CN220865670U - Heavy load AGV suitable for equipment assembly in narrow and small semi-enclosed space - Google Patents

Abstract

The utility model discloses a heavy-load AGV suitable for equipment assembly in a narrow semi-enclosed space, which comprises a movable supporting part, a single arm extending part, a double arm extending part and a clamping jaw part, wherein a telescopic hydraulic supporting leg is arranged at the bottom of the movable supporting part, a jacking mechanism is arranged in the middle of the movable supporting part, the single arm extending part is rotatably arranged at the top of the jacking mechanism, the double arm extending part is rotatably arranged at the tail end of the single arm extending part, and the clamping jaw part is arranged at the tail end of the double arm extending part and used for clamping equipment to be installed. According to the utility model, the telescopic and rotary movement of the multi-joint mechanical arm structure formed by the single arm extending part and the double arm extending part is realized, so that the requirement of large-span cantilever operation in a narrow space is met; the stability of the cantilever operation is ensured through the telescopic hydraulic support legs; thereby obviously improving the efficiency, quality and safety of the assembly of the equipment in the cabin.

Description

Heavy load AGV suitable for equipment assembly in narrow and small semi-enclosed space

Technical Field

The utility model relates to auxiliary assembly equipment, in particular to a heavy-load AGV suitable for equipment assembly in a narrow semi-enclosed space.

Background

The cabin of a certain airplane is internally provided with a plurality of pieces of equipment, the periphery of the cabin is closed, only the middle part of the cabin is opened, the cabin door is slightly larger than the equipment to be installed, the furthest installation position of the equipment is located in the depth of the side part of the cabin, and the equipment is far away from the cabin door. During installation, the equipment is required to be incapable of colliding with any part of the engine room in the moving and installing processes. Conventional heavy load AGV in the market is mostly jacking structure or fork truck class structure, can realize that the heavy object point-to-point removes, and near transporting the equipment to the cabin, but can't remove the equipment to the enclosure space inside. Therefore, the existing installation process only needs to adopt manual installation, realizes equipment cabin entering and position adjustment by double carrying and lifting and the assistance of multiple persons, and has the problems of high labor intensity, uncontrollable installation quality, easy production accidents and the like.

Disclosure of utility model

The utility model aims to: the utility model aims to provide a heavy-load AGV suitable for equipment assembly in a narrow semi-enclosed space so as to improve the efficiency, quality and safety of equipment assembly in a cabin.

The technical scheme is as follows: the heavy-load AGV suitable for equipment assembly in a narrow semi-enclosed space comprises a movable supporting part, a single arm extending part, a double arm extending part and a clamping jaw part, wherein a telescopic hydraulic supporting leg is arranged at the bottom of the movable supporting part, a jacking mechanism is arranged in the middle of the movable supporting part, the single arm extending part is rotatably arranged at the top of the jacking mechanism, the double arm extending part is rotatably arranged at the tail end of the single arm extending part, and the clamping jaw part is arranged at the tail end of the double arm extending part and used for clamping equipment to be installed.

Further, the single arm extension part comprises a single arm extension lower arm, a single arm extension middle arm which is arranged in the single arm extension lower arm in a sliding way, and a single arm extension upper arm which is arranged in the single arm extension middle arm in a sliding way, wherein the sliding arms are matched with the chute structure through a support bearing; the bottom end of the lower arm of the single-arm is connected with the top of the jacking mechanism through a first rotary support bearing, and the rotary motion of the first rotary support bearing is controlled by a rotary driving motor and a speed reducer which are arranged on the lower arm of the single-arm, so that the rotary motion of the whole single-arm part is realized.

Further, a single-arm telescopic motor and a speed reducer are arranged on the outer side of the lower arm of the single-arm, and the single-arm telescopic motor and the speed reducer drive a lower arm main shaft and gears on the lower arm main shaft to rotate by utilizing a chain wheel and chain mechanism in the lower arm of the single-arm, and the gears are meshed with racks at the bottom of the middle arm of the single-arm; the chain wheel and chain mechanism in the middle arm of the single arm is used for driving the upper arm of the single arm and the lower arm of the single arm to synchronously and oppositely move relative to the middle arm of the single arm; when the single-arm telescopic motor and the speed reducer act, the single-arm lower arm, the single-arm middle arm and the single-arm upper arm can synchronously stretch.

Further, the upper end of the single-arm upper arm is provided with a rotary drive with a motor, the lower end of the rotary drive is connected to the single-arm upper arm, the upper end of the rotary drive is arranged on the double-arm component, and the rotary action of the double-arm component is realized by controlling the rotary action of the rotary drive.

Further, the double-arm-extending part comprises a double-arm-extending lower arm, a double-arm-extending middle lower arm arranged in the double-arm-extending lower arm in a sliding manner, a double-arm-extending upper arm arranged in the double-arm-extending middle lower arm in a sliding manner, and a double-arm-extending upper arm arranged in the double-arm-extending middle upper arm in a sliding manner, wherein the sliding arms are matched with the sliding groove structure through support bearings; the chain wheel and chain mechanism in the lower arm of the double-extension arm is used for realizing the telescopic action of the middle lower arm of the double-extension arm relative to the lower arm of the double-extension arm; the chain wheel chain mechanism in the lower arm of the double-extension arm is used for realizing synchronous opposite movement of the lower arm of the double-extension arm and the upper arm of the double-extension arm relative to the lower arm of the double-extension arm; the chain wheel chain mechanism in the upper arm of the double-extending arm is used for realizing synchronous opposite movement of the lower arm of the double-extending arm and the upper arm of the double-extending arm relative to the upper arm of the double-extending arm; the double-arm telescopic motor and the speed reducer are arranged on the double-arm lower arm, and drive a sprocket chain mechanism in the double-arm lower arm to realize synchronous extension of the double-arm lower arm, the double-arm middle upper arm and the double-arm upper arm.

Further, the clamping jaw part comprises a vertical arm part and a cross arm part, the vertical arm part comprises a hollow rotating platform, a vertical arm pitching electric cylinder and a vertical arm linear module, the vertical arm linear module is rotationally connected to the hollow rotating platform, the vertical arm pitching electric cylinder is connected with the hollow rotating platform and the vertical arm linear module, and the inclination angle of the vertical arm linear module is adjusted through a feedback signal of a first inclination angle sensor arranged at the tail end of the upper arm of the double-extension arm, so that the vertical arm linear module is ensured to be always kept in a vertical state; the bottom of the hollow rotating platform is connected with a clamping jaw part mounting seat at the tail end of the upper arm of the double-extension arm through a second rotary support bearing, and a vertical arm rotating motor arranged on the hollow rotating platform drives the second rotary support bearing to realize the integral rotating action of the vertical arm part; the cross arm part is arranged on the vertical arm sliding table of the vertical arm linear module.

Further, a third rotary support bearing, a cross arm rotating motor and a speed reducer are arranged on the vertical arm sliding table, a cross arm of the cross arm part is fixed on an outer ring gear of the third rotary support bearing, a second inclination angle sensor is arranged on the cross arm, and the cross arm rotating motor and the speed reducer adjust the angle of the cross arm through feedback signals of the second inclination angle sensor, so that the cross arm is kept horizontal; the two sliding blocks are slidably arranged on the cross arm, the clamping jaw brackets are arranged on the sliding blocks, the cross arm is provided with two sets of manual adjusting mechanisms, each manual adjusting mechanism comprises a screw rod arranged in the cross arm in a rotating mode and a hand wheel positioned at the end portion of the cross arm and used for rotating the screw rod, the double screw rods are in threaded fit with the double sliding blocks, and through rotating the hand wheels, the opposite movement and the whole transverse movement of the two sliding blocks are achieved, and the functions of clamping and bidirectional fine adjustment of equipment are achieved.

In the technical scheme, the tail end clamping jaw part has an inclination angle adjusting function, so that the clamped equipment can be always in a vertical state under a heavy load working condition.

Further, each clamping jaw bracket is provided with a clamping jaw supporting block made of nonmetal materials.

Further, the movable supporting component comprises a base, 4 sets of power wheel units are arranged on the base, each power wheel unit comprises a Mecanum wheel, each set of Mecanum wheel is connected with a power wheel speed reducer and a power wheel motor through a power wheel mounting bracket, and the power wheel mounting bracket is fixed on the base through a spring floating mechanism.

In the technical scheme, the four wheels adopt independent Mecanum wheel structures, and translational, rotational and translational-rotational compound motions in a narrow space can be realized.

Further, a group of telescopic legs are respectively arranged on the left side and the right side of the base, and integrated hydraulic telescopic rods are arranged in the telescopic legs and used for controlling the telescopic legs to stretch; the tail end of the telescopic leg is provided with a hydraulic front supporting leg, the rear part of the base is provided with two groups of hydraulic rear supporting legs, and the hydraulic supporting legs are controlled to extend and retract through a self-contained hydraulic cylinder.

The beneficial effects are that: compared with the prior art, the utility model has the following advantages:

The upper part of the AGV is a multi-joint mechanical arm structure formed by a single arm extending part and a double arm extending part, and the mechanical arm can stretch and rotate to meet the requirement of large-span cantilever operation in a narrow space; the AGV bottom has flexible hydraulic support leg, can enlarge focus movable range, guarantees cantilever operation stability. The utility model obviously improves the efficiency, quality and safety of the assembly of the equipment in the engine room.

Drawings

FIG. 1 is a schematic diagram of a heavy load AGV according to an embodiment of the present application;

FIG. 2 is a top view of FIG. 1;

Fig. 3 and 4 are schematic views of the structure of the movable supporting member in the embodiment of the present application;

FIGS. 5 and 6 are schematic views of the structure of a single telescopic arm member in an embodiment of the present application;

FIG. 7 is a schematic view of a dual telescoping arm assembly in accordance with an embodiment of the present application;

FIGS. 8 and 9 are schematic illustrations of the construction of the vertical arm portion of the jaw member in accordance with an embodiment of the present application;

FIG. 10 is a schematic view of the cross arm portion of the jaw member in accordance with an embodiment of the present application;

FIG. 11 is a schematic illustration of the operational status of a heavy duty AGV in accordance with an embodiment of the present application;

FIG. 12 is a schematic view of a heavy duty AGV receiving configuration in accordance with an embodiment of the present application.

Detailed Description

The utility model is further described below with reference to the accompanying drawings.

The reference numerals in fig. 1 to 12 are as follows:

1, moving a supporting part; 101, a base; 102, telescoping legs; 10201, integrated hydraulic telescopic rod; 10202, hydraulic front legs; 103, a power wheel unit; 10301, mecanum wheel; 10302, a power wheel speed reducer; 10303, power wheel motor; 10304, power wheel mounting bracket; 10305, a spring floating mechanism; 104, a jacking mechanism; 10401, a large diameter hollow ball screw; 105, a lithium battery pack; 106, hydraulic rear support legs; 107, winch;

2, a single arm extending part; 201, single arm lower arm; 202, single arm middle arm; 203, a single boom upper arm; 204, arm extension control cabinets; 205, slewing drive; 206, a first slewing bearing; 207, a slewing drive motor and a speed reducer; 208, a single-arm telescopic motor and a speed reducer;

3, double arm extending parts; 301, a double arm lower arm; 302, a lower middle arm of the double arm; 303, upper middle arm of double arm; 304, double arm upper arms; 305, a double-arm telescopic motor and a speed reducer; 306, a first tilt sensor; 307, jaw member mount;

4, clamping jaw parts; 401, a hollow rotating platform; 402, a vertical arm rotating motor; 403, vertical arm pitching electric cylinder; 404, vertical arm linear modules; 405, vertical arm slipway; 406, a cross arm rotating motor and a speed reducer; 407, a second tilt sensor; 408, a slider; 409, jaw carriage; 410, clamping jaw supporting blocks.

As shown in fig. 1 and 2, a heavy-duty AGV suitable for equipment assembly in a narrow semi-enclosed space comprises a movable supporting part 1, a single arm extending part 2, a double arm extending part 3 and a clamping jaw part 4, wherein the movable supporting part 1 is a chassis of the heavy-duty AGV, and can realize translational, rotational and translational and rotational compound movements in any direction in a plane. Furthermore, the mobile support member 1 has two sets of hydraulic telescopic legs (crane-like support legs) for extending to the lower part of the nacelle when the equipment is installed remotely inside the nacelle, acting as an auxiliary support. The single arm part 2 is rotatably connected to the movable support part 1 to make a 360 degree rotation. The double arm part 3 is rotatably connected to the end of the single arm part 2 and can rotate within the range of + -135 deg.. The clamping jaw part 4 is rotatably connected to the tail end of the double-extending arm part 3 and can rotate within the range of +/-90 degrees, and meanwhile, the pitching angle of the vertical arm part of the clamping jaw part 4 is adjustable, and the angle adjustment range is 0-20 degrees. The cross arm portion of the jaw member 4 is rotatably mounted on the vertical arm portion. The jaw members 4 are capable of providing a maximum load carrying capacity of 500KG, meeting the clamping requirements of the device. The single arm extension part 2 and the double arm extension part 3 can realize the installation of equipment in a long-distance large-span blind cavity through rotation and telescopic actions. In the long-distance cantilever installation working condition, the vertical arm part and the transverse arm part can be balanced automatically, so that the clamped equipment is always in a vertical state.

The following describes the movable support member 1, the single arm member 2, the double arm member 3 and the jaw member 4, respectively, with reference to the accompanying drawings.

As shown in fig. 3 and 4, the movable supporting member 1 includes a base 101, on which 4 sets of power wheel units 103 are mounted, the power wheel units 103 include mecanum wheels 10301, each set of mecanum wheels 10301 is connected with a power wheel reducer 10302 and a power wheel motor 10303 through a power wheel mounting bracket 10304, and the power wheel mounting bracket 10304 is fixed on the base 101 through a spring floating mechanism 10305. By means of 4 sets of independent mecanum wheels 10301, the moving support member 1 is able to achieve a four-way translation and rotation. The spring floating mechanism 10305 is capable of uniformly carrying a load in cooperation with the Mecanum wheel 10301.

The left side and the right side of the base 101 are respectively provided with a group of telescopic legs 102, and an integrated hydraulic telescopic rod 10201 is arranged inside the telescopic legs 102 and used for controlling the telescopic legs 102 to stretch. The end of the telescopic leg 102 is provided with a hydraulic front leg 10202, and the rear of the base 101 is provided with two sets of hydraulic rear legs 106, i.e. 4 sets of hydraulic legs in total. Each group of hydraulic support legs are controlled to extend and retract through a self-contained hydraulic cylinder, and the tail ends of the support legs adopt a spherical hinge structure, so that four points are uniformly loaded.

The middle part of the base 101 is a jacking mechanism 104, the jacking mechanism 104 is in the prior art, is quite common on a heavy-load AGV, the core component of the jacking mechanism is a large-diameter hollow ball screw 10401, the jacking stroke is 10cm, and a direct current servo motor is adopted as power to realize the up-and-down fine adjustment of the whole components. The rear part of the base 101 is a power bin, a plurality of groups of lithium battery packs 105 are arranged in the power bin, and a winch 107 is arranged outside the power bin and used for providing traction force. The chassis electric cabinet is arranged in front of the base 101.

As shown in fig. 5 and 6, the single arm part 2 includes a single arm lower arm 201, a single arm middle arm 202, and a single arm upper arm 203, the three sliding arm sides are provided with sliding groove structures, support bearings are mounted inside the single arm lower arm 201 and the single arm middle arm 202, the single arm middle arm 202 can slide on the single arm lower arm 201, and the single arm upper arm 203 can slide on the single arm middle arm 202 by matching the support bearings with the sliding groove structures.

The bottom end of the lower single-arm 201 is provided with a first rotary support bearing 206, the first rotary support bearing 206 is fixed at the top of the jacking mechanism 104, and the rotary motion of the first rotary support bearing 206 is controlled by a rotary driving motor and a speed reducer 207 which are arranged on the lower single-arm 201, so that 360-degree rotary motion of the whole single-arm part 2 is realized.

A chain wheel and chain mechanism is arranged in the middle arm 202 of the single arm, and consists of a head chain wheel, a tail chain wheel and a chain arranged on the head chain wheel and the tail chain wheel. Two sprockets are mounted on the single arm middle arm 202 by a shaft, the sprockets being free to rotate. The upper part of the chain is fixedly connected with the upper arm 203 of the single-extension arm, and the lower part of the chain is fixedly connected with the lower arm 201 of the single-extension arm. When the chain wheel rotates, the upper part and the lower part of the chain are driven to move in opposite directions, so that the single-arm upper arm 203 and the single-arm lower arm 201 are driven to synchronously move in opposite directions relative to the single-arm middle arm 202; if the single arm lower arm 201 is used as a fixed reference, the single arm middle arm 202 extends to move relative to the single arm lower arm 201, and the chain wheel and chain mechanism in the single arm middle arm 202 can drive the single arm upper arm 203 to extend simultaneously, so that synchronous movement of the arms is realized.

The single-arm telescopic motor and the speed reducer 208 are arranged on the outer side of the single-arm lower arm 201, an output shaft of the speed reducer stretches into the single-arm lower arm 201, a chain wheel is arranged on the output shaft, a chain is arranged on the chain wheel, the other end of the chain is another chain wheel, the other chain wheel is fixed on a lower arm main shaft, bearing seats are arranged at two ends of the lower arm main shaft, and the bearing seats are fixed on the outer wall of the bottom of the single-arm lower arm 201. Two gears are arranged on the lower arm main shaft and are symmetrically arranged by a central line. Two racks are arranged below the middle arm 202 of the single arm, and the positions of the racks correspond to the positions of the two gears and are meshed with the positions of the two gears. When the single-arm telescopic motor and the speed reducer 208 act, a sprocket chain mechanism in the single-arm lower arm 201 is driven to rotate, so that the lower arm main shaft is driven to rotate, the lower arm main shaft rotates to drive two gears on the lower arm main shaft to rotate, and the gears drive the single-arm middle arm 202 to move through racks, so that the single-arm middle arm 202 stretches out. The synchronous extension of the upper arm 203 of the single arm is realized by matching with a chain wheel and chain mechanism in the middle arm 202 of the single arm.

The upper end of the single arm upper arm 203 is provided with a rotary drive 205 with a motor, the lower end of the rotary drive 205 is connected to the single arm upper arm 203, the upper end is provided with the double arm part 3, and the rotary motion of the double arm part 3 can be realized by controlling the rotary motion of the rotary drive 205. The rear end of the lower arm 201 of the single arm is provided with two arm control cabinets 204 for controlling the extension and rotation of the single arm and the rotation of the double arm, and also has the function of balancing weight distribution.

As shown in fig. 7, the double boom unit 3 includes a double boom lower arm 301, a double boom middle lower arm 302, a double boom upper arm 303, a double boom upper arm 304, and a double boom extension motor and speed reducer 305, wherein the double boom extension motor and speed reducer 305 is mounted on the double boom lower arm 301 for providing power for synchronous extension and retraction of the four slide arms. The upper end of the upper arm 304 of the double arm is provided with a jaw member mounting seat 307 for mounting and securing the jaw member 4. The upper end of the upper arm 304 of the double arm is also provided with a first tilt sensor 306 for feeding back the tilt angle of the end in real time, so as to adjust the tilt angle of the vertical arm portion of the jaw member 4, so that the vertical arm portion remains vertical.

The four sliding arms of the double-arm-extending part 3 are matched with supporting bearings through sliding groove structures at the side parts of the sliding arms similar to the single-arm-extending part 2, so that the mutual sliding among the arms is realized.

Specifically, the bottom of the lower arm 301 of the double-arm is provided with a mounting hole for connecting the swing drive 205, and the entire swing motion of the double-arm member 3 is realized by the rotation motion of the swing drive 205. The double-arm telescopic motor and the speed reducer 305 are installed on the double-arm lower arm 301, a chain for transmitting power is installed on an output shaft of the speed reducer, the power of the chain is transmitted to a group of chain wheel and chain mechanisms in the double-arm lower arm 301, one end of the chain is fixed on the double-arm lower arm 301, the other end of the chain is fixed on the double-arm middle lower arm 302, the chain is enabled to move through rotation of a chain wheel, and telescopic action of the double-arm middle lower arm 302 relative to the double-arm lower arm 301 is achieved.

The side part of the lower arm 302 in the double-extension arm is provided with an inner supporting bearing and an outer supporting bearing, and the sliding grooves of the lower arm 301 of the double-extension arm and the sliding grooves of the upper arm 303 in the double-extension arm are matched to realize the relative sliding between the sliding arms. A set of chain wheel chain mechanism is also installed in the lower arm 302 in the double-arm, the chain is fixed in the lower arm 302 in the double-arm through two chain wheels at the head and the tail, the upper part of the chain is fixed in the upper arm 303 in the double-arm, the lower part of the chain is fixed in the lower arm 302 in the double-arm, the synchronous opposite movement of the lower arm 301 in the double-arm and the upper arm 303 in the double-arm relative to the lower arm 302 in the double-arm is realized through the movement of the chain, and the synchronous telescopic action of the lower arm 301 in the double-arm, the lower arm 302 in the double-arm and the upper arm 303 in the double-arm can be realized by matching with the chain wheel chain structure in the lower arm 301 in the double-arm.

The chain wheel and chain mechanism is also installed in the upper arm 303 of the double-extension arm, the chain is in an open structure, one end of the chain is fixed on the lower arm 302 of the double-extension arm, and the other end of the chain is fixed on the upper arm 304 of the double-extension arm, and the synchronous extension and retraction actions and the unfolding actions of the four sliding arms are realized by matching with the linkage structure.

As shown in fig. 8 to 10, the jaw member 4 includes a vertical arm portion and a horizontal arm portion, the vertical arm portion includes a hollow rotary platform 401, a vertical arm pitch cylinder 403, and a vertical arm linear module 404, wherein the vertical arm linear module 404 is rotatably connected to the hollow rotary platform 401, the vertical arm pitch cylinder 403 is connected to the hollow rotary platform 401 and the vertical arm linear module 404, and the elongation of the vertical arm pitch cylinder 403 is adjusted by a signal fed back by the first tilt sensor 306, so as to adjust the tilt angle of the vertical arm linear module 404, and ensure that the vertical arm linear module 404 always maintains a vertical state. The vertical arm linear module 404 is driven by a motor at the end to move a vertical arm sliding table 405 on the vertical arm linear module in a linear manner, which is the prior art. A vertical arm rotating motor 402 is mounted on the hollow rotating platform 401, a second rotary support bearing is arranged between the clamping jaw component mounting seat 307 and the hollow rotating platform 401, and the vertical arm rotating motor 402 drives the second rotary support bearing to realize the integral rotating action of the vertical arm part. The cross arm rotating motor and the speed reducer 406 are arranged on a vertical arm sliding table 405 of the vertical arm linear module 404, a third rotary support bearing is further fixed on the vertical arm sliding table 405, a cross arm of the cross arm part is fixed on an outer ring gear of the third rotary support bearing, a second inclination angle sensor 407 is arranged on the cross arm, and the cross arm rotating motor and the speed reducer 406 adjust the angle of the cross arm through feedback signals of the second inclination angle sensor 407, so that the cross arm is in a horizontal state.

Two sliding blocks 408 are arranged on the cross arm, clamping jaw brackets 409 are arranged on the sliding blocks 408, two clamping jaw supporting blocks 410 made of non-metal materials are arranged on each clamping jaw bracket 409, and the clamping jaw supporting blocks 410 can slide on the tracks of the clamping jaw brackets 409 and are fixed in position through set screws. The cross arm is provided with two sets of manual adjusting mechanisms, each manual adjusting mechanism comprises a screw rod arranged in the cross arm in a rotating mode and a hand wheel positioned at the end portion of the cross arm and used for rotating the screw rod, the double screw rods are in threaded fit with the double sliding blocks 408, and through rotating the hand wheels, the opposite movement and the whole transverse movement of the two sliding blocks 408 can be achieved, and the functions of clamping and bidirectional fine adjustment of equipment are achieved. The jaw support block 410 is made of non-metal materials, so that the structural strength is ensured, and meanwhile, the surface of the equipment is prevented from being scratched.

The working process of the utility model is as follows:

In connection with fig. 11, before working, the installation station and the loading station are determined, and the equipment to be installed is located in a designated area of the loading station. The AVG is adjusted to a manual mode, the operation is simulated manually for the first time, the parameters of each working procedure are determined, relevant parameters are stored after the operation is correct, and a program is stored. During formal assembly, each step of action is checked manually, so that the collision phenomenon caused by equipment in the moving process is prevented. AGV removes and drives two flexible arms and remove to the installation station, and two flexible arms expand, and before the clamping jaw stretches out and draws back to the equipment of waiting to install, clamping jaw clamp equipment, the clamping jaw xarm is vertical to rise, equipment breaks away from ground. The AVG drives the goods to move to the cabin door, two telescopic legs extend out, and four hydraulic legs extend out; the clamping jaw can drive equipment to pass through a narrow cabin door and be sent to a designated installation station through the extension and retraction of the two sets of extension arms and the rotation of the two sets of rotary support bearings; the installer fine-tunes the position of the equipment through two sets of screw components of the clamping jaw cross arm, and is used for butt-jointing the installation threaded holes; after the installation is completed, the clamping jaw cross arm contracts and rotates, the clamping jaw cross arm retracts to the upper portion of the base along with the two sets of telescopic arms, the hydraulic support leg retracts, the AGV moves to the next station, and next equipment starts to be installed.

In fig. 11, the installation position 1 is far away from the cabin door and is located deep in the cabin, and the multi-joint mechanical arm of the heavy-load AGV can complete the rotation action in the cabin, so that the installation of equipment at the position is smoothly realized.

After use, the heavy duty AGV may be folded for storage as shown in FIG. 12.

By utilizing the heavy-load AGV provided by the utility model, an operator can operate the heavy-load AGV lifting equipment to realize positioning and butt joint, assembly, operability is enhanced, and assembly risk is reduced. The heavy-load AGV is also applicable to parts which are not suitable for lifting and carrying by a crane or parts which are difficult to lift indoors.

Claims (10)

1. The utility model provides a heavy load AGV suitable for equipment assembly in narrow and small semi-enclosed space, its characterized in that, including removing supporting part, single arm part, two arm parts and clamping jaw part that stretch, it is equipped with telescopic hydraulic support leg to remove supporting part bottom, removes supporting part middle part and sets up climbing mechanism, and single arm part rotationally installs at climbing mechanism top, and two arm parts rotationally install at single arm part end, and clamping jaw part installs at two arm part ends for centre gripping waits to install equipment.

2. The heavy load AGV of claim 1, wherein the single arm extension member comprises a single arm extension lower arm, a single arm extension middle arm slidably disposed in the single arm extension lower arm, and a single arm extension upper arm slidably disposed in the single arm extension middle arm, the slide arms being engaged with the chute structure by means of support bearings; the bottom end of the lower arm of the single-arm is connected with the top of the jacking mechanism through a first rotary support bearing, and the rotary motion of the first rotary support bearing is controlled by a rotary driving motor and a speed reducer which are arranged on the lower arm of the single-arm, so that the rotary motion of the whole single-arm part is realized.

3. The heavy-duty AGV of claim 2 wherein a single-arm telescoping motor and a speed reducer are mounted on the outside of the lower arm of the single-arm, and the single-arm telescoping motor and the speed reducer utilize a sprocket chain mechanism inside the lower arm of the single-arm to drive the lower arm spindle and gears on the lower arm spindle to rotate, the gears being meshed with racks at the bottom of the middle arm of the single-arm; the chain wheel and chain mechanism in the middle arm of the single arm is used for driving the upper arm of the single arm and the lower arm of the single arm to synchronously and oppositely move relative to the middle arm of the single arm; when the single-arm telescopic motor and the speed reducer act, the single-arm lower arm, the single-arm middle arm and the single-arm upper arm can synchronously stretch.

4. The heavy load AGV of claim 2 wherein the upper end of the single boom upper arm is provided with a motorized swing drive having a lower end attached to the single boom upper arm and an upper end attached to the dual boom member for effecting the rotational movement of the dual boom member by controlling the rotational movement of the swing drive.

5. The heavy load AGV of claim 1 wherein the dual boom member comprises a dual boom lower arm, a dual boom middle lower arm slidably disposed in the dual boom lower arm, a dual boom upper arm slidably disposed in the dual boom middle lower arm, and a dual boom upper arm slidably disposed in the dual boom middle upper arm, the slides being mated with the chute structure by a support bearing; the chain wheel and chain mechanism in the lower arm of the double-extension arm is used for realizing the telescopic action of the middle lower arm of the double-extension arm relative to the lower arm of the double-extension arm; the chain wheel chain mechanism in the lower arm of the double-extension arm is used for realizing synchronous opposite movement of the lower arm of the double-extension arm and the upper arm of the double-extension arm relative to the lower arm of the double-extension arm; the chain wheel chain mechanism in the upper arm of the double-extending arm is used for realizing synchronous opposite movement of the lower arm of the double-extending arm and the upper arm of the double-extending arm relative to the upper arm of the double-extending arm; the double-arm telescopic motor and the speed reducer are arranged on the double-arm lower arm, and drive a sprocket chain mechanism in the double-arm lower arm to realize synchronous extension of the double-arm lower arm, the double-arm middle upper arm and the double-arm upper arm.

6. The heavy load AGV of claim 5, wherein the jaw member comprises a vertical arm portion and a horizontal arm portion, the vertical arm portion comprises a hollow rotating platform, a vertical arm pitch cylinder and a vertical arm linear module, the vertical arm linear module is rotatably connected to the hollow rotating platform, the vertical arm pitch cylinder is connected to the hollow rotating platform and the vertical arm linear module, and the tilt angle of the vertical arm linear module is adjusted by a feedback signal of a first tilt angle sensor mounted at the upper end of the upper arm of the double boom, so as to ensure that the vertical arm linear module is always kept in a vertical state; the bottom of the hollow rotating platform is connected with a clamping jaw part mounting seat at the tail end of the upper arm of the double-extension arm through a second rotary support bearing, and a vertical arm rotating motor arranged on the hollow rotating platform drives the second rotary support bearing to realize the integral rotating action of the vertical arm part; the cross arm part is arranged on the vertical arm sliding table of the vertical arm linear module.

7. The heavy-duty AGV according to claim 6 wherein a third rotary support bearing, a cross arm rotating motor and a speed reducer are mounted on the vertical arm sliding table, a cross arm of the cross arm part is fixed on an outer ring gear of the third rotary support bearing, a second inclination sensor is arranged on the cross arm, and the cross arm rotating motor and the speed reducer adjust the angle of the cross arm through feedback signals of the second inclination sensor so that the cross arm is kept horizontal; the two sliding blocks are slidably arranged on the cross arm, the clamping jaw brackets are arranged on the sliding blocks, the cross arm is provided with two sets of manual adjusting mechanisms, each manual adjusting mechanism comprises a screw rod arranged in the cross arm in a rotating mode and a hand wheel positioned at the end portion of the cross arm and used for rotating the screw rod, the double screw rods are in threaded fit with the double sliding blocks, and through rotating the hand wheels, the opposite movement and the whole transverse movement of the two sliding blocks are achieved, and the functions of clamping and bidirectional fine adjustment of equipment are achieved.

8. The heavy duty AGV of claim 7, wherein each jaw carriage has a jaw pad mounted thereon that is non-metallic.

9. The heavy load AGV of claim 1 wherein the movable support member comprises a base on which 4 sets of power wheel units are mounted, the power wheel units comprising mecanum wheels, each set of mecanum wheels being connected to a power wheel speed reducer and a power wheel motor by a power wheel mounting bracket secured to the base by a spring floating mechanism.

10. The heavy load AGV of claim 9, wherein a set of telescoping legs are provided on each of the left and right sides of the base, and an integrated hydraulic telescoping rod is provided inside the telescoping legs for controlling telescoping of the telescoping legs; the tail end of the telescopic leg is provided with a hydraulic front supporting leg, the rear part of the base is provided with two groups of hydraulic rear supporting legs, and the hydraulic supporting legs are controlled to extend and retract through a self-contained hydraulic cylinder.