CN209667258U - Heavily loaded AGV balance mechanism - Google Patents

Abstract

The utility model relates to a kind of heavy duty AGV balance mechanism, the balance mechanism includes spandrel girder and the suspension shaft for being fixed on the spandrel girder bottom, and the suspension both ends of the shaft is equipped with the suspension strut seat for being fixed on the heavy duty AGV；The spandrel girder two sides of the bottom are provided with the slot for installing bogie.The advantages of the utility model embodiment, is that the balance mechanism can not only bear larger weight, and can guarantee AGV in the in a basic balance of weight bearing situations downward driving.When AGV load-bearing unbalance stress can normally travel, while effectively avoiding that ground can not be touched because of AGV wheel caused by road is uneven, so as to cause wandering off the appearance of such case because lacking resultant force when walking.

Description

Heavily loaded AGV balance mechanism

Technical field

The utility model relates to field of mechanical technique more particularly to a kind of heavy duty AGV balance mechanisms.

Background technique

AGV is the english abbreviation of automated guided vehicle (Automated Guided Vehicle), is referred to equipped with electricity Magnetically or optically equal homing guidances device, can travel along defined guide path, have safeguard protection and various transfer functions Transport vehicle, belong to the scope of wheeled mobile robot, be a kind of unpiloted transport vehicle.However existing AGV is general Load-bearing capacity is 2T, and maximum only 30 tons or so, up to a hundred tons of the existing field AGV that is supported on still belongs to blank.It is wherein important Reason is just the absence of the Balancing Mechanism Design of load-bearing, so that the mobile transport of existing large tonnage product can only pass through large-tonnage loop wheel machine It slings and is placed on vehicle, then specified region is moved to by vehicle, efficiency low cost not applicable for short-range transport the method Height, workshop can not also be lifted in the case where limiting using large tonnage crane.The size of heavy duty transporter not can enter vehicle again Between, the prior art has been unable to meet the technology development of existing logistics field.

Utility model content

The utility model embodiment is designed to provide a kind of heavy duty AGV balance mechanism, which can hold Weight, and can guarantee balance of AGV during heavy condition downward driving, allow AGV reliable work under up to a hundred tons of carrying Make.

It, should in order to realize that the purpose of above-described embodiment, the utility model embodiment provide a kind of heavy duty AGV balance mechanism Balance mechanism includes spandrel girder and the suspension shaft for being fixed on the spandrel girder bottom, which is equipped with for solid Due to the suspension strut seat of heavy duty AGV；The spandrel girder two sides of the bottom are provided with the slot for installing bogie.

In order to guarantee the effect of spandrel girder load-bearing, which is internally provided with criss-cross reinforcing rib.

For the ease of cabling, the support plate convenient for cabling is additionally provided with inside the spandrel girder.

In order to guarantee counterbalance effect, which is sloped downwardly.

In order to further ensure counterbalance effect, hangs shaft and be made of connecting plate and shaft, which is fixed on this turn On the groove of axis, the screw hole of several spandrel girders for screw stays is provided on the connecting plate.

For the ease of the balance mechanism to be installed on heavily loaded AGV, while guaranteeing counterbalance effect, suspension both ends of the shaft peace Equipped with the suspension strut seat for being fixed on heavy duty AGV, specially the suspension both ends of the shaft passes through bearing and the suspension strut Seat is connected, which is limited by end cap and fixed.

Limit when in order to turn to bogie does not allow bogie rotational angle much, and guaranteeing can normal row after AGV is turned to It sails, a pair of metal inductive pick-up group for being limited to the bogie rotational angle is provided with around each slot Part, the metal inductive pick-up component are connected with the controller being arranged in inside the spandrel girder.

In order to accurately obtain the angle of bogie rotation, an angular encoder group is additionally provided with around each slot Part.

For precise measurement bogie rotational angle, which includes spur gear, spur gear and encoder Axis one end is fixedly connected, which is connected with absolute value encoder.

In order to guarantee the efficiency of AGV traveling, which is two-wheel group bogie.

The advantages of the utility model embodiment, is that the balance mechanism can not only bear larger weight, and can guarantee AGV In the in a basic balance of weight bearing situations downward driving.When AGV load-bearing unbalance stress can normally travel, while effectively avoid because AGV wheel caused by road is uneven can not touch ground, so as to cause when walking because lacking the such case that wanders off with joint efforts Appearance.

Detailed description of the invention

It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution of the utility model embodiment The attached drawing used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the utility model Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings Obtain other attached drawings.

Fig. 1 is heavy duty AGV balance mechanism external structure schematic diagram provided by the embodiment of the utility model.

Fig. 2 is heavy duty AGV balance mechanism schematic diagram of internal structure provided by the embodiment of the utility model.

Fig. 3 is heavy duty AGV balance mechanism bottom substance schematic diagram provided by the embodiment of the utility model.

Fig. 4 is heavy duty AGV balance mechanism schematic cross-sectional view provided by the embodiment of the utility model.

Fig. 5 is suspension pivot structure schematic diagram provided by the embodiment of the utility model.

Fig. 6 is angular encoder component structure diagram provided by the embodiment of the utility model.

Fig. 7 is angular coding device assembly schematic cross-sectional view provided by the embodiment of the utility model.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model It clearly and completely describes, it is clear that the embodiments are a part of the embodiments of the present invention, rather than whole implementation Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work The every other embodiment obtained, fall within the protection scope of the utility model.

The utility model embodiment provides a kind of heavy duty AGV balance mechanism, as shown in Figure 1, spandrel girder 1 is one piece of inside Hollow metal plate.In order to guarantee that the counterbalance effect of heavily loaded AGV, 1 liang of shoulder of spandrel girder are sloped downwardly, so that heavy duty AGV is travelled There are surpluses when shaking.As shown in figure 3,1 bottom of spandrel girder is fixed with suspension shaft 2, for balance mechanism in heavily loaded AGV row Balance is kept when sailing.As shown in figure 5, the suspension shaft 2 is made of a rectangle connecting plate 21 and a cylinder-shaped shaft 22.Shaft The groove for being correspondingly connected with 21 length of plate is provided among 22, connecting plate 21 is fixed on the groove by parts such as screw, screws. It is provided with several for can be screwed in the screw hole of spandrel girder 1 on the connecting plate 21, while 22 both ends of shaft are provided with Screw hole.As shown in figures 1 and 3, it is (outstanding to be equipped with the suspension strut seat 31,32 for being fixed on heavily loaded AGV for suspension 2 both ends of shaft Hang support base 31,32 upper ends are provided with screw hole for fixing).Specifically as shown in figure 4, having in suspension strut seat 31,32 logical Hole, bearing 311 and 321 of corresponding size is equipped on each through-hole, and suspension 2 both ends of shaft pass through the bared end of bearing 311 and 321 Portion, the end that end cap 41 and 42 clasps exposing is fastened by screw to be limited.As long as in this way by suspension strut seat 31,32 upper end spiral shells Nail is fixed on heavily loaded AGV, and entire balance mechanism can be fixed on heavily loaded AGV.

As shown in Fig. 2, spandrel girder 1 is internally provided with criss-cross reinforcing rib 101, load-bearing may further ensure that in this way The effect of 1 load-bearing of beam.The support plate 102 convenient for cabling is additionally provided with inside spandrel girder 1 simultaneously, which is not only convenient for Cabling, and the load bearing effect of spandrel girder 1 can be further strengthened.

As shown in figure 3,1 two sides of the bottom of spandrel girder are provided with the slot 11,12 for installing bogie.Slot 11,12 Surrounding is respectively and fixedly provided with a pair of metal inductive pick-up component 111,112 and for being limited to the bogie rotational angle 121,122.Each metal inductive pick-up component (does not regard out) phase with the controller being arranged in inside spandrel girder 1 in attached drawing Even.Angular coding device assembly 113,123 is additionally provided with around slot 11,12.As shown in Figure 6 and Figure 7, angular encoder group Part 113 includes spur gear 1131, which is fixedly connected with 1132 one end of encoder axis, 1132 other end of encoder axis It is connected with absolute value encoder 1133.Absolute value encoder 1133 (does not regard out) phase with the controller inside spandrel girder 1 in attached drawing Even.Guarantee the efficiency of AGV traveling due to the present embodiment, bogie is two-wheel group bogie.In this way when bogie turns to It is first detected by a metal inductive pick-up and opening angle detects, while spur gear rotation is (on spur gear and bogie The engagement of one gear) and then the rotation of encoder axis is driven, absolute value encoder just starts to calculate rotational angle at this time.If another metal Inductive pick-up detects bogie, then controller is forced to stop bogie rotation.If another metal inductive pick-up is not examined Measure bogie, but when the rotational angle that calculates of absolute value encoder is greater than limit angle, then controller can be forced to stop turning It is rotated to frame.

The metal inductive pick-up that the utility model embodiment uses is " to incude close to three line SN04-N metal of switch DC Sensor NPN " is the model sensor water-proof, grease proofing, anti-interference strong.And encoder is sick absolute value encoder.

Particular embodiments described above has carried out into one the purpose of this utility model, technical scheme and beneficial effects Step is described in detail, it should be understood that being not used to limit this foregoing is merely specific embodiment of the utility model The protection scope of utility model, within the spirit and principle of the utility model, any modification for being made, changes equivalent replacement Into etc., it should be included within the scope of protection of this utility model.

Claims (10)

1. a kind of heavy duty AGV balance mechanism, it is characterised in that: the balance mechanism includes spandrel girder and is fixed on described hold The suspension shaft in weight beam bottom portion, the suspension both ends of the shaft are equipped with the suspension strut seat for being fixed on the heavy duty AGV；Institute It states spandrel girder two sides of the bottom and is provided with slot for installing bogie.

2. balance mechanism according to claim 1, it is characterised in that: the spandrel girder is internally provided with criss-cross add Strengthening tendons.

3. balance mechanism according to claim 2, it is characterised in that: be additionally provided with inside the spandrel girder convenient for cabling Support plate.

4. balance mechanism according to claim 3, it is characterised in that: two shoulder of spandrel girder is sloped downwardly.

5. balance mechanism according to claim 1 or 4, it is characterised in that: suspension shaft is made of connecting plate and shaft, institute It states connecting plate to be fixed on the groove of the shaft, several spandrel girders for screw stays is provided on the connecting plate Screw hole.

6. balance mechanism according to claim 5, it is characterised in that: the suspension both ends of the shaft is equipped with for being fixed on The suspension strut seat of the heavy duty AGV, the specially described suspension both ends of the shaft are connected by bearing with the suspension strut seat, institute It states suspension strut seat and fixation is limited by end cap.

7. balance mechanism according to claim 6, it is characterised in that: be provided with a pair around each slot and be used for To the metal inductive pick-up component that the bogie rotational angle is limited, the metal inductive pick-up component with set The controller inside the spandrel girder is set to be connected.

8. balance mechanism according to claim 7, it is characterised in that: be additionally provided with an angle around each slot Encoder component.

9. balance mechanism according to claim 8, it is characterised in that: the angular coding device assembly includes spur gear, institute It states spur gear to be fixedly connected with encoder axis one end, the encoder axis other end is connected with absolute value encoder.

10. balance mechanism according to claim 9, it is characterised in that: the bogie is two-wheel group bogie.