CN209972287U - AGV (automatic guided vehicle) for transporting railway carriage - Google Patents

AGV (automatic guided vehicle) for transporting railway carriage Download PDF

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Publication number
CN209972287U
CN209972287U CN201920534277.0U CN201920534277U CN209972287U CN 209972287 U CN209972287 U CN 209972287U CN 201920534277 U CN201920534277 U CN 201920534277U CN 209972287 U CN209972287 U CN 209972287U
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agv
transport
car
vehicle
hydraulic
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CN201920534277.0U
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孙鹏飞
耿昊然
程浚远
杨一凡
任昕芸
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Southwest Jiaotong University
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Southwest Jiaotong University
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Abstract

The utility model relates to an AGV transporting vehicle for transporting a railway carriage, which comprises a vehicle body; a rail is arranged on the top of the car body, two ends of the rail are respectively provided with a hook lifting machine fixed on the car body, and two ends of the bottom of the car body are respectively provided with a hook assembly used for connecting two AGV transport cars; at least two groups of bogies are arranged at the bottom of the vehicle body; the car coupler assembly is a sand silo car coupler; the upper side and the lower side of one end of the sand silo coupler are respectively provided with a distance sensor; the bogie comprises a frame, main beams arranged at two ends of the frame and a jacking device arranged at the geometric center of the frame; two ends of the main beam are respectively connected with the wheel bearings, and the middle part of the main beam is provided with traction rods respectively connected with the two wheels; the traction rod is in power connection with a steering motor; distance sensor, jacking device and turn to the motor and all with AGV hauler on-board computer electric connection.

Description

AGV (automatic guided vehicle) for transporting railway carriage
Technical Field
The utility model belongs to the technical field of automated guided vehicle, concretely relates to AGV transport vechicle for railway carriage transports.
Background
Agv (automated Guided vehicle), an automated Guided vehicle, is an automated transport vehicle for transporting goods over short distances. The load is loaded on top of the AGV and if the size is large, the necessary securing measures should also be taken. The AGV power generally adopts a battery as power, is provided with a non-contact guiding device and can meet the requirements of automatic driving and unmanned driving for automatically conveying transported objects. The AGV can accurately walk and stop to a specified place according to the path planning and the operation requirements under the monitoring of the computer, and the operation task is completed.
The marshalling station is a station which is used for a large number of train decompiling operations, direct marshalling and other trains, and has the main task of handling a large number of train disassembling and marshalling operations according to the requirements of a train marshalling plan. In the current cargo trains operated by railway departments, except for a few cargo trains with fixed marshalling, such as container cargo trains, special trains and the like, other trains have no fixed marshalling and stop stations. All the freight trains need to be marshalled at a station, moved to a corresponding marshalling station for disassembly and marshalling operation, and then moved to the next station. The operations of train decompiling, shunting and marshalling are collectively called "shunting operation".
The method is divided into an arrival field, a grouping field and a departure field in arrangement, and the working flow is as follows: after the freight train enters the arrival yard, the shunting machine pushes the wagon carriages to the hump, and the wagon carriages are disassembled into a plurality of single or multi-section carriage combinations and slide to each station track of the marshalling yard by using gravity. Since the cars of a freight train are long and each disassembled car needs to enter a different track, this process needs to be repeated many times until the disassembled train is completely disassembled. The station track of the marshalling yard is provided with a brake system, and a dispatcher operates the brake system to enable the boxcar sliding to the marshalling yard to move forwards at a certain speed and be hung on a vehicle stopped at the marshalling yard. When the carriages of one of the tracks are marshalled, namely, when the carriages are marshalled into a new train of goods according to the requirements, the shunting machine sends the train to the departure place. After the new freight train is hung on the lead locomotive at the departure place, the new freight train drives to the target station according to the station signal.
The AGV can transport a container of about 61 tons by adopting a four-wheel turning mode, and has better controllability and smaller turning radius on the premise that the moving speed is less than 40 km/h. The AGV is driven by a battery, and the AGV can continuously run for 12 hours after being fully charged due to the use of a high-capacity lithium battery. The AGV runs in a port by adopting a magnetic nail navigation mode, taking the four-phase project of the Yangshan port as an example, 61483 screws are buried in the ground for navigation.
The AGV acts as a "handler" for the automated terminal, by which containers need to be transported from the shore bridge to below the rail crane of the yard, or from the yard to the shore bridge. The lithium battery driven AGV provided for the Yangshan in the fourth phase by the jowling heavy work adopts the most advanced technology at present, and has the functions of self fault diagnosis, self electric quantity monitoring and the like besides unmanned driving, automatic navigation, path optimization and active obstacle avoidance. Guided by wireless communication equipment, an automatic dispatching system and a plurality of 6 thousand magnetic nails laid on the ground, the AGV can smoothly, safely and freely shuttle on a busy wharf site and accurately reach an appointed parking position through precise positioning. The unique hydraulic jacking mechanism enables the AGV and the rail crane to be free from passive waiting, solves the decoupling problem between horizontal transportation and yard operation, and effectively improves the equipment utilization rate. The AGV can continuously run for 12 hours after being fully charged due to the use of the high-capacity lithium battery, the transportation time is long based on the high-capacity battery, and the weight of the AGV is about 6 tons; the domestic initiated automatic power station replacement technology of the Vighua heavy industry ensures that the AGV only needs 6 minutes in the whole battery replacement process and only needs 2 hours for full charge of the battery.
However, the prior art has the following defects:
the AGV can only longitudinally run and turn, and cannot transversely run;
no connection, either mechanical or electrical, can be made between the AGV vehicles;
the inability of AGV vehicles to transport cargo other than containers fails to transport the rail cars.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to the above-mentioned among the prior art not enough, provide an AGV transport vechicle for railway carriage transports to solve or improve above-mentioned problem.
In order to achieve the purpose, the utility model adopts the technical proposal that:
an AGV transport vehicle for railway car transport, comprising a vehicle body; a rail is arranged on the top of the car body, two ends of the rail are respectively provided with a hook lifting machine fixed on the car body, and two ends of the bottom of the car body are respectively provided with a hook assembly used for connecting two AGV transport cars; at least two groups of bogies are arranged at the bottom of the vehicle body;
the car coupler assembly is a sand silo car coupler; the upper side and the lower side of one end of the sand silo coupler are respectively provided with a distance sensor; the bogie comprises a frame, main beams arranged at two ends of the frame and a jacking device arranged at the geometric center of the frame; two ends of the main beam are respectively connected with the wheel bearings, and the middle part of the main beam is provided with traction rods respectively connected with the two wheels; the traction rod is in power connection with a steering motor;
distance sensor, jacking device and turn to the motor and all with AGV hauler on-board computer electric connection.
Preferably, the distance sensor is an LK-G3000 laser displacement sensor.
Preferably, the jacking device is an RSC-5050 hydraulic jacking device.
Preferably, the top of the RSC-5050 hydraulic jacking device is fixedly connected with the bottom of the vehicle body.
Preferably, the inner sides of the rails are provided with extrusion plates driven by hydraulic devices, the hydraulic devices are electrically connected with an AGV transport vehicle-mounted computer, and NM400 wear-resistant alloy steel is welded on one side, close to the rails, of each extrusion plate.
Preferably, the hydraulic device is a hydraulic piston cylinder for DYTZ engineering.
Preferably, a piston rod of the hydraulic device is fixedly connected with the extrusion plate.
The utility model provides a AGV transport vechicle for railway carriage transports has following beneficial effect:
the utility model discloses when needing to connect between two AGV, at first assign control command for waiting to connect two AGV by control system, two AGV that receive the command are close to gradually, and distance sensor detects two AGV longitudinal distance and horizontal deviation and adjusts simultaneously, and final two AGV distances accomplish when being 0 and connect, the utility model discloses can realize connecting between the AGV vehicle, solve and can not connect between the current AGV vehicle, no matter be mechanical connection or electrical connection's problem.
The automatic lifting device is characterized by transversely running, wherein two groups of bogies are arranged at the bottom of the AGV vehicle body, the whole bogie rotates around the lifting device, the upper part of the lifting device is connected with the AGV vehicle body frame, when the included angles between the two groups of bogies and the AGV vehicle body frame reach 90 degrees, the rotating process of the bogies is finished, and at the moment, the AGV vehicle can transversely move; when the AGV needs to move longitudinally, only two groups of bogies need to be rotated back; the problem that the existing AGV can only longitudinally run and turn and cannot transversely run is effectively solved.
The method comprises the following steps that railway carriages are conveyed, rails are arranged on the top of an AGV vehicle body, when the AGV is in a standby state, a squeezing plate is in the standby state, and a certain gap is reserved between the squeezing plate and the inner side of each rail, so that the carriages can smoothly pass through the rails; when the upper carriage needs to be decelerated and the bogie of the carriage just passes through the working area of the extrusion plate, the extrusion plate works and moves to the side of the rail to extrude the wheel rim of the carriage wheel to decelerate the carriage wheel; when the locking is needed, the extrusion plate keeps an extrusion state, and the carriage wheels are locked by using friction force; when the carriage needs to move, the extrusion plate is loosened to the side far away from the rail, and the standby state is recovered, so that the wheels can roll; the problem that the existing AGV cannot transport goods except containers to transport railway carriages is effectively solved.
Drawings
FIG. 1 is a block diagram of an AGV transport for railway car transport.
FIG. 2 is a top view of an AGV transport truck for railway car transport.
FIG. 3 is a rear view of an AGV transport truck for railway car transport.
FIG. 4 is a schematic illustration of lateral transport of an AGV for railway car transport.
FIG. 5 is a schematic view of an AGV transport for railway car transport in the longitudinal direction.
FIG. 6 is a diagram of an AGV deflector standby state for railway car transport.
FIG. 7 is a diagram of the AGV pallet squeeze board operation for railway car delivery.
FIG. 8 is a block diagram of two sets of coupler assemblies coupled together when two AGV transports are coupled together for transport of a railway car.
Wherein, 1, a hook lifting machine; 2.a rail; 3.a bogie; 4. a power source; 5. a coupler assembly; 6. a vehicle body; 7. a distance sensor; 8. a base; 31. a main beam; 32. a frame; 33. a jacking device; 34. a wheel; 35. a steering motor; 36. a drive motor; 37. a draw bar; 21. a carriage wheel; 22. a hydraulic device; 23. a piston rod; 24. and (5) pressing the plate.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art within the spirit and scope of the present invention as defined and defined by the appended claims.
According to an embodiment of the application, referring to fig. 1, the AGV transport vehicle for transporting a railway carriage comprises a vehicle body 6, a rail 2 is arranged at the top of the vehicle body 6, a hook lifting machine 1 fixed on the vehicle body 6 is respectively arranged at two ends of the rail 2, and a coupler assembly 5 for connecting two AGV transport vehicles is arranged at each end of the bottom of the vehicle body 6; at least two groups of bogies 3 are arranged at the bottom of the vehicle body 6.
Referring to fig. 8, coupling subassembly 5 is the sand storehouse coupling, and the sand storehouse coupling is prior art, also is the tight-lock type coupling of sand storehouse, and prior art is used for connecting between the EMUs, the utility model discloses borrow the tight-lock type coupling of sand storehouse in view of EMUs, directly be applied to it and be connected between two AGV transport vechicles. Because this structure is prior art, the event is in the utility model discloses its specific structure is no longer being repeated.
The sand silo coupler is fixed on an AGV transport vehicle body 6 through a base 8, and the connection mode can be bolt fixing or welding.
And the upper side and the lower side of one end of the sand silo coupler are respectively provided with a distance sensor 7, and the distance sensors 7 are in signal connection with an on-board computer of the AGV transport vehicle.
The two distance sensors 7 detect the distance between the two AGVs in real time and upload the distance information to an on-board computer of the AGV.
When needing to be connected between two AGV, at first assign control command for waiting two AGV that connect by external control system or AGV haulage vehicle on-board computer, receive two AGV of command and be close to gradually, distance sensor 7 begins work simultaneously, detects the distance between two AGV, when the distance between two AGV is 0, accomplishes the connection through the sand storehouse coupling.
Referring to fig. 2 and 3, the bogie 3 is used to perform the function of moving the AGV transport both longitudinally and laterally.
The hydraulic lifting device specifically comprises a frame 32, main beams 31 arranged at two ends of the frame 32 and a lifting device 33 arranged at the geometric center of the frame 32, wherein the lifting device 33 is an RSC-5050 hydraulic lifting device 33, and the top of the lifting device 33 is connected with the bottom of the vehicle body 6.
Two ends of the main beam 31 are respectively connected with the wheel 34 bearings, and the middle part of the main beam 31 is provided with a traction rod 37 which is respectively connected with the two wheels 34 and is used for controlling the transverse swing amplitude of the wheels 34; the traction rod 37 is in power connection with the steering motor 35.
The two sets of traction rods 37 are displaced individually to ensure that the angle between the wheels 34 and the main beam 31 is no longer 90 degrees and rotation occurs.
The jacking device 33 and the steering motor 35 are both electrically connected with the AGV transportation vehicle-mounted computer and are also connected with an external computer, namely, the jacking device and the steering motor are controlled by the AGV transportation vehicle-mounted computer and the external control system computer at the same time.
The working principle of the bogie 3 is as follows:
the bottom that is located AGV vehicle automobile body 6 sets up two sets of bogies 3, and whole bogie 3 takes place to rotate around jacking device 33, and the automobile body 6 frame 32 of AGV vehicle is connected to jacking device 33 upper portion.
The steering motor 35 receives an action instruction of an AGV transportation vehicle-mounted computer or an external control system computer, and controls the movement of the traction rods 37, and the two groups of traction rods 37 respectively displace; the drawbar 37 moves to steer the wheel 34.
Referring to fig. 4, when the included angles between the two sets of bogies 3 and the frame 32 of the AGV vehicle body 6 reach 90 degrees, the rotation process of the bogies 3 is finished, and the AGV vehicle can move transversely;
referring to fig. 5, when the AGV needs to move longitudinally, it is only necessary to turn back the two sets of bogies 3.
The utility model discloses an effective cooperation of two sets of bogies 3 realizes the multi-direction removal of automobile body 6 to realized the transverse motion and the longitudinal motion of automobile body 6, solved current AGV vehicle effectively and can only vertically move and turn, unable transverse motion's problem.
Referring to fig. 6, the two rails 2 are provided with squeezing plates 24 driven by hydraulic devices 22 at the inner sides, the hydraulic devices 22 are electrically connected with an AGV transport vehicle-mounted computer, and NM400 wear-resistant alloy steel is welded on one side of the squeezing plates 24 close to the rails.
The hydraulic device 22 is a hydraulic piston cylinder for DYTZ engineering, a piston rod 23 of the hydraulic device 22 is fixedly connected with an extrusion plate 24, the hydraulic piston cylinder operates, the piston rod 23 is pushed out to drive the extrusion plate 24 to approach the rail and the carriage wheels 21 until the extrusion plate extrudes the carriage wheels 21 (as shown in FIGS. 6 and 7);
when the piston cylinder works, the piston rod 23 contracts to drive the extrusion plate 24 to be away from the track and the carriage wheel 21 until a certain gap exists between the extrusion plate and the carriage wheel 21.
The operating principle of the rail 2 is as follows:
when the AGV is in the standby state, the pressing plate 24 is in the standby state, and a certain gap (shown in fig. 6) is left from the inner side of the rail 2, so that the car can smoothly pass through the rail 2; when it is detected that the car above needs to be decelerated and the bogie 3 passes right through the working area of the squeeze plate 24, the squeeze plate 24 is operated to move toward the rail 2 side, squeezing the rim of the car wheel 21 to decelerate it (as shown in fig. 7). When locking is needed, the extrusion plate 24 keeps an extrusion state, and the carriage wheels 21 are locked by using friction force; when the carriage needs to move, the pressing plate 24 is released to the side far away from the rail 2, and the standby state is restored, so that the carriage wheels 21 can roll.
The utility model discloses set up two rails 2 at 6 tops of AGV automobile body to under the cooperation between rail 2 and stripper plate 24 is used, realize a plurality of operating condition of carriage on rail 2, solved the unable problem that transports the unable railway carriage of goods except the container of current AGV vehicle effectively.
The hook lifting machine of the utility model is the prior art in the field, is not taken as the technical protection point of the utility model, and the structure thereof can refer to the following documents, so the mechanism thereof is not repeated in the specification of the utility model;
a first thesis: and an inner step of designing and manufacturing an automatic unhooking robot model [ D ]. southwest university of transportation, 2017.
A second article: gorgeous super railway wagon unhooking robot design and simulation study [ D ]. Shijiazhuang railway university, 2013.
The coupler lifting machine 1 has the function that when the truck coupler runs onto the automatic coupler lifting machine 1, after the coupler lifting machine 1 lifts the truck coupler, the section of the carriage is unwoven, and the coupler lifting machine 1 lifts the carriage to the top of the truck body 6 for transportation.
While the present invention has been described in detail with reference to the embodiments, the scope of the present invention should not be limited to the embodiments. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the appended claims.

Claims (7)

1. An AGV transport vehicle for railway car transport, comprising: comprises a vehicle body; a rail is arranged on the top of the car body, two ends of the rail are respectively provided with a hook lifting machine fixed on the car body, and two ends of the bottom of the car body are respectively provided with a car coupler assembly used for connecting two AGV transport cars; at least two groups of bogies are arranged at the bottom of the vehicle body;
the car coupler assembly is a sand silo car coupler; the upper side and the lower side of one end of the sand silo coupler are respectively provided with a distance sensor; the bogie comprises a frame, main beams arranged at two ends of the frame and a jacking device arranged at the geometric center of the frame; two ends of the main beam are respectively connected with the wheel bearings, and the middle part of the main beam is provided with traction rods respectively connected with the two wheels; the traction rod is in power connection with the steering motor;
distance sensor, jacking device and turn to the motor and all with AGV hauler on-board computer electric connection.
2. An AGV transport for transport of a railway car according to claim 1, further comprising: the distance sensor is an LK-G3000 laser displacement sensor.
3. An AGV transport for transport of a railway car according to claim 1, further comprising: the jacking device is an RSC-5050 hydraulic jacking device.
4. An AGV transport for railway car transport according to claim 3 wherein: the top of the RSC-5050 hydraulic jacking device is fixedly connected with the bottom of the vehicle body.
5. An AGV transport for transport of a railway car according to claim 1, further comprising: the rail inboard all sets up hydraulic means driven stripper plate, hydraulic means and AGV transport vechicle on-board computer electric connection, and the stripper plate is close to track one side welding has the wear-resisting alloy steel of NM 400.
6. An AGV transport for railway car transport according to claim 5 wherein: the hydraulic device is a hydraulic piston cylinder for DYTZ engineering.
7. An AGV transport for railway car transport according to claim 6 wherein: and a piston rod of the hydraulic device is fixedly connected with the extrusion plate.
CN201920534277.0U 2019-04-17 2019-04-17 AGV (automatic guided vehicle) for transporting railway carriage Active CN209972287U (en)

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CN201920534277.0U CN209972287U (en) 2019-04-17 2019-04-17 AGV (automatic guided vehicle) for transporting railway carriage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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CN209972287U true CN209972287U (en) 2020-01-21

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112388373A (en) * 2020-09-11 2021-02-23 中铁物总资源科技有限公司 Automatic overturning method for railway scrapped vehicle carriage underframe

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112388373A (en) * 2020-09-11 2021-02-23 中铁物总资源科技有限公司 Automatic overturning method for railway scrapped vehicle carriage underframe

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