WO2020143547A1 - Véhicule guidé automatique lourd - Google Patents

Véhicule guidé automatique lourd Download PDF

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Publication number
WO2020143547A1
WO2020143547A1 PCT/CN2020/070270 CN2020070270W WO2020143547A1 WO 2020143547 A1 WO2020143547 A1 WO 2020143547A1 CN 2020070270 W CN2020070270 W CN 2020070270W WO 2020143547 A1 WO2020143547 A1 WO 2020143547A1
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WO
WIPO (PCT)
Prior art keywords
frame
heavy
assembly
drive
driving
Prior art date
Application number
PCT/CN2020/070270
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English (en)
Chinese (zh)
Inventor
王永恩
马越
刘轶
彭凡
周鹏举
张明才
侯奇林
Original Assignee
共享智能铸造产业创新中心有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910012066.5A external-priority patent/CN109533085B/zh
Priority claimed from CN201920024631.5U external-priority patent/CN209410200U/zh
Application filed by 共享智能铸造产业创新中心有限公司 filed Critical 共享智能铸造产业创新中心有限公司
Publication of WO2020143547A1 publication Critical patent/WO2020143547A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern

Definitions

  • This application relates to the technical field of AGV, specifically, to a heavy-duty AGV.
  • AGV Automated Guided Vehicle
  • AGV Automated Guided Vehicle
  • AGV is an automatic guidance device equipped with electromagnetic or optoelectronics. It can automatically drive along a prescribed guidance path. It has programming and mode selection devices, safety protection and various transfer functions. Handling robot.
  • AGV has the characteristics of high degree of automation, safety and flexibility, so it is widely used in automated production and storage systems such as automobile manufacturing and mechanical processing, and it is one of the key equipment of modern logistics storage systems such as flexible manufacturing production lines and automated three-dimensional warehouses. .
  • Industry 4.0 Concept represented by smart factories, smart production, and smart logistics, the need for smart devices in the manufacturing industry has greatly increased, and the application scope and scale of AGVs have continued to expand.
  • the application of AGV technology is mainly to meet the needs of light loads. Its general load is 3 tons or less, which is mainly used in logistics and warehousing.
  • the inventors found that the load of the current heavy-duty AGV is divided on each wheel. When the load is large, it is easy to cause damage to the wheels, and the current heavy-duty AGV has a large design size and poor steering flexibility. Used in workshop plants.
  • the purpose of the present application is to provide a heavy-duty AGV that can carry most of its load on the load-bearing wheel set, so as to reduce the load-bearing load of the drive wheel set, make the force distribution reasonable, extend the service life, and be practical and efficient.
  • a heavy-duty AGV includes a frame, a load-bearing wheel set, and a driving wheel set.
  • the frame has a centerline.
  • the load-bearing wheel set and the drive wheel set are oppositely disposed on both sides of the centerline.
  • the vertical distance is the first distance
  • the vertical distance between the drive wheel group and the center line is the second distance
  • the first distance is smaller than the second distance.
  • the ratio of the first pitch to the second pitch ranges from 45% to 65%.
  • the ratio of the first pitch to the second pitch is 55%.
  • the vertical line where the center of gravity of the geometric figure formed by the combination of the driving wheel group and the load-bearing wheel group does not coincide with the vertical line where the center of gravity of the frame is located.
  • the load-bearing wheel set is configured to carry the weight of the frame between 65% and 75%
  • the drive-wheel set is configured to carry the weight of the frame between 25% and 35%.
  • the load-bearing wheel is configured It is loaded with 70% of the weight of the frame, and the drive wheel set is configured to carry 30% of the weight of the frame.
  • the extending direction of the center line is parallel to the long axis direction of the frame.
  • the extending direction of the center line is parallel to the long axis direction of the frame.
  • the load-bearing wheel group includes a first steering mechanism, a first mounting seat, and a load-bearing wheel body, the load-bearing wheel body is mounted on the first mounting seat and can rotate relative to the first mounting seat, and the first steering mechanism is mounted on the frame And connected with the first mounting seat, the first steering mechanism can drive the first mounting seat to rotate relative to the frame.
  • the first steering mechanism includes a first steering motor and a first transmission assembly
  • the first transmission assembly includes a first gear and a second gear
  • the diameter of the first gear is smaller than the diameter of the second gear
  • the first gear is fixedly sleeved on Outside the output shaft of the first steering motor
  • the second gear is fixedly connected with the first mounting seat
  • the first gear meshes with the second gear
  • the driving wheel set includes a driving frame, a second steering mechanism, a second mounting seat, a driving assembly and a shock absorbing assembly, the driving frame is fixedly connected to the vehicle frame;
  • the second steering mechanism includes a second steering motor and a second transmission Component, the second transmission component includes a worm and a worm gear, the second steering motor is mounted on the drive frame and fixedly connected to the worm, the second mounting seat is fixedly connected to the worm gear, and the worm and the worm gear are engaged;
  • the drive component includes a drive wheel body and a drive motor ,
  • the third transmission component and the fixed frame, the drive motor is fixedly installed on the fixed frame and connected with the drive wheel body through the third transmission component, the drive wheel body is installed on the fixed frame and can rotate relative to the fixed frame, the fixed frame and the second
  • the mounting seat is fixedly connected;
  • the third transmission assembly includes a first pulley, a second pulley and a transmission belt, the diameter of the first pulley is smaller than the diameter
  • the driving wheel set includes a driving frame, a second steering mechanism, a second mounting seat, a driving assembly and a shock absorbing assembly.
  • the driving frame includes a first bracket, a hinge and a second bracket, and the first bracket is fixedly mounted on the vehicle On the frame, one end of the hinge is hinged with the first bracket and the other end is hinged with the second bracket.
  • the second bracket can rotate relative to the first bracket;
  • the second steering mechanism includes a second steering motor and a second transmission assembly, and the second transmission
  • the assembly includes a worm and a worm gear, the second steering motor is mounted on the drive frame and fixedly connected to the worm, the second mounting seat is fixedly connected to the worm gear, and the worm is engaged with the worm gear;
  • the drive assembly includes a drive wheel body, a drive motor, and a third transmission assembly
  • the fixing frame the driving motor is fixedly installed on the fixing frame and connected with the driving wheel body through the third transmission component, the driving wheel body is installed on the fixing frame and can rotate relative to the fixing frame, and the fixing frame is fixedly connected with the second mounting seat;
  • the third transmission assembly includes a first pulley, a second pulley, and a transmission belt.
  • the diameter of the first pulley is smaller than the diameter of the second pulley.
  • the first pulley is fixedly sleeved outside the output shaft of the drive motor, and the second pulley It is fixedly connected to the drive wheel body, and the first pulley is connected to the second pulley through a transmission belt;
  • the shock absorbing assembly includes a plurality of buffer springs, which are arranged at parallel intervals, one end of the buffer spring is fixedly connected to the first bracket, and the other end It is fixedly connected with the second bracket.
  • the driving wheel group includes a driving frame, a second steering mechanism, a second mounting seat and a driving assembly, the driving frame is fixedly connected to the vehicle frame;
  • the second steering mechanism includes a second steering motor and a second transmission assembly, the second
  • the transmission assembly includes a third gear and a fourth gear, the second steering motor is mounted on the driving frame and fixedly connected with the third gear, the second mounting seat is fixedly connected with the fourth gear, and the third gear is meshed with the fourth gear;
  • the assembly includes a driving wheel body, a driving motor, a third transmission component and a fixing frame.
  • the third transmission component is a reducer.
  • the driving motor is fixedly installed on the fixing frame and connected to the driving wheel body through the third transmission component.
  • the driving wheel body is installed on The fixing frame can rotate relative to the fixing frame, and the fixing frame is fixedly connected with the second mounting seat.
  • the heavy-duty AGV further includes a roller conveyor transportation mechanism.
  • the roller conveyor transportation mechanism includes a first roller assembly, a second roller assembly, and a first hydraulic member.
  • the first roller assembly is installed in the second roller assembly and passes The first hydraulic part is connected with the vehicle frame, the second roller table assembly is fixedly connected with the vehicle frame, the first roller table assembly and the second roller table assembly are not in the same plane and the conveying directions are perpendicular to each other.
  • the heavy-duty AGV further includes a receiving wheel, which is installed on one side of the frame and can rotate relative to the frame.
  • the conveying direction of the receiving wheel is the same as the conveying direction of the first roller assembly.
  • the first roller table assembly includes a conveying motor, a mounting frame, a fourth transmission assembly, and a plurality of rollers.
  • the conveying motor is fixedly installed on the mounting frame and connected to the plurality of rollers through the fourth transmission assembly to drive multiple
  • the rollers rotate synchronously, the rollers are mounted on the mounting frame and can rotate relative to the mounting frame, and the mounting frame is connected to the first hydraulic component.
  • a plurality of rollers are arranged on the mounting frame in two rows in parallel, the number of the fourth transmission components is two, and each fourth transmission component is connected to a row of rollers.
  • the fourth transmission assembly includes a transmission shaft, a first sprocket, a chain, and a plurality of second sprockets.
  • the conveying motor is connected to the transmission shaft, and the first sprocket is fixedly sleeved outside the transmission shaft.
  • Each second chain The wheels are respectively fixedly connected to one roller wheel, and the first sprocket is respectively connected to a plurality of second sprockets through a chain.
  • the number of chains is plural, two adjacent second sprockets are connected by one chain, and the first sprocket is connected to one of the second sprockets by one chain.
  • the heavy-duty AGV further includes a plurality of first guide wheels and a plurality of second guide wheels.
  • the first guide wheels and the second guide wheels are both mounted on the frame and can rotate relative to the frame.
  • the plurality of first guide wheels The wheels are arranged in two rows in parallel on both sides of the first roller table assembly, the axial direction of the first guide wheel is perpendicular to the conveying direction of the first roller table assembly, and the plurality of second guide wheels are arranged in two rows in parallel in the second On both sides of the roller table assembly, the axial direction of the second guide wheel is perpendicular to the conveying direction of the second roller table assembly, and the axial direction of the first guide wheel is parallel to the axial direction of the second guide wheel.
  • the heavy-duty AGV further includes an anti-skid mechanism.
  • the anti-skid mechanism includes a second hydraulic member and a lifting plate. One end of the second hydraulic member is connected to the top of the frame and the other end is connected to the lifting plate.
  • the heavy-duty AGV also includes four jacking mechanisms.
  • the four jacking mechanisms are installed in a rectangular array on the bottom of the frame.
  • the jacking mechanism includes a third hydraulic member and a jacking bracket. The frame is connected, and the other end is connected to the jacking bracket.
  • the heavy-duty AGV also includes a laser scanner, a safety scanner, a laser navigator, and a controller.
  • the load-bearing wheel group and the drive wheel group are all connected to the controller.
  • the laser scanner, safety scanner, and laser navigator are all installed in The frame is connected to the controller.
  • the heavy-duty AGV provided in this application includes a frame, a load-bearing wheel group and a driving wheel group.
  • the frame has a center line, and the load-bearing wheel group and the drive wheel group are arranged on opposite sides of the center line.
  • the vertical distance between them is the first distance
  • the vertical distance between the drive wheel group and the center line is the second distance
  • the first distance is smaller than the second distance.
  • a heavy-load AGV provided in this application adopts a first pitch smaller than the second pitch, so it can carry most of its load on the load-bearing wheel set to reduce the load-bearing of the drive wheel set
  • the load makes the force distribution reasonable, prolongs the service life, and is practical and efficient.
  • FIG. 1 is a schematic structural view of a perspective view of an overloaded AGV provided by the first embodiment of the present application;
  • FIG. 2 is a schematic structural diagram of another perspective of an overloaded AGV provided by the first embodiment of the present application;
  • FIG. 3 is a schematic structural diagram of a load-bearing wheel set in a heavy-duty AGV provided by the first embodiment of this application;
  • FIG. 4 is a schematic structural view of a perspective view of a driving wheel group in a heavy-duty AGV provided by the first embodiment of the present application;
  • FIG. 5 is a schematic structural view of the second transmission assembly in FIG. 4;
  • FIG. 6 is a schematic structural diagram of another perspective of a driving wheel set in a heavy-duty AGV provided by the first embodiment of the present application;
  • FIG. 7 is a schematic structural view from a perspective of a roller conveyor mechanism in a heavy-load AGV provided by the first embodiment of this application;
  • FIG. 8 is a schematic structural view of another view of the roller conveyor mechanism in the heavy-load AGV provided by the first embodiment of the present application;
  • FIG. 9 is a schematic structural diagram of a jacking mechanism in a heavy-load AGV provided by the first embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a driving wheel set in a heavy-duty AGV provided by a second embodiment of the present application.
  • FIG. 11 is a schematic structural view of a perspective view of a driving wheel group in a heavy-duty AGV provided by a third embodiment of the present application;
  • FIG. 12 is a schematic structural diagram of another perspective of a driving wheel set in a heavy-duty AGV provided by a third embodiment of the present application.
  • Icon 100-heavy load AGV; 110-frame; 120-bearing wheel set; 121-first steering mechanism; 1211-first steering motor; 1212-first transmission assembly; 123-first mounting seat; 124-bearing Wheel body; 125-first gear; 126-second gear; 130-drive wheel set; 131-drive frame; 1311-first bracket; 1312-hinge; 1313-second bracket; 132-shock absorber assembly; 1321-shock plate; 1322-shock spring; 1323-buffer spring; 133-second rotating mechanism; 1331-second steering motor; 1332-second transmission assembly; 1341-worm; 1342-worm gear; 1343-third Gear; 1344-fourth gear; 135-second mounting base; 136-driving assembly; 1361-driving wheel body; 1362-driving motor; 1363-third transmission assembly; 1364-fixing frame; 1365-first pulley; 1366-second pulley; 1367-transmission belt; 140-roller conveyor mechanism;
  • an embodiment of the present application provides a heavy-duty AGV100 configured to transport goods. It can carry most of its load on the load-bearing wheel set 120 to reduce the load-bearing load of the drive wheel set 130, so that the force distribution is reasonable, the service life is extended, and it is practical and efficient.
  • the heavy-duty AGV 100 includes a frame 110, a load-bearing wheel set 120, a drive wheel set 130, a roller conveyor mechanism 140, an anti-skid mechanism 150, a jacking mechanism 160, and a receiving wheel 170.
  • the load-bearing wheel group 120 and the drive wheel group 130 are both installed at the bottom of the frame 110 to drive the frame 110 to move.
  • the load-bearing wheel group 120 is mainly configured for load-bearing and steering
  • the drive wheel group 130 is mainly configured for driving and steering.
  • the roller conveyor mechanism 140 is installed on the frame 110, and the roller conveyor mechanism 140 is configured to be docked with the factory's roller conveyor line to transfer goods, thereby realizing a fully automatic cargo transportation function.
  • the anti-skid mechanism 150 is installed on the frame 110.
  • the anti-skid mechanism 150 is configured to resist the bottom wall of the cargo during heavy AGG 100 movement, increase the friction of the cargo, and prevent the cargo from sliding off the roller conveyor mechanism 140.
  • the jacking mechanism 160 is installed at the bottom of the frame 110.
  • the jacking mechanism 160 is configured to jack up the entire frame 110 during the cargo transfer process to ensure that the frame 110 does not shift or tip due to changes in the load.
  • the receiving wheel 170 is mounted on the frame 110 and can rotate relative to the frame 110.
  • the goods enter the roller conveyor 140 through the receiving wheel 170.
  • the receiving wheel 170 can reduce the friction between the goods and the frame 110 to ensure that the goods can Slide onto the roller conveyor 140.
  • the frame 110 has a centerline, and the extending direction of the centerline is parallel to the direction of the long axis of the frame 110.
  • the load-bearing wheel group 120 and the drive wheel group 130 are relatively disposed on both sides of the center line.
  • the material and structure of the load-bearing wheel group 120 and the drive wheel group 130 are different.
  • the load-bearing wheel group 120 is mainly configured as a load-bearing
  • the drive wheel group 130 is mainly configured as drive.
  • the vertical distance between the load-bearing wheel group 120 and the center line is a first distance
  • the vertical distance between the driving wheel group 130 and the center line is a second distance
  • the first distance is smaller than the second distance.
  • the ratio between the first pitch and the second pitch is between 45% and 65%, so that the load of the goods is reasonably distributed on the load-bearing wheel set 120 and the driving wheel set 130, and the load carried by the load-bearing wheel set 120 accounts for Most of the load on the driving wheel set 130 accounts for a small part.
  • the ratio of the first pitch to the second pitch is 55%, but it is not limited to this.
  • the ratio of the first pitch to the second pitch may be 45% or 65%.
  • the ratio of the two spacings is not specifically limited.
  • the bearing wheel group 120 and the driving wheel group 130 using different materials and structures are used, and the center of gravity of the geometric figure formed by the combination of the driving wheel group 130 and the bearing wheel group 120 is the vertical line and the center of gravity of the frame 110 The vertical lines do not coincide.
  • the load wheel group 120 is disposed near the center line, the load wheel group 120 is configured to carry the weight of the frame 110 in the range of 65% to 75%, the drive wheel group 130 is disposed away from the center line, and the drive wheel group 130 is configured as the load vehicle
  • the frame weight ranges between 25% and 35%.
  • the load-bearing wheel set is configured to carry 70% of the weight of the frame, and the drive wheel set is configured to carry 30% of the weight of the frame, which can significantly increase the maximum load of the heavy-load AGV100.
  • the load wheel group 120 includes a first steering mechanism 121, a first mounting seat 123, and a load wheel body 124.
  • the first steering mechanism 121 is mounted on the frame 110 and connected to the first mounting seat 123.
  • the first steering mechanism 121 can drive the first mounting seat 123 to rotate relative to the frame 110.
  • the load wheel body 124 is mounted on the first mounting base 123 and can rotate relative to the first mounting base 123 to drive the frame 110 to move.
  • the rotation of the first steering mechanism 121 can steer the first mounting base 123, thereby turning the load-bearing wheel body 124 to improve the steering flexibility of the heavy-duty AGV100.
  • the first steering mechanism 121 includes a first steering motor 1211 and a first transmission assembly 1212.
  • the first steering motor 1211 is fixedly mounted on the frame 110 and connected to the first mounting base 123 through the first transmission assembly 1212.
  • the first steering mechanism 121 further includes an encoder (not shown).
  • the encoder is connected to the first steering motor 1211.
  • the first steering motor 1211 can realize rotation and controllability, and the encoder can control the first steering motor 1211. Steering angle.
  • the first transmission assembly 1212 includes a first gear 125 and a second gear 126.
  • the first gear 125 is fixedly sleeved outside the output shaft of the first steering motor 1211
  • the second gear 126 is fixedly connected to the first mounting base 123
  • the first gear 125 is meshed with the second gear 126.
  • the diameter of the first gear 125 is smaller than the diameter of the second gear 126 to reduce the speed of transmission and increase the torque of the transmission to facilitate the rotation of the first mounting base 123 and the bearing wheel body 124.
  • the driving wheel set 130 includes a driving frame 131, a shock absorbing assembly 132, a second steering mechanism 133, a second mounting base 135 and a driving assembly 136.
  • the driving frame 131 is fixedly mounted on the vehicle frame 110 and is connected to the shock absorbing assembly 132.
  • the shock absorbing assembly 132 can buffer and damp the driving frame 131.
  • the second steering mechanism 133 is mounted on the driving frame 131 and connected to the second mounting base 135, and the driving assembly 136 is mounted on the second mounting base 135.
  • the second steering mechanism 133 can steer the second mounting base 135 to steer the driving assembly 136.
  • the second steering mechanism 133 includes a second steering motor 1331 and a second transmission assembly 1332.
  • the second steering motor 1331 is fixedly installed on the driving frame 131 and connected to the second mounting base 135 through the second transmission assembly 1332.
  • the second transmission assembly 1332 includes a worm 1341 and a worm wheel 1342.
  • the second steering motor 1331 is fixedly connected to the worm 1341, and the rotation of the second steering motor 1331 can drive the worm 1341 to rotate.
  • the second mounting seat 135 is fixedly connected to the worm gear 1342, and the worm 1341 meshes with the worm gear 1342.
  • the rotation of the worm 1341 can drive the worm gear 1342 to rotate, thereby driving the second mounting seat 135 to rotate, thereby turning the driving assembly 136.
  • the driving assembly 136 includes a driving wheel body 1361, a driving motor 1362, a third transmission assembly 1363, and a fixing frame 1364.
  • the driving motor 1362 is fixedly mounted on the fixing frame 1364 and connected to the driving wheel body 1361 through the third transmission assembly 1363.
  • the driving wheel body 1361 is mounted on the fixing frame 1364 and can rotate relative to the fixing frame 1364 to drive the fixing frame 1364 to move, and the fixing frame 1364 is fixedly connected to the second mounting base 135.
  • the rotation of the driving motor 1362 can drive the driving wheel body 1361 to rotate, thereby providing power to the heavy-duty AGV100, so that the heavy-duty AGV100 can move.
  • the third transmission assembly 1363 includes a first pulley 1365, a second pulley 1366, and a transmission belt 1367.
  • the first pulley 1365 is fixedly sleeved outside the output shaft of the drive motor 1362, the second pulley 1366 is fixedly connected to the drive pulley body 1361, and the first pulley 1365 is connected to the second pulley 1366 through a transmission belt 1367.
  • the diameter of the first pulley 1365 is smaller than the diameter of the second pulley 1366 to reduce the transmission speed and increase the transmission torque to facilitate the rotation of the drive wheel body 1361.
  • the shock absorbing assembly 132 includes a shock absorbing plate 1321 and a plurality of shock absorbing springs 1322.
  • a plurality of damping springs 1322 are arranged in parallel at intervals to enhance the force-bearing effect.
  • One end of the damping spring 1322 is fixedly connected to the second mounting base 135, and the other end is fixedly connected to the damping plate 1321, the damping spring 1322 is vertically arranged, and the damping plate 1321 is spaced from the ground.
  • the shock absorbing spring 1322 drives the shock absorbing plate 1321 to move up and down, thereby buffering and damping the second mounting base 135.
  • the roller conveyor mechanism 140 includes a first roller assembly 141, a second roller assembly 142 and a first hydraulic member 143.
  • the first roller assembly 141 is installed in the second roller assembly 142 and connected to the frame 110 through the first hydraulic member 143.
  • the first roller assembly 141 can be raised or lowered under the action of the first hydraulic member 143, thereby
  • the level of the first roller assembly 141 is higher or lower than the level of the second roller assembly 142.
  • the second roller table assembly 142 is fixedly connected to the vehicle frame 110.
  • the first roller table assembly 141 and the second roller table assembly 142 are not in the same plane and the conveying directions are perpendicular to each other.
  • the conveying direction of the second roller table assembly 142 is the extending direction of the center line, that is, the lateral direction
  • the conveying direction of the first roller table assembly 141 is the longitudinal direction.
  • the roller table conveying mechanism 140 drives the goods to be transported in the longitudinal direction; when the horizontal height of the first roller table assembly 141 is lower than the second roller table At the level of the assembly 142, the cargo falls on the second roller assembly 142, and the roller conveyor mechanism 140 drives the cargo to be transported in the lateral direction.
  • the conveying directions of the first roller table assembly 141 and the second roller table assembly 142 are different, so as to improve the flexibility of the heavy-duty AGV 100 for cargo transportation.
  • the heavy-duty AGV 100 also includes a receiving wheel 170, which is mounted on one side of the frame 110 and corresponds to the entrance of the first roller assembly 141, and the conveying direction of the receiving wheel 170 is the same as the first roller assembly
  • the conveying direction of 141 is the same, so as to reduce the friction of the movement of the goods, and facilitate the delivery of the goods on the assembly line into the first roller assembly 141.
  • the number of receiving wheels 170 is four, of which two receiving wheels 170 are provided at one end of the first roller assembly 141 and the other two receiving wheels 170 are provided at the other end of the first roller assembly 141.
  • the first roller assembly 141 includes a conveying motor 144, a mounting frame 145, a fourth transmission assembly 146, and a plurality of roller wheels 147.
  • the conveying motor 144 is fixedly installed on the mounting frame 145 and connected to the plurality of rollers 147 through the fourth transmission assembly 146 to synchronously drive the plurality of rollers 147 to rotate, thereby driving the goods to move.
  • the roller 147 is mounted on the mounting bracket 145 and can rotate relative to the mounting bracket 145 to send or remove the goods into or out of the range where the mounting bracket 145 is located.
  • the mounting bracket 145 is connected to the first hydraulic member 143, and the mounting bracket 145 can be raised or lowered under the action of the first hydraulic member 143 to flexibly select the direction of cargo transportation.
  • the plurality of rollers 147 are divided into two rows and are distributed in parallel on the mounting frame 145 to simultaneously support and transport the goods at both ends.
  • the number of the fourth transmission assembly 146 is two.
  • Each fourth transmission assembly 146 is connected to a row of rollers 147.
  • the conveying motor 144 respectively inputs power to the two rows of rollers 147 through the two fourth transmission assemblies 146 to drive
  • the two rows of rollers 147 rotate synchronously to realize the transportation of goods.
  • the fourth transmission assembly 146 includes a transmission shaft 1461, a first sprocket 1462, a chain 1463, and a plurality of second sprockets 1464.
  • the conveying motor 144 is drivingly connected to the transmission shaft 1461 to drive the transmission shaft 1461 to rotate.
  • the first sprocket 1462 is fixedly sleeved outside the transmission shaft 1461, and each second sprocket 1464 is fixedly connected to a roller 147, and the first sprocket 1462 is connected to a plurality of second sprockets 1464 through a chain 1463, respectively.
  • the rotation of a sprocket 1462 can drive a plurality of second sprockets 1464 to rotate synchronously, so that a plurality of rollers 147 rotate synchronously.
  • the number of chains 1463 is plural, two adjacent second sprockets 1464 are connected by one chain 1463, and the first sprocket 1462 is connected to one of the second sprockets 1464 by one chain 1463 to improve transmission efficiency.
  • the specific structure of the second roller assembly 142 is the same as the specific structure of the first roller assembly 141, and details are not described herein again.
  • the heavy-duty AGV 100 also includes a plurality of first guide wheels 180 and a plurality of second guide wheels 190. Both the first guide wheel 180 and the second guide wheel 190 are mounted on the frame 110 and can rotate relative to the frame 110 to guide and limit the cargo, ensuring that the cargo can only move along a preset trajectory.
  • the axial direction of the first guide wheel 180 is parallel to the axial direction of the second guide wheel 190, and the rotation direction of the first guide wheel 180 is the same as the rotation direction of the second guide wheel 190.
  • a plurality of first guide wheels 180 are arranged in two rows in parallel on both sides of the first roller assembly 141.
  • the axial direction of the first guide wheel 180 is perpendicular to the conveying direction of the first roller assembly 141.
  • a plurality of second guide wheels 190 are arranged in parallel on both sides of the second roller table assembly 142 in two rows. The axial direction of the second guide wheel 190 is perpendicular to the conveying direction of the second roller table assembly 142.
  • the bottom wall of the cargo is in contact with a plurality of rollers 147, the roller 147 drives the cargo forward, the side wall of the cargo is in contact with the second guide wheel 190, and the second guide wheel 190 performs the movement of the cargo Limit.
  • the anti-skid mechanism 150 includes a second hydraulic member 151 and a lifting plate 152.
  • One end of the second hydraulic member 151 is connected to the top of the frame 110, and the other end is connected to the lifting plate 152.
  • the second hydraulic member 151 can drive the lifting plate 152 up or down to resist or disengage the roller conveyor mechanism 140 On the goods.
  • the lifting plate 152 is disposed in the first roller table assembly 140.
  • the plane on which the lifting plate 152 is lowered is lower than the plane of the first roller table assembly 141 and lower than the plane of the second roller table assembly 142.
  • the plane on which the plate 152 is raised is flush with the highest plane of the first roller assembly 140, and the lifting plate 152 can support the cargo together with the first roller assembly 140 to prevent the cargo on the first roller assembly 140 Slip occurs.
  • the lifting plate 152 is provided with a cushion to increase the friction between the lifting plate 152 and the cargo, to further prevent the cargo from sliding off the lifting plate 152, and to prevent the cargo from causing wear on the lifting plate 152 To protect the lifting plate 152 and extend the service life of the lifting plate 152.
  • the number of jacking mechanisms 160 is four, and the four jacking mechanisms 160 are installed in a rectangular array on the bottom of the frame 110 to simultaneously lift the frame 110 to prevent During the transfer process, the frame 110 is shaken or shifted.
  • the jacking mechanism 160 includes a third hydraulic member 161 and a jacking bracket 162. One end of the third hydraulic member 161 is connected to the frame 110 and the other end is connected to the jacking bracket 162.
  • the third hydraulic member 161 can drive the jacking bracket 162 to extend. Lengthen or shorten, so that the load-bearing wheel set 120 and the driving wheel set 130 are separated from the ground or conform to the ground.
  • the heavy-duty AGV100 also includes a laser scanner (not shown), a safety scanner (not shown), a laser navigator (not shown), and a controller (not shown). Both the load wheel group 120 and the drive wheel group 130 are connected to a controller. The controller can control the load wheel group 120 to turn. The controller can also control the drive wheel group 130 to turn, move forward or backward, so as to realize the movement of the entire heavy-duty AGV 100.
  • the laser scanner, safety scanner and laser navigator are all installed on the frame and connected to the controller.
  • the laser navigator is configured to store navigation path data to control the entire heavy-duty AGV100 to move along the navigation path through the controller.
  • the scanner is configured to sense the position of the cargo on the frame 110 to prevent the cargo from falling.
  • the safety scanner is configured to scan the surrounding objects during driving. If an obstacle is found on the navigation path, the safety scanner can pass through the controller Control the entire heavy-duty AGV100 to slow down or stop to improve safety performance.
  • the heavy-duty AGV100 also includes a battery (not shown).
  • a guide rail is provided in the frame 110, and a slider is provided at the bottom of the battery. The slider and the guide rail are slidingly connected to facilitate insertion or removal of the battery from the frame 110, which facilitates the installation and removal of the battery.
  • the heavy-duty AGV 100 provided in the embodiment of the present application includes a frame 110, a load-bearing wheel group 120, and a driving wheel group 130.
  • the frame 110 has a center line, and the load-bearing wheel group 120 and the drive wheel group 130 are disposed on opposite sides of the center line.
  • the vertical distance between the load-bearing wheel group 120 and the center line is the first distance
  • the vertical distance between the driving wheel group 130 and the center line is the second distance
  • the first distance is smaller than the second distance.
  • a heavy-duty AGV100 provided in this application adopts a first pitch smaller than the second pitch, so it can carry most of its load on the load-bearing wheel set 120 to reduce the driving wheel set 130
  • the load-bearing load makes the force distribution reasonable, prolongs the service life, and is practical and efficient.
  • an embodiment of the present application provides a heavy-duty AGV 100. Compared with the first embodiment, this embodiment differs in the structure of the driving wheel group 130.
  • the driving frame 131 includes a first bracket 1311, a hinge 1312, and a second bracket 1313.
  • the first bracket 1311 is fixedly mounted on the frame 110.
  • One end of the hinge 1312 is hinged with the first bracket 1311, and the other end is hinged with the second bracket 1313.
  • the second bracket 1313 can rotate relative to the first bracket 1311, and the second steering motor 1331 is fixedly mounted on the second bracket 1313 and connected to the second mounting base 135 through the second transmission assembly 1332, and the driving assembly 136 is mounted on the second mounting base 135.
  • the shock absorbing assembly 132 is fixedly installed on the first bracket 1311 and connected to the second bracket 1313.
  • the shock absorbing assembly 132 includes a plurality of buffer springs 1323 disposed in parallel intervals.
  • the plurality of buffer springs 1323 are all disposed between the first bracket 1311 and the second bracket 1313.
  • the buffer springs 1323 are disposed obliquely. One end is fixedly connected to the first bracket 1311, and the other end is fixedly connected to the second bracket 1313.
  • the second bracket 1313 shakes up and down, and the second bracket 1313 rotates relative to the first bracket 1311.
  • the buffer spring 1323 is compressed or elongated to reduce the shaking of the second bracket 1313. To cushion the effect of shock absorption.
  • an embodiment of the present application provides a heavy-duty AGV 100. Compared with the first embodiment, this embodiment differs in the structure of the driving wheel group 130.
  • the driving wheel group 130 no longer includes the shock absorbing assembly 132 to save space.
  • the second steering motor 1331 is fixedly installed on the driving frame 131 and connected to the second mounting base 135 through the second transmission assembly 1332, and the driving assembly 136 is mounted on the second mounting base 135. The rotation of the second steering motor 1331 can turn the second mounting base 135 to turn, thereby driving the driving assembly 136 to turn.
  • the second transmission assembly 1332 includes a third gear 1343 and a fourth gear 1344.
  • the third gear 1343 is fixedly sleeved outside the output shaft of the second steering motor 1331
  • the fourth gear 1344 is fixedly connected to the second mounting seat 135, and the third gear 1343 meshes with the fourth gear 1344.
  • the diameter of the third gear 1343 is smaller than the diameter of the fourth gear 1344 to reduce the transmission speed and increase the transmission torque to facilitate the rotation of the second mount 135 and the driving assembly 136.
  • the driving assembly 136 includes a driving wheel body 1361, a driving motor 1362, a third transmission assembly 1363, and a fixing frame 1364.
  • the driving motor 1362 is fixedly mounted on the fixing frame 1364 and connected to the driving wheel body 1361 through the third transmission assembly 1363.
  • the driving wheel body 1361 is mounted on the fixing frame 1364 and can rotate relative to the fixing frame 1364 to drive the fixing frame 1364 to move, and the fixing frame 1364 is fixedly connected to the second mounting base 135.
  • the rotation of the driving motor 1362 can drive the driving wheel body 1361 to rotate, thereby providing power to the heavy-duty AGV100, so that the heavy-duty AGV100 can move.
  • the third transmission component 1363 is a speed reducer.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

L'invention concerne un véhicule guidé automatique lourd (100), lequel véhicule comprend un châssis (110), un ensemble de roues de portée de charge (120) et un ensemble de roues motrices (130) ; le châssis (110) a une ligne centrale, et l'ensemble de roues de portée de charge (120) et l'ensemble de roues motrices (130) sont disposés de manière opposée sur deux côtés de la ligne centrale ; la distance verticale entre l'ensemble de roues de portée de charge (120) et la ligne centrale est une première distance, et la distance verticale entre l'ensemble de roues motrices (130) et la ligne centrale est une seconde distance, la première distance étant plus courte que la seconde distance.
PCT/CN2020/070270 2019-01-07 2020-01-03 Véhicule guidé automatique lourd WO2020143547A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201920024631.5 2019-01-07
CN201910012066.5 2019-01-07
CN201910012066.5A CN109533085B (zh) 2019-01-07 2019-01-07 一种重载agv
CN201920024631.5U CN209410200U (zh) 2019-01-07 2019-01-07 一种重载agv

Publications (1)

Publication Number Publication Date
WO2020143547A1 true WO2020143547A1 (fr) 2020-07-16

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PCT/CN2020/070270 WO2020143547A1 (fr) 2019-01-07 2020-01-03 Véhicule guidé automatique lourd

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WO (1) WO2020143547A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000326880A (ja) * 1999-05-21 2000-11-28 Denso Corp 移動ロボット
CN105947015A (zh) * 2016-06-02 2016-09-21 芜湖智久机器人有限公司 一种agv驱动机构
CN108791569A (zh) * 2018-06-28 2018-11-13 广东嘉腾机器人自动化有限公司 一种agv底盘结构
CN108928386A (zh) * 2018-06-27 2018-12-04 共享智能铸造产业创新中心有限公司 应用于重载移动机器人的驱动装置
CN109533085A (zh) * 2019-01-07 2019-03-29 共享智能铸造产业创新中心有限公司 一种重载agv

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000326880A (ja) * 1999-05-21 2000-11-28 Denso Corp 移動ロボット
CN105947015A (zh) * 2016-06-02 2016-09-21 芜湖智久机器人有限公司 一种agv驱动机构
CN108928386A (zh) * 2018-06-27 2018-12-04 共享智能铸造产业创新中心有限公司 应用于重载移动机器人的驱动装置
CN108791569A (zh) * 2018-06-28 2018-11-13 广东嘉腾机器人自动化有限公司 一种agv底盘结构
CN109533085A (zh) * 2019-01-07 2019-03-29 共享智能铸造产业创新中心有限公司 一种重载agv

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