CN219641197U - AGV chassis rigidity detection device - Google Patents
AGV chassis rigidity detection device Download PDFInfo
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- CN219641197U CN219641197U CN202320311053.XU CN202320311053U CN219641197U CN 219641197 U CN219641197 U CN 219641197U CN 202320311053 U CN202320311053 U CN 202320311053U CN 219641197 U CN219641197 U CN 219641197U
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Abstract
The utility model discloses an AGV chassis rigidity detection device, which relates to the technical field of AGV detection and is used for measuring the distance from the lower surface of an AGV chassis to the bottom surface.
Description
Technical Field
The utility model relates to AGV trolley detection, in particular to an AGV chassis rigidity detection device.
Background
At present, in the research and development field of AGV dolly, neglect the importance of AGV chassis rigidity measurement easily, often find AGV dolly structure, control performance all under the good circumstances, the AGV dolly still appears skidding, the circumstances of slope easily in the motion process, and often can't solve this kind of circumstances completely after through upgrading control software and structural layout and relation of connection, thereby the theory of measuring chassis rigidity improves AGV operation defect has appeared through the research. In order to measure the rigidity of the AGV chassis, the ground clearance of the test point of the AGV chassis needs to be measured, the precision of the traditional measuring tool such as a vernier caliper, a steel rule and the like is poor, the vertical precision of the measuring tool and the ground is poor, and the measuring precision of the traditional measuring mode is insufficient due to errors generated by reading. And because the flatness of the ground of most production workshops at present does not meet the measurement requirement of the rigidity of the AGV chassis, the error generated by the flatness of the ground on the measurement of the rigidity of the chassis is large, and the conventional flatness of the ground cannot meet the measurement requirement of the rigidity of the chassis, so that the tool is adopted on the precision problem of measuring the rigidity of the AGV chassis.
Disclosure of Invention
The utility model provides an AGV chassis rigidity detection device which comprises an improved metering device aiming at the defects of a measuring tool in the prior art.
The following scheme is specifically provided:
the utility model provides a AGV chassis rigidity detection device for measure AGV chassis lower surface to the distance of bottom surface, including metering device, metering device includes the base, fixed blade on the base, the chi frame of installing on the blade and fix the feeler lever on the chi frame, the feeler lever is kept away from the one end of chi frame and is the probe end, and the feeler lever is connected one end with the chi frame and is the stiff end, and surface mounting has the probe that upwards protrudes on the probe end, and relative motion when measuring, feeler lever and blade are moved to the bottom surface, and the feeler lever lower surface laminates with the bottom surface.
As an alternative, the lower surface of the probe beam is a chamfer deepened toward the probe end.
As an alternative scheme, the base includes balancing piece and flexure-resisting roof beam, and the balancing piece includes balancing piece main part and balancing piece extension, and the flexure-resisting roof beam is fixed in balancing piece extension upper surface, and flexure-resisting roof beam one end is connected with fixed part, and blade bottom and fixed part are connected.
As an alternative, the length of the probe beam is 100mm-600mm.
As an alternative, the height of the probe end of the probe beam is 0.12mm less than that of the fixed end, the length of the probe beam is 500mm, and the upper section of the probe is 2mm higher than the upper surface of the probe beam.
As an alternative, the metering device adopts a digital display height ruler.
Aiming at the defects of measuring tools in the prior art, the utility model provides an AGV chassis rigidity detection device which comprises a leveled test platform.
The following scheme is specifically provided:
the utility model provides an AGV chassis rigidity detection device, includes test platform, and the AGV dolly is arranged in test platform, test platform include adjustable plane, adjustable foot cup and spirit level, adjustable planar bottom is equipped with the adjustable foot cup more than three, makes adjustable plane level through the regulation of adjustable foot cup, the bottom surface is adjustable planar upper surface.
As an alternative, the adjustable cup comprises a rubber pad at the bottom, the compression amount of the rubber pad is 10 -3 Within the order of mm.
As an alternative, the rubber pad has a compression of less than 0.01mm and a pressure of less than 9Mpa.
As an alternative, the thickness of the rubber pad is 2mm-5mm, the diameter of the rubber pad is 50mm-150mm, and the Shore hardness of the rubber pad is A60-A90.
The utility model has the beneficial effects that:
by adopting the AGV chassis rigidity detection device provided by the scheme, the measurement accuracy is obviously improved.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic diagram of a conventional digital display height ruler for wide land;
FIG. 2 is a schematic diagram of a modified digital display height ruler;
FIG. 3 is a schematic view of another improved digital display height ruler for continental use;
FIG. 4 is a schematic diagram of the torque principle of the structure of FIG. 3;
FIG. 5 is a schematic view of the upper and lower surface structures of a sonde;
FIG. 6 is a schematic view of the AGV being placed on a measurement platform and measuring the height of the chassis using a metering device.
Detailed Description
The present utility model will be described in further detail with reference to the following examples, which are illustrative of the present utility model and are not intended to limit the present utility model thereto.
Example 1
The utility model provides a AGV chassis rigidity detection device for measure AGV chassis lower surface to the distance of bottom surface, including metering device, metering device includes base 10, fixed blade 11 on the base, the chi frame 12 of installation on the blade and fix the feeler beam 13 on the chi frame, the one end that the chi frame was kept away from to the feeler beam is the probe end, and the feeler beam is connected one end with the chi frame and is the stiff end, and probe end upper surface mounting has the probe 14 that upwards protrudes, and the relative motion when measuring, blade and blade, the feeler beam lower surface laminating with the bottom surface when the feeler beam moved to the bottom surface.
The measuring device for measuring the distance adopts an improved digital display height ruler for the wide land, the existing digital display height ruler for the wide land is shown in fig. 1, the traditional height ruler measuring claw can only measure the difference value of the height by measuring the upper surface, but the rigidity difference value of the chassis needs to measure the upper surface of the platform and the lower surface of the chassis. The improved structure is shown in fig. 2, 3, 4 and 5. The measuring claw of the digital display height ruler is improved into a long rod cantilever and a probe structure with the top end of the cantilever protruding upwards, so that the chassis rigidity is convenient to measure.
The height of the probe is H, the height H of the probe is the distance from the upper plane of the probe to the upper plane of the probe, the value of the height H of the probe is a certain height according to a given value in a design standard, and the scheme adopts 2mm, namely the upper section of the probe is 2mm higher than the upper surface of the probe beam.
Since the longer the probe beam, the greater the deflection caused by its own weight and the greater the influence on accuracy, this is solved by making the probe end height of the probe beam smaller than the fixed end height, wherein the lower surface of the probe beam is a chamfer 16 deepening toward the probe end, and the upper surface 15 of the probe beam is a plane with respect to the chamfer, see fig. 5.
As a preferable scheme, the length of the cantilever is 100mm-600mm. Preferably a probe beam is disclosed having a length of 500mm, the probe end of the probe beam being 0.12mm less than the height of the fixed end. According to different test depths, a cantilever with proper span is selected, the larger the span of the cantilever is, the larger the correction value D is, and when the measurement precision is 0.01mm, the vertical drop value is required to be 10 -3 And the magnitude correction is carried out on the magnitude of more than mm, the correction value is taken by adopting a tail removal method, and the lower bottom surface of the cantilever is guaranteed to be attached to the test platform. The correction value thereof is the chamfer depth disclosed above.
| Beam penetrating model | Beam span L/mm | Vertical drop value D z /mm | Correction value D/mm |
| A1 | 100 | 0.000056 | 0 |
| A2 | 200 | 0.002 | 0 |
| A3 | 300 | 0.013 | 0.01 |
| A4 | 400 | 0.047 | 0.04 |
| A5 | 500 | 0.123 | 0.12 |
| A6 | 600 | 0.266 | 0.26 |
The utility model further discloses an AGV chassis rigidity detection method, which comprises the following steps: the AGV trolley is in an empty load state to measure the distance between a plurality of test points of the chassis and the test platform; the center load of the lifting plate of the AGV trolley is arranged to enable the AGV trolley to be in a lifting full-load state; and measuring the distance between the same test point in the full load state and the test platform, calculating the absolute value of the difference value, and analyzing the rigidity of the chassis by using the absolute value of the difference value. Refer to the structure of fig. 5.
Performing analysis of different dimensions on the rigidity of the chassis according to the requirement, and performing grouping detection on the test points, wherein the grouping detection comprises grouping of chassis rigidity centrosymmetric test points, grouping of chassis rigidity axisymmetric test points and grouping of left and right chassis rigidity test points;
and detecting the rigidity central symmetry of the chassis through central symmetry test point data, detecting the axisymmetric rigidity of the chassis through axisymmetric test point data, and detecting the left and right rigidity of the chassis through left and right rigidity test point data.
At this time, the measuring device is used for measuring the height of the AGV in the idle and full load states, so as to obtain measurement data and provide accurate data for the later rigidity analysis.
Referring to fig. 3, a solution for improving the base is further proposed, in order to solve the problem of excessive moment caused by the increase of the arm of force of the cantilever, the length of the base is properly lengthened, such as a flexural beam 10-3 and a counterweight in the figure, wherein the counterweight comprises a counterweight main body 10-1 and a counterweight extension 10-2, the flexural beam 10-3 is fixed on the upper surface of the counterweight extension 10-2, one end of the flexural beam is connected with a fixing part 10-4, and the bottom end of a ruler 11 is connected with the fixing part 10-4. The balance block main body is arranged at the tail end of the whole base, so that the gravity center of the balance weight is far away from a fulcrum, the force arm is increased, the weight of the balance weight is reduced, and materials are saved.
The main parameters of the mass of the base balance weight and the feasibility design of the length of the flexural beam are the distance parameter of the center of gravity of the balance weight from the fulcrum, the center of gravity mass of the balance weight, the detection Liang Libei and the like, the moment is calculated through the data, and the size of the base is simulated through simulation software. The design principle is shown with reference to fig. 4, wherein the probe Liang Libei L1, the fulcrum is positioned at the bottom of the ruler body, the base arm of force L2, the probe and the AGV chassis contact induction force F1, and the gravity center mass G of the balance weight is according to the mechanics principle, and the finally designed product needs to meet the following formula: 1.2 XF1×L1.ltoreq.XGxL2.
Example 2:
the utility model provides an AGV chassis rigidity detection device, includes test platform, places test platform with the AGV dolly, eliminates the influence that the bottom surface unevenness brought. The testing platform comprises an adjustable plane, adjustable foot cups and a level meter, wherein more than three adjustable foot cups are arranged at the bottom of the adjustable plane, the adjustable plane is horizontal through adjustment of the adjustable foot cups, and the bottom surface is the upper surface of the adjustable plane. Because the change of AGV chassis under load and empty load state is tiny, so in order to reduce the accuracy problem that the deformation of test platform self brought to data, the ground area of contact of rubber pad needs to be enlarged as far as possible, selects the rubber pad material that hardness is big. The overall structure is referred to in fig. 6.
As a preferable scheme, the adjustable foot cup comprises a rubber pad at the bottom, and the compression amount of the rubber pad is 10 -3 Within the order of mm. The rigidity deformation of the AGV chassis is measured to be 0.67mm-3.5mm, and the rigidity deformation magnitude of the chassis is 10 0 mm，In order to reduce the influence of the test platform on the rigidity of the chassis, the compression amount of the rubber pad on the foot cup needs to be controlled to be 10 -3 In the order of mm.
As a preferable scheme, the compression amount of the rubber pad is smaller than 0.01mm, and the pressure is lower than 9Mpa. Several parametric tests were designed under this condition as follows.
Shore hardness A50
| Rubber pad diameter | Thickness of (L) | Compression amount | Pressure intensity |
| 149mm | 5mm | 0.0098mm | 0.3mpa |
| 126mm | 4mm | 0.0098mmm | 0.5mpa |
| 102mm | 3mm | 0.0097mm | 0.7mpa |
| 75mm | 2mm | 0.0099mm | 1.4mpa |
Shore hardness A60/u
| Rubber pad diameter | Thickness of (L) | Compression amount | Pressure intensity |
| 138mm | 5mm | 0.0099mm | 0.4mpa |
| 117mm | 4mm | 0.0098mm | 0.6mpa |
| 94mm | 3mm | 0.01mm | 0.9MPa |
| 70mm | 2mm | 0.0096mm | 1.6mpa |
Shore hardness A70
| Rubber pad diameter | Thickness of (L) | Compression amount | Pressure intensity |
| 147mm | 6mm | 0.0098mm | 0.4mpa |
| 128mm | 5mm | 0.0099mm | 0.5mpa |
| 108mm | 4mm | 0.01mm | 0.7mpa |
| 88mm | 3mm | 0.0096mm | 1mpa |
| 65mm | 2mm | 0.0096mm | 1.8mpa |
Shore hardness A80
| Rubber pad diameter | Thickness of (L) | Compression amount | Pressure intensity |
| 136mm | 6mm | 0.0099mm | 0.4mpa |
| 119mm | 5mm | 0.0098mpa | 0.5mpa |
| 101mm | 4mm | 0.0097mpa | 0.7mpa |
| 81mm | 3mm | 0.0099mpa | 1.2mpa |
| 60mm | 2mm | 0.0097mpa | 2.1mpa |
Shore hardness A90
| Rubber pad diameter | Thickness of (L) | Compression amount | Pressure intensity |
| 142mm | 7mm | 0.0097mm | 0.4mpa |
| 126mm | 6mm | 0.0099mm | 0.5mpa |
| 110mm | 5mm | 0.0099mm | 0.6mpa |
| 93mm | 4mm | 0.0099mm | 0.9mpa |
| 75mm | 3mm | 0.0099mm | 1.4mpa |
| 56mm | 2mm | 0.0095mm | 2.4mpa |
As a preferable scheme, the thickness of the rubber pad is 2mm-5mm, the diameter of the rubber pad is 50mm-150mm, and the Shore hardness of the rubber pad is A60-A90.
Further selecting parameters considering cost dimension as follows: diameter of rubber pad: 56mm, thickness: 2mm, shore hardness: A90.
the level gauge adopts a high-precision digital display angle level gauge with 0.01 degree precision, and the level gauge is matched with the foot cup to adjust the levelness of the test platform; and measuring the inclination angle of the test platform by adopting a high-precision digital display angle level meter, adjusting the foot cup, and adjusting the heights of four fixed points of the test platform.
The foregoing is merely illustrative of specific embodiments of the present utility model, and the scope of the present utility model is not limited thereto, but any changes or substitutions within the technical scope of the present utility model should be covered by the scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a AGV chassis rigidity detection device for measure AGV chassis lower surface to the distance of bottom surface, including metering device, metering device includes the base, fixed blade on the base, the chi frame of installation on the blade and fix the cantilever on the chi frame, the cantilever is the probe end for the one end of keeping away from the chi frame, the cantilever is the stiff end with the chi frame connection one end, probe end upper surface mounting has the probe that upwards protrudes, the relative motion of chi frame and blade when measuring, the cantilever lower surface laminating with the bottom surface when the cantilever moves to the bottom surface.
2. The AGV chassis rigidity detection device according to claim 1 wherein the lower surface of the probe beam is a beveled surface deepening toward the probe end.
3. The AGV chassis rigidity detection device according to claim 1, wherein the base includes a weight and a flexure beam, the weight includes a weight body and a weight extension, the flexure beam is fixed to an upper surface of the weight extension, one end of the flexure beam is connected with a fixing portion, and a bottom end of the blade is connected with the fixing portion.
4. The AGV chassis rigidity detection device according to claim 1, wherein the length of the feeler beam is 100mm-600mm.
5. The AGV chassis rigidity detection device according to claim 1, wherein the probe end of the probe beam is 0.12mm less than the height of the fixed end, the probe beam is 500mm longer, and the upper cross section of the probe is 2mm higher than the upper surface of the probe beam.
6. The AGV chassis rigidity detection apparatus according to any one of claims 1 to 5 wherein said metering device employs a digital display height gauge.
7. The utility model provides an AGV chassis rigidity detection device, its characterized in that includes test platform, the AGV chassis rigidity detection device of any one of claims 1-6, and the AGV dolly is arranged in test platform, test platform include adjustable plane, adjustable foot cup and spirit level, adjustable planar bottom is equipped with the adjustable foot cup more than three, makes adjustable plane level through the regulation of adjustable foot cup, the bottom surface is adjustable planar upper surface.
8. The AGV chassis rigidity test device according to claim 7 wherein said adjustable foot cup comprises a bottom rubber pad having a compression of 10 -3 Within the order of mm.
9. The AGV chassis rigidity detection device according to claim 8, wherein the compression amount of the rubber pad is less than 0.01mm and the pressure is less than 9Mpa.
10. The AGV chassis rigidity testing apparatus according to claim 8 or 9, wherein the rubber pad has a thickness of 2mm to 5mm, a diameter of 50mm to 150mm, and a shore hardness of a60 to a90.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320311053.XU CN219641197U (en) | 2023-02-24 | 2023-02-24 | AGV chassis rigidity detection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320311053.XU CN219641197U (en) | 2023-02-24 | 2023-02-24 | AGV chassis rigidity detection device |
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| Publication Number | Publication Date |
|---|---|
| CN219641197U true CN219641197U (en) | 2023-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320311053.XU Active CN219641197U (en) | 2023-02-24 | 2023-02-24 | AGV chassis rigidity detection device |
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