CN221851900U - A four-wheel drive synchronous closed-loop driven RGV - Google Patents

Abstract

The utility model relates to the technical field of heavy-duty transport equipment, specifically a four-wheel drive synchronous closed-loop driven RGV, including an RGV frame, on which two groups of roller assemblies are arranged, each group of roller assemblies is connected to a corresponding drive motor; a first electric control box is arranged on the front side of the RGV frame, and a second electric control box is arranged on the rear side of the RGV frame, and a control system is arranged in the first electric control box and the second electric control box, and the control system includes an electric front wheel drive module arranged in the first electric control box and an electric rear wheel drive module arranged in the second electric control box. The utility model provides a four-wheel drive synchronous closed-loop driven RGV with high load-bearing capacity, higher efficiency, faster and smoother operation, and lower failure rate; the synchronization accuracy is also greatly improved.

Description

A four-wheel drive synchronous closed-loop driven RGV

Technical Field

The utility model relates to the technical field of heavy-load transport equipment, in particular to a four-wheel drive synchronous closed-loop driven RGV.

Background Art

The RGV structures currently used are mostly single rear-wheel drive, or front and rear wheels plus a coupling rod and rear four-wheel drive. This will not cause problems when used under small loads, but when entering the heavy-load field, single rear-wheel drive will cause the front wheel to lose control, causing a harsh sound when rubbing on the track, reducing the life of the wheel and track. In severe cases, it may even cause the front wheel to tilt and get stuck, and the front wheel or guide rail will be damaged if the rear wheel continues to exert force. Adding a coupling rod and rear four-wheel drive can slightly reduce this problem, but other problems will arise. The power of a single heavy-load motor is very high, and the energy consumption and volume of the associated drive and motor will be very large, which not only has poor aesthetics, but also has a high failure rate in application.

Utility Model Content

In view of the above-mentioned defects, the purpose of the utility model is to provide a four-wheel drive synchronous closed-loop driven RGV, which has high load-bearing capacity, higher efficiency, faster and smoother operation, lower failure rate; and the synchronization accuracy is also greatly improved.

In order to achieve the above-mentioned object, the utility model provides a four-wheel drive synchronous closed-loop driven RGV, comprising an RGV frame, on which two groups of roller assemblies are arranged, and each group of roller assemblies is connected to a corresponding driving motor;

A first electric control box is arranged on the front side of the RGV frame, and a second electric control box is arranged on the rear side of the RGV frame. A control system is arranged in both the first electric control box and the second electric control box. The control system includes an electric front wheel drive module arranged in the first electric control box and an electric rear wheel drive module arranged in the second electric control box.

Preferably, each group of roller assemblies includes a roller support box and a plurality of workstation rollers, the roller support box is provided with a roller groove, a limiting plate is provided in the roller groove, a plurality of roller placement holes are provided on the limiting plate, and the number of the roller placement holes is arranged to match the workstation rollers.

Furthermore, the roller is higher than the horizontal plane where the limiting plate is located.

Furthermore, in the two groups of roller assemblies, the roller assembly at the front end is connected to the first electric control box, and the roller assembly at the front end is also connected to the corresponding front drive motor; the roller assembly at the rear end is connected to the second electric control box, and the roller assembly at the rear end is also connected to the corresponding rear drive motor.

Furthermore, a connecting rod is provided between the front drive motor and the rear drive motor.

Furthermore, each group of roller assemblies is provided with two guide wheel assemblies, and the guide wheel group includes a guide wheel fixing frame, and the guide wheel fixing frame is provided with a detachable guide wheel.

Furthermore, two photoelectric components are provided on the guide wheel component at the front end, and the photoelectric components are used for sound and light prompts;

The front and rear ends of the RGV frame are respectively provided with safety touch edges;

The front end and the rear end of the RGV frame are also provided with safety sensors respectively.

Furthermore, the bottom of the RGV frame is provided with a front roller at the front end and a rear roller at the rear end, and at least one set of auxiliary wheels is provided between the front roller and the rear roller.

Furthermore, the first electric control box is provided with an electric front wheel drive module, and the electric front wheel drive module is connected to the front roller; the second electric control box is provided with an electric rear wheel drive module, and the electric rear wheel drive module is connected to the rear roller.

Furthermore, the electric front-wheel drive module and the electric rear-wheel drive module both include a motor encoder and an absolute value encoder, and the electric front-wheel drive module and the electric rear-wheel drive module are both connected to the MC_GearInPos function block, the CPU and the control board.

The utility model provides a four-wheel drive synchronous closed-loop driven RGV, which is driven by two front and rear drive motors, so that the heavy-load RGV transportation has a stronger carrying capacity, higher efficiency, faster and smoother operation. It provides a guarantee for the smooth operation of the power system. In the case of frequent start and stop of the RGV, the energy saving is still very high during long-term use. In addition, the stability of the electrical control ensures that the failure rate of the heavy-load transport RGV is lower; the synchronization accuracy of the front roller and the rear roller is also greatly improved.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of the RGV of the utility model with four-wheel drive synchronous closed-loop drive;

FIG2 is a bottom view of the RGV of the utility model with four-wheel drive synchronous closed-loop drive;

FIG3 is a side view of the RGV of the utility model with four-wheel drive synchronous closed-loop drive;

FIG4 is a front view of the RGV of the utility model with four-wheel drive synchronous closed-loop drive;

Fig. 5 is an enlarged view of M in Fig. 1;

FIG6 is a circuit diagram of an electric front wheel drive module;

FIG7 is a circuit diagram of an electric rear wheel drive module;

FIG8 is a circuit diagram of a motor encoder and an absolute encoder in an electric front wheel drive module;

FIG9 is a circuit diagram of a motor encoder and an absolute encoder in an electric rear wheel drive module;

RGV frame, 2-front roller, 3-connecting rod, 4-second electric control box, 5-guide wheel assembly, 51-guide wheel fixing frame; 52-guide wheel; 6-rear drive motor, 7-front drive motor, 8-roller assembly, 81-roller support box; 82-station roller; 83-limiting plate; 84-roller placement hole; 85-photoelectric component; 9-first electric control box, 10-safety sensor, 11-rear safety touch edge, 12-front safety touch edge, 13-wheel buffer assembly; 14-auxiliary wheel; 15-rear roller; 16-sprocket assembly assembly, 17-cover.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail in combination with the embodiments below. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not used to limit the utility model.

1 to 4 , the utility model provides a four-wheel drive synchronous closed-loop driven RGV, including an RGV frame 1 , which is described below with the left side of FIG. 1 as the front and the right side as the rear.

The front side of the RGV frame 1 is provided with a first electric control box 9, and the rear side of the RGV frame 1 is provided with a second electric control box 4. Two groups of roller assemblies 8 are provided between the first electric control box 9 and the second electric control box 4, and each group of roller assemblies 8 is connected to a corresponding driving motor. The double-row non-powered heavy-load roller assembly is adopted, which has good mechanical properties and can effectively prevent the problem of deformation during long-term use.

A cover 17 is provided on the top of the second electric control box 4 .

Each group of roller assemblies 8 includes a roller support box 81 and a plurality of station rollers 82, and the plurality of station rollers 82 are arranged at equal intervals in the roller support box 81. Further, referring to FIG. 5, a roller groove is provided on the roller support box 81, and a limiting plate 83 is provided in the roller groove. The limiting plate 83 is provided with a plurality of roller placement holes 84, and the number and arrangement of the roller placement holes 84 are adapted to the station rollers 82. A corresponding roller 81 is provided in each roller placement hole 84, so that a transmission channel is formed in the roller groove of the roller support box 81. The station roller 82 is higher than the horizontal plane where the limiting plate 83 is located, and the distance of the station roller 82 above the horizontal plane where the limiting plate 83 is located is less than 1/2 of the diameter of the station roller 82. Preferably, the distance of the station roller 82 above the horizontal plane where the limiting plate 83 is located is less than 1/3 to 1/6 of the diameter of the station roller 82.

Specifically, in the two groups of roller assemblies 8, the roller assembly 8 at the front end is connected to the first electric control box 9, and the roller assembly 8 at the front end is also connected to the corresponding front drive motor 7; the roller assembly 8 at the rear end is connected to the second electric control box 4, and the roller assembly 8 at the rear end is also connected to the corresponding rear drive motor 6. A coupling rod 3 is provided between the front drive motor 7 and the rear drive motor 6.

The roller assembly 8 and the corresponding driving motor are connected via a sprocket assembly assembly 16 .

Referring to Fig. 1 and Fig. 5, two guide wheel assemblies 5 are provided on each roller assembly 8, respectively located at the inlet and outlet of the roller assembly 8. The guide wheel assembly 5 comprises a guide wheel fixing frame 51, and a detachable guide wheel 52 is provided on the guide wheel fixing frame 51. The guide wheel 52 is detachably provided, which is convenient for better replacement and maintenance. The guide wheel 52 is provided protruding from the guide wheel fixing frame 51, so that the guide wheel contacts the transported goods and plays a guiding role.

Two photoelectric components 85 are provided on the guide wheel component 5 at the front end, and the photoelectric components 85 are used for sound and light prompts. In order to prevent the RGV from colliding during operation, safety edges are provided at the front and rear ends of the RGV frame 1, namely, a front safety edge 12 and a rear safety edge 11. At the same time, safety sensors 10 are also provided at the front and rear ends of the RGV frame 1. The setting of the safety sensor 10, the safety edge, and the photoelectric component 85 constitutes a triple protection mechanism, which greatly improves the operation safety of the RGV.

Referring to FIG3 , the bottom of the RGV frame 1 is provided with a front roller 2 at the front end and a rear roller 15 at the rear end, and at least one set of auxiliary wheels 14 is provided between the front roller 2 and the rear roller 15, and multiple sets of auxiliary wheels 14 can be provided according to actual needs. The front roller 2 and the rear roller 15 are both connected to a wheel buffer assembly 13, and the wheel buffer assembly 13 performs residual buffering. The wheel buffer assembly 13 is a prior art, so it is not described in detail.

The RGV frame 1 is a steel welded structure; the drive motor is a SEW motor; the front roller 2, the rear roller 15 and the auxiliary wheel 14 are all steel rollers.

The first electric control box 9 and the second electric control box 4 are both provided with a control system, and the control system includes an electric front wheel drive module provided in the first electric control box 9 and an electric rear wheel drive module provided in the second electric control box 4. Specifically, the first electric control box 9 is provided with an electric front wheel drive module, and the electric front wheel drive module is connected to the front roller 2; the second electric control box 4 is provided with an electric rear wheel drive module, and the electric rear wheel drive module is connected to the rear roller 15.

The electric front wheel drive module and the electric rear wheel drive module both include a motor encoder and an absolute value encoder, and the corresponding motor encoder and absolute value encoder respectively position the main shaft of the front drive motor 7 connected to the front roller 2 and the slave shaft of the rear drive motor 6 connected to the rear roller 15, and the electric front wheel drive module and the electric rear wheel drive module are both connected to the MC_GearInPos function block, the CPU and the control board. The motor encoder and the absolute value encoder constitute a dual encoder closed loop combination, which greatly improves the synchronization accuracy of the front roller 2 and the rear roller 15.

The MC_GearInPos function block synchronously controls the electric front-wheel drive module and the electric rear-wheel drive module. The main shaft positioning is synchronously transmitted to the slave shaft. The slight error generated is eliminated by the wheel buffer assembly 13, which can achieve the best effect of synchronous driving of the front roller 2 and the rear roller 15. The role of the connecting rod 3 is backup to prevent mechanical problems of the front roller 2 and the rear roller 15.

The CPU is S7-1500T series and above, and the control board is S120 series CU310 and above.

Referring to Figures 6 to 9, the electric front-wheel drive module is the same as the electric rear-wheel drive module, and the motor encoder and absolute encoder circuits in the electric front-wheel drive module are the same as those in the electric rear-wheel drive module. Specifically, it includes a G120 power unit, which is connected to a three-phase power supply via a circuit breaker; the G120 power unit is also connected to a crystal oscillator Y1, a motor M and a brake resistor, the crystal oscillator Y1 acts as a brake, and the motor M is the corresponding front drive motor 7 and rear drive motor 6.

A 6SL3040-1LA01-0AA0 control unit is provided on the control board, the control unit is connected to the SMC30 encoder, and the SMC30 encoder (motor encoder) is connected to the Sincos encoder (absolute encoder).

The RGV transfer vehicle of the utility model is used for transferring workpieces between various functional modules, and has the function of automatic docking with various workstation modules; applicable pallet size: 2600mm×1700mm (length×width); working surface size: 2944mm×1710mm×600mm (length×width×height); conveying speed: 10m/min; rated load is 10000kg, and the maximum travel speed is 50m/min.

The present application provides a four-wheel drive synchronous closed-loop driven RGV, which is driven by two front and rear drive motors. It can be driven synchronously by the servo system on the basis of differentiating and reducing the motor power, so that the heavy-load RGV transportation has a stronger carrying capacity, higher efficiency, faster and smoother operation. The impact generated by a large motor driving a heavy load is differentiated and eliminated by two small motors, which provides a guarantee for the smooth operation of the factory power system. Since the RGV is frequently started and stopped, the energy saving is still very high after long-term use. In addition, the stability of the electrical control ensures that the failure rate of the heavy-load transport RGV is lower; the synchronization accuracy of the front roller and the rear roller is also greatly improved.

Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field can make various corresponding changes and deformations based on the present invention, but these corresponding changes and deformations should all fall within the scope of protection of the claims attached to the present invention.

Claims (10)

1. A four-wheel drive synchronous closed-loop driven RGV, comprising an RGV frame (1), characterized in that two groups of roller assemblies (8) are arranged on the RGV frame (1), and each group of roller assemblies (8) is connected to a corresponding driving motor; A first electric control box (9) is arranged on the front side of the RGV frame (1), and a second electric control box (4) is arranged on the rear side of the RGV frame (1). A control system is arranged in both the first electric control box (9) and the second electric control box (4), and the control system comprises an electric front wheel drive module arranged in the first electric control box (9) and an electric rear wheel drive module arranged in the second electric control box (4). 2. A four-wheel drive synchronous closed-loop driven RGV according to claim 1, characterized in that each group of roller assemblies (8) comprises a roller support box (81) and a plurality of station rollers (82), the roller support box (81) is provided with a roller groove, a limiting plate (83) is provided in the roller groove, and a plurality of roller placement holes (84) are provided on the limiting plate (83), and the number and arrangement of the roller placement holes (84) are adapted to the station rollers (82). 3. A four-wheel drive synchronous closed-loop driven RGV according to claim 2, characterized in that the station roller (82) is higher than the horizontal plane where the limiting plate (83) is located. 4. The four-wheel drive synchronous closed-loop driven RGV according to claim 1, characterized in that, of the two groups of roller assemblies (8), the roller assembly (8) located at the front end is connected to the first electric control box (9), and the roller assembly (8) located at the front end is also connected to the corresponding front drive motor (7); the roller assembly (8) located at the rear end is connected to the second electric control box (4), and the roller assembly (8) located at the rear end is also connected to the corresponding rear drive motor (6). 5. The four-wheel drive synchronous closed-loop driven RGV according to claim 4, characterized in that a connecting rod (3) is provided between the front drive motor (7) and the rear drive motor (6). 6. The four-wheel drive synchronous closed-loop driven RGV according to claim 4, characterized in that each group of roller assemblies (8) is provided with two guide wheel assemblies (5), and the guide wheel assembly (5) comprises a guide wheel fixing frame (51), and the guide wheel fixing frame (51) is provided with a detachable guide wheel (52). 7. The four-wheel drive synchronous closed-loop driven RGV according to claim 6, characterized in that two photoelectric components (85) are provided on the guide wheel component (5) at the front end, and the photoelectric components (85) are used for sound and light prompts; The front end and the rear end of the RGV frame (1) are respectively provided with safety touch edges; Safety sensors (10) are also provided at the front and rear ends of the RGV frame (1), respectively. 8. The four-wheel drive synchronous closed-loop driven RGV according to claim 7, characterized in that a front roller (2) located at the front end and a rear roller (15) located at the rear end are arranged at the bottom of the RGV frame (1), and at least one set of auxiliary wheels (14) is arranged between the front roller (2) and the rear roller (15). 9. The four-wheel drive synchronous closed-loop driven RGV according to claim 8, characterized in that an electric front wheel drive module is arranged in the first electric control box (9), and the electric front wheel drive module is connected to the front roller (2); and an electric rear wheel drive module is arranged in the second electric control box (4), and the electric rear wheel drive module is connected to the rear roller (15). 10. The four-wheel drive synchronous closed-loop driven RGV according to claim 9, characterized in that the electric front-wheel drive module and the electric rear-wheel drive module both include a motor encoder and an absolute value encoder, and the electric front-wheel drive module and the electric rear-wheel drive module are both connected to the MC_GearInPos function block, the CPU and the control board.