Omnidirectional heavy-load automatic guide vehicle

Abstract

The utility model discloses an omni-directional heavy-load automatic guide vehicle, which relates to the technical field of automatic guide vehicles and comprises a box-shaped frame, a lifting device is arranged in the frame, a plurality of steering wheel traveling mechanisms are arranged on the lower portion of the frame, and each steering wheel traveling mechanism comprises a wheel carrier, a rubber coating wheel, a traveling servo motor, an electromagnetic band-type brake device and a steering assembly. A slewing bearing connected with the frame is arranged on the wheel carrier, the rubber coating wheel is arranged on the wheel carrier, and the walking servo motor and the electromagnetic band-type brake device are respectively connected with the rubber coating wheel. According to the automatic guiding vehicle, the running stability of the automatic guiding vehicle can be guaranteed, meanwhile, the walking device is simplified, walking control and stable bearing of the automatic guiding vehicle can be achieved by means of the steering wheel walking mechanism, the walking device is more concise, and the working efficiency is improved. And the overall manufacturing cost and the later maintenance cost of the automatic guide vehicle are reduced to a certain extent, meanwhile, the later maintenance is more convenient, and the practicability of the automatic guide vehicle is improved.

Description

Technical Field

[0001] This utility model relates to the field of automated guided vehicles (AGVs), specifically to an omnidirectional heavy-duty AGV. Background Technology

[0002] Currently, automated guided vehicles (AGVs) on the market are transport vehicles that can travel along a prescribed guide path and have safety protection and various transfer functions. They are characterized by high automation, safety, and flexibility.

[0003] In the automobile manufacturing process, the main production processes and lines include stamping, welding, painting and final assembly. In the transfer of large stamping dies, large stamping die transfer and the transfer of product bodies in the automobile production line, some workshops also use heavy-duty automated guided vehicles to realize the transfer from workshop to factory area and from factory area to workshop.

[0004] For example, a novel heavy-duty lurking lifting AGV for automotive welding production lines, disclosed in patent document CN 118722397 B, includes a vehicle body, a steering wheel assembly, and a lifting and guiding mechanism. Although this AGV has heavy-duty dual differential steering wheels with greater load-bearing capacity and flexible and simple control, and a lifting and guiding mechanism with better lifting effect and lower lifting noise than traditional optical shaft transmission, in addition to the two sets of steering wheel assemblies, the AGV also has multiple sets of auxiliary caster assemblies and main caster assemblies. This makes the AGV's walking device rather bulky and complex, which not only increases the overall cost of the AGV but also increases the later maintenance costs, resulting in limited practicality. Utility Model Content

[0005] (1) Technical problems solved

[0006] To address the shortcomings of existing technologies, this utility model provides an omnidirectional heavy-duty automated guided vehicle, which solves the problems mentioned in the background section.

[0007] (2) Technical solution

[0008] To achieve the above objectives, this utility model is implemented through the following technical solution: an omnidirectional heavy-duty automatic guided vehicle, including a box-type frame, with a lifting device inside the frame, and several steering wheel traveling mechanisms at the lower part of the frame. Each steering wheel traveling mechanism includes a wheel frame, rubber-coated wheels, a traveling servo motor, an electromagnetic brake device, and a steering assembly. The wheel frame is provided with a slewing bearing connected to the frame, the rubber-coated wheels are located on the wheel frame, and the traveling servo motor and the electromagnetic brake device are respectively connected to the rubber-coated wheels.

[0009] Optionally, the steering assembly includes a steering gear, a steering servo motor, and a drive gear. The steering gear is fixedly connected to the wheel frame, the steering servo motor is mounted on the slewing bearing, and the drive gear is connected to the output end of the steering servo motor and meshes with the steering gear.

[0010] Optionally, the steering wheel traveling mechanism further includes a trigger and two limit switches. The trigger is located on the lower side of the steering gear, and the two limit switches are both located on the slewing bearing and on the outer side of the steering gear. The angle between the line connecting the two limit switches and the axis of the steering gear is not less than 90°.

[0011] Optionally, the lifting device is in two sets, and the two sets of lifting devices are symmetrically distributed in the vehicle frame.

[0012] Optionally, each set of lifting devices includes a lifting servo motor, a steering box, a drive shaft, a lifting machine, and a lifting plate. The output end of the lifting servo motor is connected to the input end of the steering box. One end of the drive shaft is connected to the output end of the steering box, and the other end is connected to the input end of the lifting machine. The lifting plate is connected to the lifting end of the lifting machine.

[0013] Optionally, the exterior of the vehicle frame is equipped with an intelligent prompt sound, several obstacle avoidance radars, and several three-color indicator lights, and the lower edge of the vehicle frame is provided with a ring-shaped safety contact edge.

[0014] Optionally, the upper part of the vehicle frame is provided with a worktable steel plate and several lifting rings.

[0015] (3) Beneficial effects

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] The automated guided vehicle (AGV) can be moved by several steering wheel travel mechanisms. This simplifies the travel device while ensuring its operational stability. The steering wheel travel mechanism itself can control the movement of the AGV and provide stable load-bearing, making the travel device simpler and reducing the overall cost of the AGV and its maintenance costs. It also makes maintenance more convenient and improves its practicality. Furthermore, the steering component can accurately and sensitively control the steering of the AGV, and the trigger and two limit switches can limit the deflection of the wheel frame to prevent the wheel frame from rotating 360 degrees and avoid cable breakage. Attached Figure Description

[0018] Figure 1 This is a frontal three-dimensional structural diagram of the present invention;

[0019] Figure 2This is a front view structural diagram of the present invention;

[0020] Figure 3 This is a side view of the structure of this utility model;

[0021] Figure 4 This is a three-dimensional structural diagram of the steering wheel traveling mechanism of this utility model;

[0022] Figure 5 This is a front view structural diagram of the steering wheel traveling mechanism of this utility model;

[0023] Figure 6 This is a side view of the steering wheel traveling mechanism of this utility model.

[0024] Figure 7 This is a top view of the steering wheel traveling mechanism of this utility model;

[0025] Figure 8 This is a top view of the internal structure of this utility model;

[0026] Figure 9 This is a schematic diagram of the internal three-dimensional structure of this utility model.

[0027] In the diagram: 1. Chassis; 2. Workbench steel plate; 3. Steering wheel travel mechanism; 301. Wheel frame; 302. Rubber-coated wheel; 303. Travel servo motor; 304. Electromagnetic brake device; 305. Steering gear; 306. Steering servo motor; 307. Drive gear; 308. Limit switch; 309. Slewing bearing; 3010. Trigger element; 4. Lifting device; 401. Lifting servo motor; 402. Steering box; 403. Drive shaft; 404. Lifting machine; 405. Lifting plate; 5. Lifting ring; 6. Safety contact edge; 7. Battery; 8. Obstacle radar; 9. Three-color indicator light; 10. Intelligent prompt sound; 11. Human-machine interface; 12. Remote control antenna. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] This utility model provides an embodiment of an omnidirectional heavy-duty automated guided vehicle: such as Figures 1 to 3As shown, the vehicle includes a box-type frame 1, with a lifting device 4 inside the frame 1. The lower part of the frame 1 is equipped with four steering wheel travel mechanisms 3, which are symmetrically distributed in pairs on the lower part of the frame 1 to prevent the automatic guided vehicle from overturning due to uneven force and to ensure the stable and safe operation of the frame 1.

[0030] like Figure 4 As shown, the steering wheel travel mechanism 3 includes a wheel frame 301, a rubber-coated wheel 302, a travel servo motor 303, an electromagnetic brake device 304, and a steering assembly. The wheel frame 301 is provided with a slewing bearing 309 connected to the frame 1. The rubber-coated wheel 302 is provided on the wheel frame 301, and the travel servo motor 303 and the electromagnetic brake device 304 are respectively connected to the rubber-coated wheel 302.

[0031] like Figures 4 to 7 As shown, the steering assembly includes a steering gear 305, a steering servo motor 306, and a drive gear 307. The steering gear 305 is fixedly connected to the wheel frame 301. The steering servo motor 306 is mounted on the slewing bearing 309. The drive gear 307 is connected to the output end of the steering servo motor 306, and the drive gear 307 meshes with the steering gear 305.

[0032] When it is necessary to control the movement of the automated guided vehicle, the four walking servo motors 303 can be started simultaneously to drive the four rubber-coated wheels 302 to rotate on the wheel frame 301, thereby realizing the movement of the automated guided vehicle.

[0033] When steering is required, the steering servo motor 306 is started. At this time, the steering servo motor 306 drives the drive gear 307 to rotate. The drive gear 307 then drives the wheel frame 301 to rotate along the axis of the steering gear 305 through the steering gear 305. This drives the rubber-coated wheels 302 to deflect. In this way, the two rubber-coated wheels 302 at the front along the direction of travel are controlled to deflect at a certain angle in one direction, while the other two at the rear are controlled to deflect at a certain angle in another direction, so as to realize the steering of the automatic guided vehicle.

[0034] The outer rims of the four rubber-coated wheels 302 are covered with a layer of polyurethane rubber, which provides effective protection for the rubber-coated wheels 302 and improves their service life. At the same time, the steering servo motor 306 is equipped with an absolute encoder, which can prevent position loss when the steering wheel travel mechanism 3 is powered off. After power is restored, the steering servo motor 306 does not need to return to zero for verification.

[0035] like Figure 6 and Figure 7As shown, the steering wheel travel mechanism 3 also includes a trigger 3010 and two limit switches 308. The trigger 3010 is located on the lower side of the steering gear 305. The two limit switches 308 are both located on the slewing bearing 309 and on the outer side of the steering gear 305. The angle between the line connecting the two limit switches 308 and the axis of the steering gear 305 is not less than 90°. The two limit switches 308 are electrically connected to the steering servo motor 306.

[0036] The trigger 3010 can move between the two limit switches 308 along with the steering gear 305. When the trigger 3010 contacts one of the limit switches 308, it can control the steering servo motor 306 to stop, preventing the wheel frame 301 from rotating 360 degrees and avoiding cable breakage.

[0037] like Figure 8 and Figure 9 As shown, there are two sets of lifting devices 4, and the two sets of lifting devices 4 are symmetrically distributed in the frame 1. Each set of lifting devices 4 includes a lifting servo motor 401, a steering box 402, a drive shaft 403, a lifting machine 404, and a lifting plate 405. The output end of the lifting servo motor 401 is connected to the input end of the steering box 402. One end of the drive shaft 403 is connected to the output end of the steering box 402, and the other end is connected to the input end of the lifting machine 404. The lifting plate 405 is connected to the lifting end of the lifting machine 404.

[0038] When it is necessary to lift the items on the automated guided vehicle, the lifting servo motor 401 is started. At this time, the lifting servo motor 401 can drive the lifting machine 404 through the steering box 402 and the drive shaft 403 in sequence, and the lifting end of the lifting machine 404 lifts the items through the lifting plate 405, thereby realizing the function of lifting and lowering the transported items.

[0039] like Figure 1 As shown, the upper part of the frame 1 is provided with a worktable steel plate 2 and several lifting rings 5. The worktable steel plate 2 is used to ensure the load-bearing capacity and load-bearing stability of the automated guided vehicle. The several lifting rings 5 ​​make it easy for the automated guided vehicle to be lifted by lifting equipment, thus improving its flexibility.

[0040] like Figures 1 to 3As shown, the exterior of the chassis 1 is equipped with an intelligent warning sound 10, several obstacle avoidance radars 8, and several tri-color indicator lights 9. When the automated guided vehicle encounters an obstacle, the obstacle avoidance radars 8 can promptly identify it and issue an audible and visual alarm via the tri-color indicator lights 9 and the intelligent warning sound 10 to remind the operator and ensure safe operation. The tri-color indicator lights 9 display three colors, showing different colors according to the different states of the vehicle. The intelligent warning sound 10 can also emit different sounds according to the different states of the vehicle to ensure personnel safety. Furthermore, the lower edge of the chassis 1 is equipped with a ring-shaped safety contact edge 6. When the automated guided vehicle collides with an obstacle, the safety contact edge 6 can play a certain role in buffering and preventing collisions, thus providing a certain degree of protection for the automated guided vehicle itself.

[0041] like Figure 1 As shown, the vehicle frame 1 also includes a human-machine interface 11 and a remote control antenna 12 on its exterior. The human-machine interface 11 is used to display relevant information about the automated guided vehicle and to set some data. It can also display corresponding fault information to facilitate maintenance personnel to quickly perform repairs. The remote control antenna 12 can be used for wireless signal transmission between the automated guided vehicle and external equipment.

[0042] like Figure 8 and Figure 9 As shown, the chassis 1 also houses a battery 7, which provides the power required for the autonomous guided vehicle to control its movement.

[0043] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An omnidirectional heavy-duty automated guided vehicle, comprising a box-type frame (1), wherein a lifting device (4) is provided inside the frame (1), characterized in that: The lower part of the frame (1) is provided with several steering wheel travel mechanisms (3). The steering wheel travel mechanism (3) includes a wheel frame (301), a rubber-coated wheel (302), a travel servo motor (303), an electromagnetic brake device (304), and a steering assembly. The wheel frame (301) is provided with a slewing bearing (309) connected to the frame (1). The rubber-coated wheel (302) is located on the wheel frame (301), and the travel servo motor (303) and the electromagnetic brake device (304) are respectively connected to the rubber-coated wheel (302).

2. The omnidirectional heavy-duty automated guided vehicle according to claim 1, characterized in that: The steering assembly includes a steering gear (305), a steering servo motor (306), and a drive gear (307). The steering gear (305) is fixedly connected to the wheel frame (301). The steering servo motor (306) is mounted on the slewing bearing (309). The drive gear (307) is connected to the output end of the steering servo motor (306), and the drive gear (307) meshes with the steering gear (305).

3. The omnidirectional heavy-duty automated guided vehicle according to claim 2, characterized in that: The steering wheel traveling mechanism (3) also includes a trigger (3010) and two limit switches (308). The trigger (3010) is located on the lower side of the steering gear (305), and the two limit switches (308) are both located on the slewing bearing (309) and on the outer side of the steering gear (305). The angle between the line connecting the two limit switches (308) and the axis of the steering gear (305) is not less than 90°.

4. The omnidirectional heavy-duty automated guided vehicle according to claim 1, characterized in that: The lifting device (4) consists of two sets, and the two sets of lifting devices (4) are symmetrically distributed in the frame (1).

5. The omnidirectional heavy-duty automated guided vehicle according to claim 4, characterized in that: Each lifting device (4) includes a lifting servo motor (401), a steering box (402), a drive shaft (403), a lifting machine (404), and a lifting plate (405). The output end of the lifting servo motor (401) is connected to the input end of the steering box (402). One end of the drive shaft (403) is connected to the output end of the steering box (402), and the other end is connected to the input end of the lifting machine (404). The lifting plate (405) is connected to the lifting end of the lifting machine (404).

6. The omnidirectional heavy-duty automated guided vehicle according to claim 1, characterized in that: The frame (1) is equipped with an intelligent prompt sound (10), several obstacle radars (8) and several three-color indicator lights (9) on its exterior, and the lower edge of the frame (1) is provided with a ring-shaped safety contact edge (6).

7. The omnidirectional heavy-duty automated guided vehicle according to claim 1, characterized in that: The upper part of the frame (1) is provided with a workbench steel plate (2) and several lifting rings (5).

Images