7-1 has certain thickness, and its quality is larger, can produce compared with Big gravity presses the driving wheel group 7 on the ground；In the present embodiment, as shown in figure 9, the driving wheel floating disc 7-1 With fixed mounting plate 7-2, multiple spring 7-3 and driving wheel mounting disc 7-4, the fixed mounting plate 7-2 setting is described small On vehicle car body 2, it is provided with the driving wheel mounting disc 7-4 below, the fixed mounting plate 7-2 is bolted by multiple, The spring 7-3 is set between the fixed mounting plate 7-2 and the driving wheel mounting disc 7-4, and is socketed in the bolt On, it is additionally provided with cushion between the fixed mounting plate 7-2 and the driving wheel mounting disc 7-4, the spring 7-3 and described Cushion plays cushioning effect to the driving wheel floating disc 7-1 jointly；The fulcrum bearing is connected to the driving wheel mounting disc The lower end surface of 7-4, the driving wheel make the driving wheel mounting disc 7-4 at runtime, by the tension that the spring 7-3 is generated Pressure is generated to ground jointly with the driving wheel, even if the driving wheel moment and ground face contact.Certainly, for double liftings The safety traffic of AGV trolley 1, the driving wheel group 7 are additionally provided with brake, are specifically located on the driving wheel, so as to double Lift the braking of AGV trolley 1.

In the embodiment of the present application, the first driving wheel group and the second driving wheel group, it is diagonally positioned in the trolley respectively The bottom of car body 2；Power drive not only can be made more balanced, and manufacturing cost can be reduced.And in order to reach The even running of double lifting AGV trolleies 1 is stated, double lifting AGV trolleies 1 are also corresponding with the driven wheel group 8.It is described driven Wheel group 8 is used as Unpowered wheel group, is run simultaneously under the driving wheel group 7 drive.The driven wheel group 8 includes：First Driven wheel group and the second driven wheel group, the first driven wheel group is opposite with the first driving wheel group and drives with described second Wheel group is ipsilateral (side of car body), the second driven wheel group it is opposite with the second driving wheel group and with first driving wheel Group ipsilateral (opposite side of car body)；The first driving wheel group and the second driving wheel group drive described first driven jointly Wheel group and the second driven wheel group movement.

As shown in Figure 10, the first driven wheel group and the second driven wheel group respectively include attachment base 8-1, rotationally support a 8-2 With driven wheel 8-3；The attachment base 8-1 is fixed in the trolley 2, and described one end for rotationally supporting a 8-2 is connected to The attachment base 8-1, the other end are connected to the driven wheel 8-3.It is described rotationally support a 8-2 be internally provided with rotary shaft, Under the drive of the rotary shaft, the driven wheel 8-3 is mobile with the driving wheel, to realize double lifting AGV trolleies 1 All-around mobile.

In double 1 operational process of lifting AGV trolley, the driving wheel group 7, which is difficult to avoid that, will appear failure, common AGV Trolley just can only wait maintenance personal to repair, not only will affect so subsequent in situ after the failure of driving wheel group 7 The progress of work, (AGV trolley rests in complicated working environment), institute are also impacted to the life security of maintenance personal It is additionally provided with maintenance wheel group 9 with the walking assembly of double lifting AGV trolleies 1 of the application, is set to the trolley vehicle On the quadrangle of the bottom of body 2；

As shown in figure 11, the maintenance wheel group 9 has fixing slide carriage 9-1, lift adjustment mechanism 9-2, rotation support mechanism 9-3 and maintenance wheel；The fixing slide carriage 9-1 is connected in the trolley 2, and one end of the rotation support mechanism 9-3 is logical It crosses the lift adjustment mechanism 9-2 and is connected to the fixing slide carriage 9-1, the other end is connected to maintenance wheel.In the embodiment of the present application In, the maintenance wheel group 9 is unpowered to walk wheel, is run by human assistance；The fixing slide carriage 9-1 is dovetail groove mechanism, cooperates institute Lift adjustment mechanism 9-2 use is stated, guarantees that the rotation support mechanism 9-3 can be slided up and down and is displaced without other directions；Institute Stating lift adjustment mechanism 9-2 is similar ball-screw 5-3 structure, need to be manually adjusted.When the driving wheel group 7 breaks down, Double lifting AGV trolley 1 can be made to be quickly moved out working region to maintenance area, then to institute by adjusting maintenance wheel group 9 It states driving wheel group 7 to repair, does not influence subsequent process process not only in this way, it is also possible that maintenance personal is in the area of safety Domain repairs operation.

Be additionally provided with protection shell on the quadrangle of the trolley 2, as shown in Figure 1, the walking assembly be placed in it is described In protective shell body.The upper surface of the protection shell is provided with antiskid plate, described on the length direction of the trolley 2 It is also equipped with antiskid plate on car body between protection shell, worker may stand in and carry out assembly manipulation on the antiskid plate, realize Operator and workpiece are opposing stationary.

In order to protect to the trolley 2, the both ends of the trolley 2 are additionally provided with bumper bar 10, In, the both ends of the trolley 2 move back and forth the both ends of the trolley 2 on direction in the first lifting assembly 3. Certainly, the bumper also can be set in the both ends (the width both ends of the trolley 2) of the trolley 2 in addition 10, that is, it realizes the entire protection to the trolley 2, not only reduces the AGV trolley by the impact force hit, may be used also To be protected to operator.

It, can be in the trolley 2 in order to clearly control and understand the working condition of double lifting AGV trolleies 1 Length direction and it is additionally provided with PBU pushbutton unit on the ipsilateral protection shell, based on the considerations of 2 length of trolley, And for ease of operation, in the present embodiment, which is two, and the button of the PBU pushbutton unit is respectively that emergency braking is pressed Button device guarantees the operation peace of trolley convenient for carrying out emergency braking in the case where encountering emergency case to double lifting AGV trolleies 1 Entirely.Likewise, in order to be apparent from the working condition of double lifting AGV trolleies 1, it can be the four of the trolley 2 State display device is set on angle, and when double lifting AGV trolleies 1 are operating status, the state display device is shown as Green；When double lifting AGV trolleies 1 are failure state, the state display device is shown in red.The state is aobvious The color or set-up mode that showing device is shown can be finely adjusted according to actual needs, be not limited only to retouching for aforesaid way It states.Certainly, the position and quantity of the PBU pushbutton unit and state display device can also be specifically arranged according to the actual situation, described Protection scope of the content than being not limited to the application.

For the working principle of more intuitive explanation double lifting AGV trolleies 1, below by way of specific application scenarios It is explained.

Double lifting AGV trolleies 1 described in the embodiment of the present application are mainly used in automobile chassis engine and rear axle assembling, and institute It states engine in situ and rear axle and the first floating disc 3-3 and second floating is placed on by the staff of a upper process On disk 4-3, i.e., double lifting AGV trolleies 1 reach the gatehead for loading the engine in situ and the rear axle, hang loading website After filling the engine in situ and the rear axle, control system, which issues to load to double lifting AGV trolleies 1, completes instruction, double liftings AGV trolley 1 is driven to by the instruction of control system wait place respectively, and control system detects the position of carrier chain upper body workpiece After confidence number, dispatch in the double liftings for waiting website to be loaded with walking assembly (the driving wheel group 7 and driven wheel group 8) AGV trolley 1 on schedule, speed enter to attach together and be ready for attaching together below station, captured in the synchronized tracking mechanism 6 On workpiece (vehicle body) after preset reflector feedback signal, double lifting AGV trolleies 1 run simultaneously and pass through with vehicle body First floating disc 3-3 and the second floating disc 4-3 described in the first lifting assembly 3 and the second lifting 4 automatic lifting of assembly To predetermined position, specifically, the laser locator 6-1 can be run on the I-shaped adjustable track 6-2 automatically, i.e. institute Laser locator 6-1 front and back operation on the intermediate adjustable track 6-2 is stated, and on the intermediate adjustable track 6-2 Left and right operation (using the direction of motion of the first lifting assembly 3 as front-rear direction, then vertical direction is left and right directions), until catching Reflector feedback signal preset on vehicle body is grasped, obtained feedback signal is sent to control system by the positioning laser, The control system control described first lifts assembly 3 and the second lifting assembly 4 is run, i.e., according to the length of the vehicle body, institute State the first lifting assembly 3 first lifting assembly 3 and the second lifting described in adjust automatically under the drive of the wheelbase adjustment mechanism 5 The spacing of assembly 4, so that the engine in situ that the first floating disc 3-3 and the second floating disc 4-3 are loaded with respectively is with after Bridge corresponds on the corresponding position of vehicle body, and certainly, the first floating disc 3-3 and the second floating disc 4-3 respectively correspond load Some engines in situ and rear axle be not unique, that is to say, that the first floating disc 3-3 may be loaded with engine in situ or after Bridge, corresponding, the second floating disc 4-3 may be loaded with rear axle or engine in situ.Then, the first lifting motor 3-1 It drives the first spiral lifting machine 3-2 that the first terminal pad 3-5 and the first floating disc 3-3 is driven to rise jointly, makes Obtaining engine in situ arrival designated position, (position is taken the lead according to the actual situation in the good engine in situ of set-up of control system Lift height parameter), the second lifting motor 4-1 drives the second spiral lifting machine 4-2 to drive second connection Disk 4-5 and the second floating disc 4-3 rise jointly, so that the rear axle reaches designated position, (position is according to the actual situation It takes the lead in the lift height parameter of the good rear axle of set-up of control system)；Finally, car body of the worker station in double lifting AGV trolleies 1 On, the first floating disc 3-3 is moved manually, so that the engine in situ is with the first floating disc 3-3 described first Dragging track on terminal pad 3-5 is moved to optimum position；Personnel the second floating disc 4-3 manually is worked at the same time, so that institute It states rear axle and is moved to optimum position with dragging track of the second floating disc 4-3 on the second terminal pad 4-5；By assembling Worker installs fixing bolt, manually issues installation end signal after completing assembly.

It should be noted why the application is arranged the first floating disc 3-3 and the second floating disc 4-3, and The shifting of front, rear, left and right in the horizontal direction only may be implemented in the first floating disc 3-3 and the second floating disc 4-3 It is dynamic, and assembled after the engine in situ and the rear axle are moved to optimum position by manual operation by workers, be for The better working efficiency for promoting assembly, convenient for operation of the worker in assembly；In other words, the embodiment of the present application can be obstructed Cross the first floating disc 3-3 and the second floating disc 4-3 described in manual control, the i.e. control in double lifting AGV trolleies 1 Under the control of system, the first floating disc 3-3 and the second floating disc 4-3 are the reachable designated position assembled, worker It is mounted directly fixing bolt, manually issues installation end signal after completing assembly.

Finally, installing end signal according to lifting assembly, double lifting AGV trolleies 1 decline the first lifting assembly 3 automatically Assembly 4 is lifted with second, and drops to the " loaded " position of the engine in situ and the rear axle.Double lifting AGV trolleies 1 leave Assembly station, if need to charge to AGV trolley, double lifting AGV trolleies 1 reach charge position and voluntarily charge；If being not necessarily to It charges to AGV trolley, then double lifting AGV trolleies 1 arrive again at the loading for loading the engine in situ and the rear axle Point, after loading website and lifting the engine in situ and the rear axle, control system is issued to double lifting AGV trolleies 1 and is loaded Instruction is completed, double lifting AGV trolleies 1 are driven to by the instruction of control system wait place respectively.

It should be added that the control system hangs the signal of car body arrival in holding point according to main assembly line Double lifting AGV trolleies 1 issue running signal, if being sky suspender on main assembly line, trolley is still in wait state.When double acts When liter AGV trolley 1 fails to complete to attach together in required time, control system and carrier chain alarm.

Certainly, in the use processes of double lifting AGV trolleies 1, the driving wheel group 7 is it is possible that failure, especially When assembly station breaks down, existing AGV trolley can only be repaired it in current location, allow for so subsequent Trolley can not be assembled, the serious efficiency for affecting assembly.And double lifting AGV trolleies 1 of the application are then provided with Wheel group 9 is repaired, the maintenance wheel group 9 has fixing slide carriage 9-1, lift adjustment mechanism 9-2, rotation support mechanism 9-3 and maintenance Wheel；Maintenance wheel is unpowered traveling wheel, i.e., it is described state driving wheel group 7 and break down when, run by human assistance, manually The lift adjustment mechanism 9-2 is adjusted, and keeps the rotation support mechanism 9-3 upward by the cooperation of the fixing slide carriage 9-1 Displacement, at this time maintenance wheel always with ground face contact；It lifts the driving wheel group 7 by suspension, manually passes through the dimension It repairs wheel group 9 and double lifting AGV trolleies 1 is pushed into maintenance area, so that maintenance personal ties up under the operating environment of safety It repairs, and subsequent double lifting AGV trolleies 1 is made to can proceed with assembly, do not influence whole assembly progress and efficiency.

It should be noted that not being often to break down based on the driving wheel group 7, so the embodiment of the present application is described The maintenance wheel group 9 of double lifting AGV trolleies 1 uses unpowered driving, significantly reduces manufacturing cost；If according to reality Situation needs to be applied multiple times the maintenance wheel group 9, then the maintenance wheel group 9 can be set as power drive.

This application provides a kind of double lifting AGV trolleies, including trolley, set on the first lifting of the trolley Assembly, the second lifting assembly, wheelbase adjustment mechanism and walking assembly；The first lifting assembly and second lifting assembly edge The length direction arranged for interval of the trolley, and it is located at the opposite two sides of the trolley；The second lifting assembly It is fixedly installed in the trolley, the first lifting assembly is set on the adjustment platform of the wheelbase adjustment mechanism； The wheelbase adjustment mechanism can be such that the adjustment platform moves along its length in length direction, the first lifting assembly energy The length direction of enough trolleys described in the drive lower edge of the adjustment platform is moved forward and backward, and is lifted to change with described second Rise the spacing distance between assembly；The walking assembly is set to the fixed position of the trolley, drives the trolley travelling. By scheme provided by the present application, double lifting AGV trolleies can by engine and rear axle synchronous transport to assembly process position, and It realizes synchronous assembly engine and rear axle, improves assembly efficiency, promote yield.

Although the application is disclosed as above with preferred embodiment, it is not for limiting the application, any this field skill Art personnel are not departing from spirit and scope, can make possible variation and modification, therefore the guarantor of the application Shield range should be subject to the range that the claim of this application defined.

Claims (16)

1. a kind of double lifting AGV trolleies, which is characterized in that lifted including trolley, set on the first of the trolley total At, the second lifting assembly, wheelbase adjustment mechanism and walking assembly；

The first lifting assembly and described second lifts assembly along the length direction arranged for interval of the trolley, and is located at The opposite two sides of the trolley；The second lifting assembly is fixedly installed in the trolley, first lifting Assembly is set on the adjustment platform of the wheelbase adjustment mechanism；The wheelbase adjustment mechanism can make the adjustment platform in length Degree direction is moved along its length, and the first lifting assembly being capable of the trolley described in the drive lower edge of the adjustment platform Length direction be moved forward and backward, thus change and it is described second lifting assembly between spacing distance；

The walking assembly is set to the fixed position of the trolley, drives the trolley travelling.

2. double lifting AGV trolleies according to claim 1, which is characterized in that the first lifting assembly includes the first act Lifting motor, the first spiral lifting machine, the first floating disc, the first idler wheel, the first terminal pad and the first firm banking；

First firm banking is arranged on the adjustment platform, and the output shaft of first lifting motor is connected to setting and exists The input terminal of the first spiral lifting machine of first firm banking upper surface, the lifting end of the first spiral lifting machine It is connected to the lower end surface of first terminal pad；First floating disc is connected to first connection by first idler wheel The upper surface of disk, first idler wheel drive first floating disc mobile；First lifting motor drives first spiral shell Rotation lifting machine drives first terminal pad and first floating disc to rise or fall jointly；

The second lifting assembly includes the second lifting motor, the second spiral lifting machine, the second floating disc, the second idler wheel, second Terminal pad and the second firm banking；

Second firm banking is fixed in trolley, and the output shaft of second lifting motor, which is connected to, to be arranged described The input terminal of the second spiral lifting machine of second firm banking upper surface, the lifting end connection of the second spiral lifting machine In the lower end surface of second terminal pad, second floating disc is connected to second terminal pad by second idler wheel Upper surface, second idler wheel drive second floating disc mobile；Second lifting motor drives second spiral to lift The machine of liter drives second terminal pad and second floating disc to rise or fall jointly.

3. double lifting AGV trolleies according to claim 2, which is characterized in that first terminal pad and described first is floated The first sliding block and the first dragging track are additionally provided between Moving plate, first sliding block is fixed on the lower end of first floating disc Face, and slided on first dragging track for being correspondingly arranged at the upper surface of first terminal pad, to drive described One floating disc is mobile；And

It is additionally provided with the second sliding block and the second dragging track between second terminal pad and second floating disc, described second Sliding block is fixed on the lower end surface of second floating disc, and is being correspondingly arranged at described the of the upper surface of second terminal pad It is slided on two dragging tracks, to drive second floating disc mobile.

4. double lifting AGV trolleies according to claim 2, which is characterized in that the first lifting assembly and described second Lifting assembly respectively further comprises the first scissors fork lifting device and the second scissors fork lifting device；

One end of the first scissors fork lifting device is connected to the lower end surface of first terminal pad, and the other end is connected to described The upper surface of first firm banking, the first scissors fork lifting device is synchronized with first terminal pad to be risen or fallen；

One end of the second scissors fork lifting device is connected to the lower end surface of second terminal pad, and the other end is connected to described The upper surface of second firm banking, the second scissors fork lifting device is synchronized with second terminal pad to be risen or fallen.

5. double lifting AGV trolleies according to claim 1, which is characterized in that the wheelbase adjustment mechanism includes that wheelbase drives Dynamic device, ball-screw, floating slide and the adjustment platform；

The output end of the wheelbase driver is connect with one end of the ball-screw, and the other end is connected to the trolley On；The floating slide is set on the ball-screw, and be connected to the adjustment platform of the first lifting assembly Lower end surface；When the ball-screw described in the wheelbase driver drives rotates, axis of the floating slide along the ball-screw It is mobile to direction, and drive the first lifting assembly mobile；

Wherein, the axial direction of the ball-screw is consistent with the first lifting assembly moving direction.

6. double lifting AGV trolley according to claim 5, which is characterized in that the wheelbase adjustment mechanism further includes：Guide sleeve And guided way, the guide sleeve are relatively arranged on the two sides of the adjustment platform, the two sides and the trolley length side respectively Upward car body two sides are parallel, and the guide sleeve is horizontally disposed along the adjustment platform moving direction, and is being socketed on the tune It is moved on the guided way in leveling platform.

7. double lifting AGV trolleies according to claim 1, which is characterized in that further include：Synchronized tracking mechanism, is set to Between the first lifting assembly and the second lifting assembly；

The signal of workpiece feedback, the first lifting assembly and the second lifting assembly are obtained by the synchronized tracking mechanism by institute The assembly parts synchronous lifting of workpiece is stated to predetermined position, after the assembly is completed, the first lifting assembly and second lifts assembly Drop to original position.

8. double lifting AGV trolleies according to claim 7, which is characterized in that the synchronized tracking mechanism includes that laser is fixed Position device and adjustable track, the laser locator are arranged on the adjustable track.

9. double lifting AGV trolley according to claim 1, which is characterized in that the walking assembly include driving wheel group and Driven wheel group；The driving wheel group includes：First driving wheel group and the second driving wheel group, it is diagonally positioned in the trolley respectively The bottom of car body；The driven wheel group includes：First driven wheel group and the second driven wheel group, the first driven wheel group with it is described First driving wheel group is opposite and, the second driven wheel group and the second driving wheel group phase ipsilateral with the second driving wheel group Pair and it is ipsilateral with the first driving wheel group；The first driving wheel group and the second driving wheel group drive described first jointly Driven wheel group and the second driven wheel group movement.

10. double lifting AGV trolley according to claim 9, which is characterized in that the driving wheel group include driving motor, Rotating electric machine, fulcrum bearing, first gear, second gear, swivel mount and driving wheel；

The output end of the driving motor is connected to the driving wheel, and the driving wheel is driven to rotate, and the driving wheel is fixed on In the fulcrum bearing；

The rotating electric machine is arranged in the lower end surface of the fulcrum bearing, in fulcrum bearing described in the output end grafting of the rotating electric machine The first gear of end face, the first gear are engaged with the second gear, and one end of the swivel mount is connected to described Second gear, the other end are connected to the driving wheel, and by said mechanism, the rotation of the rotating electric machine is able to drive the drive Driving wheel turns to.

11. double lifting AGV trolley according to claim 10, which is characterized in that the driving wheel group further includes：Driving wheel Floating disc, has fixed mounting plate, multiple springs and driving wheel mounting disc, and the fixed mounting plate is arranged in the trolley On, it is provided with the driving wheel mounting disc below, the spring is set to the fixed mounting plate and driving wheel installation Between disk, the fulcrum bearing is connected to the lower end surface of the driving wheel mounting disc；The driving wheel at runtime, passes through the bullet The tension that spring generates makes the driving wheel mounting disc and the driving wheel generate pressure to ground jointly.

12. double lifting AGV trolley according to claim 9, which is characterized in that the first driven wheel group and second driven Wheel group respectively includes attachment base, rotationally supports seat and driven wheel；

The attachment base is fixed in the trolley, and described one end for rotationally supporting seat is connected to the attachment base, another End is connected to the driven wheel.

13. double lifting AGV trolleies according to claim 9, which is characterized in that the walking assembly further includes maintenance wheel Group is set on the quadrangle of the bottom of the trolley；

The maintenance wheel group has fixing slide carriage, lift adjustment mechanism, rotation support mechanism and maintenance wheel；The fixing slide carriage connects It is connected in the trolley, one end of the rotation support mechanism is connected to described fixed sliding by the lift adjustment mechanism Seat, the other end are connected to maintenance wheel.

14. double lifting AGV trolleies according to claim 1, which is characterized in that including：On the quadrangle of the trolley It is additionally provided with protection shell, the walking assembly is placed in the protective shell body.

15. double lifting AGV trolleies according to claim 14, which is characterized in that the upper surface setting of the protection shell There is antiskid plate.

16. double lifting AGV trolleies according to claim 1, which is characterized in that including：Bumper is set to the trolley The surrounding of car body.