CN209410204U - A kind of AGV trolley - Google Patents
A kind of AGV trolley Download PDFInfo
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- CN209410204U CN209410204U CN201821996051.4U CN201821996051U CN209410204U CN 209410204 U CN209410204 U CN 209410204U CN 201821996051 U CN201821996051 U CN 201821996051U CN 209410204 U CN209410204 U CN 209410204U
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- vehicle frame
- wheel
- agv trolley
- limit sensors
- prompting device
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Abstract
The utility model embodiment is related to automatic control technology field, disclose a kind of AGV trolley, it include: the wheel of vehicle frame for bearing goods, the resilient support vehicle frame, the overweight prompting device for being provided with limit sensors on the vehicle frame and being electrical connected with the limit sensors, when the vehicle frame is greater than preset value towards the moving distance close to the wheel direction due to load-carrying, the limit sensors are triggered and transmit overload signal to the overweight prompting device.AGV trolley provided by the embodiment of the utility model can improve the conevying efficiency of AGV trolley under the premise of guaranteeing the AGV trolley service life.
Description
Technical field
The utility model embodiment is related to automatic control technology field, in particular to a kind of AGV trolley.
Background technique
AGV (Automated Guided Vehicle, automated guided vehicle) refers to that equipment is equipped with electricity magnetically or optically etc.
Homing guidance device can be travelled along defined guide path, have safeguard protection and the unmanned carrying of various transfer functions
Vehicle.Its travelling route and behavior can be generally controlled by computer, or utilize electromagnetic path, the colour band etc. sticked on floor
To set up its travelling route.AGV trolley is a kind of common industrial equipment, the application in manufacturing industry mainly efficiently, it is accurate,
The carrying task of material is neatly completed, with the raising of present factory automation degree, AGV trolley has also welcome big hair
Exhibition.But each AGV trolley carries object Shi Douyou load-carrying weight limits, it is small that AGV trolley overload transportation may damage AGV
The power device of vehicle.In the prior art, it usually weighs by external weighing device to carrier, and then guarantees AGV trolley
On the weight of carrier be no more than load-carrying weight limits, or AGV trolley is directly initiated, when AGV trolley cannot be run
When just issue overload remind.
At least there are the following problems in the prior art for inventor's discovery: the former, it is carried out being transported to cargo on AGV trolley
Before transport, the step of adding additional check weighing, time-consuming and laborious, operating process is many and diverse, and conevying efficiency is low；The latter, do not consider be
It is no it is overweight in the case where directly initiate AGV trolley, may damage the power device of AGV trolley, reduce the service life of AGV trolley.Cause
This, it is necessary to the new AGV trolley of one kind is provided to solve the above problems.
Utility model content
The utility model embodiment is designed to provide a kind of AGV trolley, can be before guaranteeing the AGV trolley service life
It puts, improves the conevying efficiency of AGV trolley.
In order to solve the above technical problems, the embodiments of the present invention provides a kind of AGV trolley, comprising: for holding
The wheel of the vehicle frame of loading object, the resilient support vehicle frame, be provided on the vehicle frame limit sensors and with the limit
The overweight prompting device that sensor is electrical connected, when the vehicle frame is greater than due to load-carrying towards the moving distance close to the wheel direction
When preset value, the limit sensors are triggered and transmit overload signal to the overweight prompting device.
The utility model embodiment in terms of existing technologies, since the wheel flexibly supports the vehicle frame, because
This will force the vehicle frame towards close to the wheel direction when the load-carrying of the AGV trolley is very big under the action of load-carrying
Movement, when load-carrying be greater than certain value (load-carrying weight limits) when, the vehicle frame towards close to the wheel direction movement away from
From preset value is greater than, at this point, the limit sensors are triggered and transmit overload signal to the overweight prompting device, overweight prompt
Device prompt information will be issued when receiving overload signal with remind staff reduce AGV trolley on carrier weight,
Overload is realized before starting power device to remind, and is avoided power device from damaging because weight is excessive, be ensure that AGV trolley
Service life reminds simultaneously as overload itself can be realized in AGV trolley, without additionally increasing the check weighing step of carrier, to mention
The high conevying efficiency of AGV trolley.
In addition, the wheel includes the wheel shaft positioned at center, the AGV trolley further includes and the wheel axis connection
Buffer the elastic component of cantilever and the connection buffering cantilever and the vehicle frame, the wheel via the buffering cantilever and
The elastic component flexibly supports the vehicle frame.
In addition, further including the baffle being folded between the elastic component and the buffering cantilever, when the vehicle frame is because of load-carrying
And when being greater than preset value towards the moving distance close to the wheel direction, the baffle compresses and triggers the limit sensors.
In addition, the limit sensors include trigger, are fixed on trigger described in the trigger side and face
Pressure holding arm, be fixed on it is described pressure holding arm end idler wheel, when the vehicle frame due to load-carrying towards close to the wheel direction movement
When distance is greater than preset value, the baffle presses the pressure holding arm via the idler wheel to trigger the limit sensors.
In addition, the elastic component is helical spring, described helical spring one end connect with the vehicle frame, the other end with it is described
Buffer cantilever connection.
In addition, the overweight prompting device includes at least one of alarm and display screen.
In addition, position of the limit sensors on the moving direction of the vehicle frame is adjustable.So set, being capable of basis
Different AGV trolleies adjusts position of the limit sensors on the moving direction of the vehicle frame, thus more accurate
Adjust the Raw performance state of the elastic component.
In addition, being provided with the strip-shaped hole of the moving direction extension along the vehicle frame, the limit sensors on the vehicle frame
It is slidably disposed in the strip-shaped hole and is fixed on predetermined position.By the way that the limit sensors are mounted slidably
In the strip-shaped hole, and the strip-shaped hole extends along the moving direction of the vehicle frame, so that the limit sensors are in institute
The position that stating sliding in strip-shaped hole can be realized on the moving direction of the vehicle frame is adjusted, and structure is simple, easy to operate.
In addition, the quantity of the wheel is at least three, the quantity of the limit sensors is two, two limits
Sensor is respectively adjacent to two wheel settings and is electrically connected respectively with the overweight prompting device, when two limits
When any of sensor is triggered, transmission overload signal to the overweight prompting device.So set, avoiding limit sensing
Device, which is fallen into the pit on ground, leads to not the case where measuring overload generation, improves the accuracy of overload detection.
Detailed description of the invention
Fig. 1 is the schematic perspective view for the AGV trolley that the utility model first embodiment provides；
Fig. 2 is the schematic perspective view at another visual angle for the AGV trolley that the utility model first embodiment provides；
Fig. 3 is the partial enlarged view in the portion A in Fig. 2.
Specific embodiment
To keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, below in conjunction with attached drawing to this
Each embodiment of utility model is explained in detail.However, it will be understood by those skilled in the art that practical at this
In novel each embodiment, many technical details are proposed in order to make reader more fully understand the utility model.But even if
Without these technical details and various changes and modifications based on the following respective embodiments, the utility model also may be implemented and wanted
Seek the technical solution of protection.
The first embodiment of the utility model is related to a kind of AGV trolley 100, comprising: for bearing goods vehicle frame 11,
The wheel 12 of the vehicle frame 11 is flexibly supported, limit sensors 13 are provided on the vehicle frame 11 and is sensed with the limit
The overweight prompting device (not shown) that device 13 is electrical connected, when the vehicle frame 11 due to load-carrying towards close to 12 direction of wheel shifting
When dynamic distance is greater than preset value, the limit sensors 13 are triggered and transmit overload signal to the overweight prompting device.
The utility model embodiment in terms of existing technologies, since the wheel 12 flexibly supports the vehicle frame
11, therefore, when the load-carrying of the AGV trolley 100 is very big, the vehicle frame 11 will be forced towards close to institute under the action of load-carrying
The movement for stating 12 direction of wheel, when load-carrying is greater than certain value (load-carrying weight limits), the vehicle frame 11 is towards close to the vehicle
The moving distance for taking turns 12 directions is greater than preset value, at this point, the limit sensors 13 are triggered and transmit overload signal to described
Overweight prompting device, overweight prompting device will issue prompt information when receiving overload signal to remind staff to reduce AGV
The weight of carrier on trolley 100, starting power device realize overload before and remind, and avoid power device excessive because of weight
And damage, it ensure that the service life of AGV trolley 100, simultaneously as AGV trolley 100 itself can be realized overload and remind, be not necessarily to volume
The outer check weighing step for increasing carrier, to improve the conevying efficiency of AGV trolley 100.
Specifically, the overweight prompting device includes at least one of alarm and display screen, when the overweight prompt
Device be alarm when, alarm receive limit sensors 13 transmission overload signal when, export alarm sound, flashing or
Alarm lamp etc. is lighted to remind staff；When overweight prompting device is display screen, display screen receives the hair of limit sensors 13
When the overload signal sent, the printed words such as output " overload prompts, is overweight " are on a display screen to remind staff.It is understood that
It is, as long as other prompting modes also can be used, staff can be prompted, herein with no restrictions.
In present embodiment, the wheel 12 includes positioned at the wheel shaft 121 of center and around 121 turns of the wheel shaft
The dynamic wheel 122 to drive 100 body movement of AGV trolley, the AGV trolley 100 further include delaying of connect with the wheel shaft 121
The elastic component 15 of cantilever 14 and the connection buffering cantilever 14 and the vehicle frame 11 is rushed, the wheel 12 is via the buffering
Cantilever 14 and the elastic component 15 flexibly support the vehicle frame 11.That is, wheel shaft 121 and the fixed company of buffering cantilever 14
It connects, buffering cantilever 14 guarantees that cocoa is opposite between vehicle frame 11 and wheel 12 via elastic component 15 and 11 elastic connection of vehicle frame
It moves up and down, when there is the pit in limits in ground, since 15 length of elastic component is variable, fall into the vehicle in pit
Wheel 12 still may be implemented reliably to contact to earth, to realize the antidetonation of AGV trolley 100.
It is noted that the AGV trolley 100 further include be folded in the elastic component 15 and the buffering cantilever 14 it
Between baffle 16, when the vehicle frame 11 due to load-carrying towards close to 12 direction of wheel moving distance be greater than preset value when, institute
Baffle 16 is stated to compress and trigger the limit sensors 13.Wherein, baffle 16 can be with elastic component 15 close to buffering cantilever 14
One end be fixedly linked or be connected close to one end of elastic component 15 or be connected with the two with buffering cantilever 14.
Further, limit sensors 13 are a kind of common micro limit switch, are a kind of main orders of common low current
Electric appliance makes its contact action using the collision of manufacturing machine moving component to realize connection or disjunction control circuit.This embodiment party
In formula, the limit sensors 13 include trigger 131, are fixed on trigger 131 described in 131 side of trigger and face
Pressure holding arm 132, be fixed on the idler wheel 133 of pressure holding 132 end of arm, when the vehicle frame 11 due to load-carrying towards close to the vehicle
When taking turns the moving distance in 12 directions greater than preset value, the baffle 16 presses the pressure holding arm 132 via the idler wheel 133 to touch
Send out limit sensors 13 described.That is, when the vehicle frame 11 due to load-carrying towards close to 12 direction of wheel it is mobile when,
The limit sensing device is moved towards the direction close to the baffle 16, and the idler wheel 133 first contacts the baffle 16, by the gear
The pressure holding of plate 16 is simultaneously rolled along baffle 16, and the baffle 16 presses to the pressure holding arm 132 via the idler wheel 133 and makes described
Pressure holding arm 132 presses to the trigger 131, finally triggers the limit sensors 13.
In present embodiment, the elastic component 15 is helical spring, described helical spring one end connect with the vehicle frame 11,
The other end is connect with the buffering cantilever 14.According to Hooke's law, (△ F=-k Δ x) is it is found that feelings constant in stiffness coefficient
Under condition, the deflection of helical spring is directly proportional to its loading force, thus determined load-carrying weight limits (helical spring plus
Carry power) under the premise of, it will be able to calculate corresponding deflection.
Further, stating elastic component 15 is cylinder equal pitch helical spring, the calculation formula of stiffness coefficient are as follows: K=G*d
^4/ (8*n*D^3), wherein K is stiffness coefficient；G is the shear modulus of elastic material；D is the line footpath (spring wire of spring material
Diameter)；N is the number of active coils of spring；D is the central diameter of spring.So the structure determination of elastic component 15, so that it may unique true
Determine and calculates its stiffness coefficient K.
That is, the loading force of helical spring is directly proportional to its stiffness coefficient K and deflection, helical spring is being determined
Structure (stiffness coefficient of helical spring has been determined) and clearly have devised intrinsic loading power (load-carrying weight limits)
After limitation, the deflection of corresponding helical spring can be derived, so as in the setting of the Raw performance state of spring
When, the setting position of limit sensors 13 is directly calculated, without measuring by experiment, increases convenience.
Optionally, position of the limit sensors 13 on the moving direction of the vehicle frame 11 is adjustable.One kind of overload
Phenomenon is to skid, that is, starting motor AGV trolley 100 can not move, since the driving force of trolley is exactly between ground
Frictional force, therefore, the physical mechanics model of the critical state of overload are exactly that the driving force of car body has reached the maximum sliding of driving force
Sound frictional force, is more than critical state, and wheel 12 will skid.Another phenomenon of overload is, although trolley can move,
It is receiving torque of the torque more than motor of driving force, to damage motor.Since the driving force of trolley is exactly between ground
Frictional force, therefore, the case where overload is exactly that resistive torque caused by the frictional force of wheel 12 and the product of wheel footpath is greater than horse
The receiving torque reached.Two kinds of phenomenons of overload, it is all related to the frictional force of wheel 12, and between the size of frictional force and two articles
The size of normal pressure (i.e. normal reaction) FN is directly proportional, i.e. F=μ FN, F are stiction, and μ is coefficient of friction, is one and two
The physical state (such as degree of roughness, temperature, humidity) of the material properties and contact surface that contact object is related, and wheel 12 is taken turns
When the physical state difference on the ground of the material properties difference or trolley travelling of tire, confficient of static friction is different, mistake at this time
Carrier strip part is different, i.e., load-carrying weight limits are different.In present embodiment, since limit sensors 13 are in the vehicle frame 11
Moving direction on position be adjustable, so, the Raw performance state of spring is different, vehicle frame 11 sink displacement
Also different, that is, the deformation quantity of spring is different when overloading, to adapt to the material of different 12 tires of wheel or the object on ground
Different load-carrying weight limits when reason situation.That is, the limit sensors can be adjusted according to different AGV trolleies 100
13 position on the moving direction of the vehicle frame 11, thus the Raw performance shape of the more accurate adjusting elastic component 15
State.
Further, the strip-shaped hole 17 of the moving direction extension along the vehicle frame 11 is provided on the vehicle frame 11, it is described
Limit sensors 13 are slidably disposed in the strip-shaped hole 17 and are fixed on predetermined position.By the way that the limit is sensed
Device 13 is slidably disposed in the strip-shaped hole 17, and the strip-shaped hole 17 extends along the moving direction of the vehicle frame 11,
So that the limit sensors 13 slide the position that can be realized on the moving direction of the vehicle frame 11 in the strip-shaped hole 17
Adjusting is set, structure is simple, easy to operate.
In present embodiment, the quantity of the wheel 12 is at least three, and the quantity of the limit sensors 13 is two,
Two limit sensors 13 are respectively adjacent to two settings of wheel 12 and electrically connect with the overweight prompting device respectively
It connects, when any of two described limit sensors 13 are triggered, transmission overload signal to the overweight prompting device.So
Setting, avoid " when a limit sensors 13 are applied alone, limit sensors 13 fall into the pit on ground lead to not measure it is super
The case where load ", occurs, and improves the accuracy of overload detection.
It is understood that the quantity of the limit sensors 13 may be three, three limit sensors 13
It is respectively adjacent to three settings of wheel 12 and is electrically connected respectively with the overweight prompting device, when three limit sensings
When any of device 13 is triggered, transmission overload signal to the overweight prompting device.So set, avoiding " one or two
A limit sensors 13, which are fallen into the pit on ground, leads to not measure overload " the case where occur, further improve overload inspection
The accuracy of survey.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific implementation of the utility model
Example, and in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit of the utility model
And range.
Claims (9)
1. a kind of AGV trolley characterized by comprising for the vehicle frames of bearing goods, the wheel of the resilient support vehicle frame,
The overweight prompting device for being provided with limit sensors on the vehicle frame and being electrical connected with the limit sensors, when the vehicle
When frame is greater than preset value towards the moving distance close to the wheel direction due to load-carrying, the limit sensors are triggered and transmit
Overload signal is to the overweight prompting device.
2. AGV trolley according to claim 1, which is characterized in that the wheel includes the wheel shaft positioned at center, institute
State AGV trolley further include with it is described wheel axis connection buffering cantilever and connect it is described buffer cantilever and the vehicle frame elasticity
Part, the wheel flexibly support the vehicle frame via the buffering cantilever and the elastic component.
3. AGV trolley according to claim 2, which is characterized in that further include being folded in the elastic component and the buffering
Baffle between cantilever, when the vehicle frame is greater than preset value towards the moving distance close to the wheel direction due to load-carrying, institute
Baffle is stated to compress and trigger the limit sensors.
4. AGV trolley according to claim 3, which is characterized in that the limit sensors include trigger, are fixed on institute
State the pressure holding arm of trigger described in trigger side and face, be fixed on it is described pressure holding arm end idler wheel, when the vehicle frame because
Load-carrying and when being greater than preset value towards the moving distance close to the wheel direction, the baffle presses the pressure via the idler wheel
Gripping arm is to trigger the limit sensors.
5. AGV trolley according to claim 2, which is characterized in that the elastic component is helical spring, the helical spring
One end is connect with the vehicle frame, the other end is connect with the buffering cantilever.
6. AGV trolley according to claim 1, which is characterized in that the overweight prompting device includes alarm and display screen
At least one of.
7. AGV trolley according to claim 1, which is characterized in that mobile side of the limit sensors in the vehicle frame
Upward position is adjustable.
8. AGV trolley according to claim 7, which is characterized in that be provided with moving along the vehicle frame on the vehicle frame
The strip-shaped hole that direction extends, the limit sensors are slidably disposed in the strip-shaped hole and are fixed on predetermined position.
9. AGV trolley according to claim 1, which is characterized in that the quantity of the wheel is at least three, the limit
The quantity of sensor is two, and two limit sensors are respectively adjacent to two wheel settings and surpass respectively with described
Weight prompting device is electrically connected, and when any of two described limit sensors are triggered, transmission overload signal surpasses to described
Weight prompting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821996051.4U CN209410204U (en) | 2018-11-30 | 2018-11-30 | A kind of AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821996051.4U CN209410204U (en) | 2018-11-30 | 2018-11-30 | A kind of AGV trolley |
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| Publication Number | Publication Date |
|---|---|
| CN209410204U true CN209410204U (en) | 2019-09-20 |
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ID=67936141
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821996051.4U Expired - Fee Related CN209410204U (en) | 2018-11-30 | 2018-11-30 | A kind of AGV trolley |
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| Country | Link |
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| CN (1) | CN209410204U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936878A (en) * | 2019-11-22 | 2020-03-31 | 王臣博 | Logistics transportation equipment based on artificial intelligence |
-
2018
- 2018-11-30 CN CN201821996051.4U patent/CN209410204U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936878A (en) * | 2019-11-22 | 2020-03-31 | 王臣博 | Logistics transportation equipment based on artificial intelligence |
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Granted publication date: 20190920 Termination date: 20191130 |