CN210825280U

CN210825280U - Ultra-thin omnidirectional AGV that lifts

Info

Publication number: CN210825280U
Application number: CN201921615613.0U
Authority: CN
Inventors: 郭千元
Original assignee: Huangshi Dingxin Mechanical And Electrical Co ltd
Current assignee: Huangshi Dingxin Mechanical And Electrical Co ltd
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2020-06-23
Anticipated expiration: 2029-09-26

Abstract

The utility model relates to an ultra-thin lifting omnidirectional AGV, which is provided with a vehicle body bottom plate, wherein four corners of the bottom of the vehicle body bottom plate are embedded with universal wheels, and two sets of differential driving units are embedded in the front side and the rear side of the middle part of the bottom surface of the vehicle body bottom plate; a cam lifting mechanism is arranged on the bottom plate of the vehicle body; the lifting frame is a rectangular frame, the guide mechanism comprises guide posts and guide wheels, the guide posts are arranged on a bottom plate of the vehicle body, the guide wheels are fixedly arranged in the middle parts of the left side and the right side of the lifting frame, and the guide wheels roll up and down along the guide posts; the utility model discloses the AGV dolly can use the super low height to dive skip bottom and lift transport skip, and the action is nimble convenient, and handling efficiency is high.

Description

Ultra-thin omnidirectional AGV that lifts

Technical Field

The utility model belongs to the technical field of automatic conveying equipment technique and specifically relates to an ultra-thin omnidirectional AGV that lifts.

Background

Along with the comprehensive implementation of the strategy of 'Chinese manufacturing 2025', the manufacturing industry is encouraged to improve the automation and intelligence level of factories, a large number of factories need to upgrade and modify old equipment, and the automation and intelligence of logistics are important for realizing unmanned factories, which directly bring about the explosive growth of the mobile transfer robot (AGV) industry in recent years. When an old factory is automatically carried and modified, the problem that a large number of old material trucks used originally are low in chassis but the traditional AGV trolley is too high to automatically submerge under the material trucks for traction is often encountered. When the situation is met originally, the AGV can only be pulled in front of the skip car, but the mode usually needs to hang or release the skip car manually, and the automation level is low; in addition, the AGV pulls in front of the skip car, the required turning space is large, and old plants often do not have a large enough logistics channel, so that the AGV cannot pass through the logistics channel.

Disclosure of Invention

The utility model aims at providing an ultra-thin omnidirectional AGV that lifts to above-mentioned condition, this AGV dolly can lift transport skip with the super low height sneak into the skip bottom, and the action is nimble convenient, and handling efficiency is high.

The utility model has the following concrete scheme: an ultrathin omnidirectional lifting AGV comprises a vehicle body bottom plate, universal wheels are embedded in four corners of the bottom of the vehicle body bottom plate, and two sets of differential drive units are embedded in the front side and the rear side of the middle part of the bottom surface of the vehicle body bottom plate; the lifting mechanism comprises two sets of lifting speed reducing motors, a chain wheel and chain transmission mechanism, two cam shafts, lifting cams, a lifting frame and two sets of guide mechanisms, wherein the two ends of each cam shaft are provided with the lifting cams; the lifting frame is a rectangular frame, the guide mechanism comprises guide posts and guide wheels, the guide posts are arranged on a bottom plate of the vehicle body, the guide wheels are fixedly arranged in the middle of the left side and the right side of the lifting frame, and the guide wheels roll up and down along the guide posts.

Further, in the utility model discloses in differential drive unit is including servo gear motor, drive wheel damper and drive unit support, and wherein drive unit support and servo gear motor are fixed to be adorned on vehicle body floor, and the drive unit support is door shape support, and the drive wheel dress is in door shape support, the drive wheel through drive wheel damper with door shape support is connected, drive wheel shaft with servo gear motor transmission is connected.

Further, in the utility model discloses in the leading wheel comprises two gyro wheels, two gyro wheels pass through the mounting panel with lift frame fixed connection, two gyro wheels will correspond the guide post clamp in the centre and roll from top to bottom along the guide post lateral wall.

Further, in the utility model discloses in it still is equipped with four skip support pads that are the rectangle and distribute to lift on the panel.

Further, the utility model discloses in correspond to the upper and lower roll of leading wheel goes up and down and still is equipped with the detection switch that targets in place that goes up and down at guiding mechanism's lateral part, and this goes up and down to target in place the detection switch and adopts displacement sensor to detect.

The utility model discloses following beneficial effect has:

1. the utility model discloses the AGV is highly ultralow, and total height is below 200mm, can hide the bottom of most skip, and the skip need not reform transform or do newly, has saved the expense of old factory reform transform.

2. The cam lifting mechanism is small and compact in structure, the lifting height is 50mm, the load can reach 1000kg, and in-place detection switches are designed at the highest position and the lowest position of the cam lifting mechanism.

3. The utility model provides a differential drive unit can realize steadily walking subaerially that the unevenness is 15mm, requires lowly to the mill ground condition.

4. The utility model provides a differential drive unit's damper adopts linear guide + spring direction, has advantages such as the direction is reliable, sliding resistance is little, long service life.

5. The utility model provides a differential drive unit can manually mention the drive wheel, makes it break away from ground, makes things convenient for maintenance personal to push away the AGV.

6. The utility model discloses a AGV can realize advancing, moving backward, original place actions such as rotation, and turning radius is 0, and is little to occuping of commodity circulation passageway and line limit space, the upgrading transformation of especially adapted old factory building.

Drawings

Fig. 1 is a schematic view of the structure of the present invention in a diagonally downward direction;

FIG. 2 is a schematic view of the structure of the present invention with the bottom inclined upward;

FIG. 3 is a schematic view of the overall structure of the present invention with the lifting panel removed;

FIG. 4 is another schematic view of the overall structure of the present invention with the lifting panel removed;

fig. 5 is a schematic structural diagram of the middle differential driving unit of the present invention.

In the figure: the device comprises a material trolley supporting cushion, a lifting panel, a vehicle body bottom plate, a universal wheel, a differential driving unit, a large chain wheel, a lifting speed reducing motor, a small chain wheel, a lifting frame, a camshaft, a driving unit support, a servo speed reducing motor, a lifting cam, a supporting plate, a guide wheel, a guide column, a lifting in-place detection switch, a driving wheel and a driving wheel damping mechanism, wherein the lifting in-place detection switch comprises 1, a material trolley supporting cushion, 2, a lifting panel, 3, a vehicle body bottom plate, 4, a universal wheel, 5, the differential driving unit, 6, a large chain wheel, 7, a.

Detailed Description

Referring to fig. 1-5, the utility model relates to an ultra-thin lifting omnidirectional AGV, which comprises a vehicle body bottom plate 3, universal wheels 4 embedded in four corners of the bottom of the vehicle body bottom plate, and two sets of differential drive units 5 embedded in front and back two sides of the middle part of the bottom surface of the vehicle body bottom plate; the lifting device comprises a vehicle body base plate, a cam lifting mechanism, a lifting panel and a lifting frame, wherein the cam lifting mechanism is arranged on the vehicle body base plate and comprises two sets of lifting speed reducing motors 7, a chain wheel chain transmission mechanism, two cam shafts 10, lifting cams 13, a lifting frame 9 and two sets of guide mechanisms, the lifting cams are arranged at two ends of each cam shaft, the lifting frames are jointly lifted on the four lifting cams, the lifting panels 2 are arranged on the lifting frames, the chain wheel transmission mechanism comprises a small chain wheel 8 arranged at the output end of each lifting speed reducing motor and a large chain wheel 6 arranged on the corresponding cam shaft, and the large chain wheel and the small chain wheel are connected through chain transmission and drive the corresponding cam shafts; the lifting frame is a rectangular frame, the guide mechanism comprises guide posts 16 and guide wheels 15, the guide posts are arranged on a bottom plate of the vehicle body, the guide wheels are fixedly arranged in the middle parts of the left side and the right side of the lifting frame, and the guide wheels roll up and down along the guide posts.

Further, in this embodiment, the differential driving unit includes a servo gear motor 12, a driving wheel 18, a driving wheel damping mechanism 19 and a driving unit bracket 11, wherein the driving unit bracket and the servo gear motor are fixedly mounted on a bottom plate of the vehicle body, the driving unit bracket is a portal bracket, the driving wheel is mounted in the portal bracket, the driving wheel is connected with the portal bracket through the driving wheel damping mechanism, and a wheel axle of the driving wheel is in transmission connection with the servo gear motor.

Further, in this embodiment, the guide wheel is composed of two rollers, the two rollers are fixedly connected to the lifting frame through the support plate 14, and the two rollers clamp the corresponding guide posts therebetween and roll up and down along the side walls of the guide posts.

Furthermore, in this embodiment, four rectangular skip car support pads 1 are further disposed on the lifting panel, and the skip car support pads in this embodiment have a certain anti-skid function, are made of wear-resistant materials, and can be used as pads.

Furthermore, in the embodiment, a lifting and locating detection switch 17 is further installed on the side portion of the guide mechanism corresponding to the up-and-down rolling lifting of the guide wheel, the lifting and locating detection switch is used for detecting that the positioning guide wheel is lifted to the highest position or the lowest position, so that whether the cam reaches the highest position or the lowest position can be known, and whether the lifting frame and the skip car on the lifting frame reach the corresponding lifting height can be known.

In the embodiment, the AGV walking and steering mechanism consists of two differential driving units and four universal wheels, and can realize the functions of advancing, retreating, rotating in situ by 360 degrees and the like; the differential driving unit consists of a servo speed reduction motor, a driving wheel damping mechanism and a driving unit bracket, the structure can realize stable walking on the ground with unevenness of +/-15 mm, and meanwhile, if the driving unit fails and cannot walk, the driving wheel can be manually lifted to be separated from the ground, so that the AGV can be easily dragged off the line, and the maintenance is convenient; the cam lifting mechanism comprises a lifting speed reducing motor, a chain wheel and chain transmission mechanism, cam shafts, a guide mechanism, a lifting in-place detection switch and the like, wherein the two cam shafts are respectively driven by the two sets of lifting speed reducing motors, the cam shafts rotate to drive the cams at the end parts to rotate, the rotation of the cams drives the lifting frames on the cam shafts to generate lifting motion in height, and the lifting stroke of the cam lifting mechanism is 50 mm; the guide mechanism is composed of a guide post and a guide wheel, the guide post is installed on the vehicle body, the guide wheel is installed on the lifting frame, and the two sets of guide mechanisms are uniformly arranged in the middle of the lifting frame to prevent the lifting frame from laterally moving in the lifting process.

The utility model discloses a AGV dolly can adopt the form of remote control command control action to operate, also can adopt the infrared sensor of a plurality of directions to carry out the perception, and the mode of action is controlled by oneself, and only this kind of control form need adopt PLC to carry out programming control, and two kinds of modes can select the setting as required completely.

The AGV has the advantages that the height of the AGV is ultralow, the total height is below 200mm, the bottoms of most skip cars can be hidden, the skip cars do not need to be modified or newly manufactured, and the cost for modifying old factories is saved; the cam lifting mechanism is small and compact in structure, the lifting height is 50mm, the load can reach 1000kg, and in-place detection switches are designed at the highest position and the lowest position of the cam lifting mechanism; the differential driving unit in the utility model can realize stable walking on the ground with unevenness of +/-15 mm, and has low requirement on the ground condition of a factory; the damping mechanism of the differential drive unit in the utility model adopts the linear guide rail and the spring guide, and has the advantages of reliable guide, small sliding resistance, long service life and the like; the differential driving unit of the utility model can lift the driving wheel manually to separate the driving wheel from the ground, thereby facilitating the maintenance personnel to push away the AGV; the utility model discloses a AGV can realize advancing, moving backward, original place actions such as rotation, and turning radius is 0, and is little to occuping of commodity circulation passageway and line limit space, the upgrading transformation of especially adapted old factory building.

Claims

1. The utility model provides an ultra-thin omnidirectional AGV that lifts has the automobile body bottom plate, its characterized in that: universal wheels are embedded in four corners of the bottom of the vehicle body bottom plate, and two sets of differential drive units are embedded in the front side and the rear side of the middle part of the bottom surface of the vehicle body bottom plate; the lifting mechanism comprises two sets of lifting speed reducing motors, a chain wheel and chain transmission mechanism, two cam shafts, lifting cams, a lifting frame and two sets of guide mechanisms, wherein the two ends of each cam shaft are provided with the lifting cams; the lifting frame is a rectangular frame, the guide mechanism comprises guide posts and guide wheels, the guide posts are arranged on a bottom plate of the vehicle body, the guide wheels are fixedly arranged in the middle of the left side and the right side of the lifting frame, and the guide wheels roll up and down along the guide posts.

2. The ultra-thin, lifting, omni-directional AGV of claim 1, wherein: the differential driving unit comprises a servo speed reduction motor, a driving wheel damping mechanism and a driving unit support, wherein the driving unit support and the servo speed reduction motor are fixedly arranged on a bottom plate of a vehicle body, the driving unit support is a portal support, the driving wheel is arranged in the portal support, the driving wheel is connected with the portal support through the driving wheel damping mechanism, and a driving wheel axle is in transmission connection with the servo speed reduction motor.

3. The ultra-thin, lifting, omni-directional AGV of claim 1, wherein: the guide wheel is composed of two rollers, the two rollers are fixedly connected with the lifting frame through a support plate, and the two rollers clamp the corresponding guide columns in the middle and roll up and down along the side walls of the guide columns.

4. The ultra-thin, lifting, omni-directional AGV of claim 1, wherein: four material vehicle supporting pads which are distributed in a rectangular shape are further arranged on the lifting panel.

5. The ultra-thin, lifting, omni-directional AGV of claim 1, wherein: and a lifting in-place detection switch is arranged on the side part of the guide mechanism corresponding to the up-and-down rolling lifting of the guide wheel and is used for detecting by adopting a displacement sensor.