Axle AGV (Automatic Guided Vehicle) intelligent conveying vehicle

Abstract

The utility model provides an axle AGV (Automatic Guided Vehicle) intelligent transport vehicle, which belongs to the technical field of axle transfer for railway vehicles and comprises a shell, a chassis connected to the inner bottom of the shell, a traveling wheel set connected to the chassis, a damping component connected to the top of the traveling wheel set, a movable plate connected to the top of the damping component, and a lifting component connected to the movable plate. The top of the lifting assembly is connected with a conveying plate, the conveying plate is connected with at least two sets of positioning clamping plates, and the positioning clamping plates are provided with a plurality of clamping grooves for clamping axles. In the utility model, the driving wheel drives the driven wheel to rotate to realize pivot steering, the turning radius is small, the required turning space is small during transportation in a workshop, the normal work of staff is not hindered, the axle can be quickly conveyed to a specified position, and the production efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the field of railway vehicle axle transfer technology, specifically relating to an axle AGV intelligent transport vehicle. Background Technology

[0002] As a core component of the train's running gear, the manufacturing quality of railway vehicle axles directly affects the safety of vehicle operation. During axle manufacturing, inter-process transfer cars are crucial equipment connecting various processing stages, undertaking the safe and efficient transfer of axle blanks, semi-finished products, and finished products between different processes. Traditional transfer cars often employ large-sized structures, making steering and movement difficult. Specifically, during transfer, if the number of axles is small and the transfer car is too long, it results in an excessively large turning radius and inflexible operation, hindering employee work and impacting production efficiency. Utility Model Content

[0003] To address the problems existing in the prior art, an axle-driven AGV intelligent transport vehicle is proposed.

[0004] The technical solution of this utility model to solve the technical problem is as follows: an axle AGV intelligent conveyor vehicle, including a shell, a chassis connected to the bottom of the shell, a set of walking wheels connected to the chassis, a shock-absorbing component connected to the top of the walking wheels, a movable plate connected to the top of the shock-absorbing component, a lifting component connected to the movable plate, a conveyor plate connected to the top of the lifting component, at least two sets of positioning plates connected to the conveyor plate, and a plurality of slots for locking the axle are opened on the positioning plates.

[0005] Preferably, the walking wheel set includes two drive wheels and two driven wheels located at the four corners of the chassis. The two drive wheels are respectively located at two diagonally opposite corners of the chassis. The drive wheels are rotatably connected to the bracket, and a drive motor is fixedly connected to one side of the bracket. The drive motor is driven by the drive wheels. A steering component is provided on the drive wheels, which can drive the rotating wheels to rotate and achieve the steering of the vehicle body.

[0006] Preferably, the steering assembly includes a horizontal plate fixed to the top of the bracket, a steering gear fixedly connected to the horizontal plate, and the steering gear rotatably connected to the bottom of the shock absorber assembly; a steering motor is also connected to the bottom of the horizontal plate, and the output end of the steering motor is connected to a drive gear. The rotation of the drive gear can drive the steering gear to rotate along the shock absorber assembly to achieve steering.

[0007] Preferably, the driven wheel is a swivel wheel, and the rotation of the drive wheel can drive the swivel wheel to rotate to achieve steering.

[0008] Preferably, the shock absorption assembly includes a fixed plate and a shock absorption plate arranged in parallel. The bottom of the fixed plate is connected to the walking wheel assembly, and the top of the shock absorption plate is connected to the movable plate. Several shock absorbers are connected between the fixed plate and the shock absorption plate.

[0009] Preferably, the lifting assembly includes a lifting motor fixed on a movable plate, the output end of the lifting motor is connected to a reducer, the output end of the reducer is connected to a commutator, the commutator is connected to a worm gear jack via a coupling, and the lifting end of the worm gear jack is connected to a conveyor plate.

[0010] Preferably, a through hole is provided at the top of the shock-absorbing plate, through which the lifting rod of the worm gear jack can move up and down.

[0011] Preferably, a battery mounting slot is provided on the chassis for installing a drive battery.

[0012] Preferably, a card reader for reading stations is connected to the bottom of the chassis, and a set of magnetic navigation sensors for magnetic field detection is installed around each of the chassis.

[0013] Preferably, the lifting assembly is also fitted with a accordion dust cover, the top of which is connected to the conveyor plate and the bottom of which is connected to the movable plate.

[0014] Compared with existing technologies, the above technical solution has the following advantages or beneficial effects:

[0015] 1. This utility model achieves on-the-spot turning by driving the driven wheel to rotate. It has a small turning radius and requires little space to turn during workshop transportation. It does not hinder the normal work of employees and can quickly transport the axle to the designated position, thereby improving production efficiency.

[0016] 2. By setting up a shock-absorbing component, this utility model can prevent the axle from falling out of the slot due to road bumps during transportation, thus improving the stability of the conveying. Finally, the axle is conveyed to the next work station by the lifting component, which has strong stability. Attached Figure Description

[0017] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0018] Figure 1 This is a schematic diagram of the structure of this utility model.

[0019] Figure 2 This is a schematic diagram of the bottom structure of this utility model.

[0020] Figure 3 This is a schematic diagram of the internal structure after removing part of the shell and the accordion dust cover.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Housing; 11. Chassis; 12. Battery mounting slot; 2. Wheelset; 21. Drive wheel; 22. Driven wheel; 23. Bracket; 24. Drive motor; 25. Steering assembly; 251. Cross plate; 252. Steering gear; 253. Steering motor; 254. Drive gear; 3. Shock absorption assembly; 31. Fixing plate; 32. Shock absorber plate; 33. Shock absorber damper; 34. Through hole; 4. Controller; 5. Movable plate; 6. Lifting assembly; 61. Lifting motor; 62. Reducer; 63. Reverse gear; 64. Coupling; 65. Worm gear lift; 66. Bellows dust cover; 7. Conveyor plate; 8. Positioning plate; 81. Card slot; 9. Card reader; 10. Magnetic navigation sensor. Detailed Implementation

[0023] To clearly illustrate the technical features of this solution, the present invention will be described in detail below through specific embodiments and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and / or letters in different examples. This repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. It should be noted that the components illustrated in the drawings are not necessarily drawn to scale. The present invention omits descriptions of well-known components and processing techniques and processes to avoid unnecessarily limiting the present invention. The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate orientation or positional relationships based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] Please see Figures 1-3This equipment is used for inter-process transfer of axles for railway vehicles. The equipment moves forward, backward, laterally, and rotates along a predetermined route without interfering with employee work. During operation, it achieves intelligent automatic material conveying. After receiving a cargo handling instruction, the equipment calculates and analyzes based on the operating route map, its current position, and direction of travel to select the optimal route.

[0025] I. Usage Environment

[0026] Temperature: -10℃~55℃;

[0027] Relative humidity: ≤90%;

[0028] Flooring: Self-leveling flooring;

[0029] Power supply: Lithium battery powered.

[0030] On-site operators can manually control the AGV, freely adjust the posture of the mobile platform, and also achieve precise positioning through magnetic navigation.

[0031] II. Product Structure

[0032] Please see Figures 1-3 In order to facilitate the transportation of axles in the workshop, this embodiment proposes an axle AGV intelligent conveyor vehicle, including a shell 1, a chassis 11, a set of walking wheels 2, a shock-absorbing component 3, a lifting component 6, a conveyor plate 7, etc. The bottom of the shell 1 is connected to the chassis 11, the set of walking wheels 2 is connected to the chassis 11, the top of the set of walking wheels 2 is connected to the shock-absorbing component 3, the top of the shock-absorbing component 3 is connected to the movable plate 5, the movable plate 5 is connected to the lifting component 6, the top of the lifting component 6 is connected to the conveyor plate 7, and at least two sets of positioning plates 8 are connected to the conveyor plate 7. The positioning plates 8 have a plurality of slots 81 for locking the axles.

[0033] 2.1 Chassis

[0034] 1) The vehicle body adopts a three-dimensional design and CAE stress analysis to strive to achieve the design load-bearing requirements with the lightest possible vehicle body. The vehicle body is welded from high-strength Q345 steel plates, with steel plates welded on both sides, resulting in good overall rigidity;

[0035] 2) All parts of the equipment have anti-corrosion and anti-rust measures. The surface of the vehicle body and outer shell has been strictly sandblasted and sprayed with anti-rust coating, and has two layers of primer and three layers of topcoat. The topcoat color is orange-yellow.

[0036] 3) The chassis 11 has functions such as forward, backward, lateral movement, and 360° rotation in place, making it flexible in movement. It is driven by a servo motor, which is powerful, runs smoothly, and has multi-level adjustable stepless speed regulation. The steering wheel adopts independent suspension, which enhances its adaptability to the ground.

[0037] 2.2 Walking wheel set

[0038] 1) The walking wheel set 2 includes two drive wheels 21 and two driven wheels 22 set at the four corners of the chassis 11. The two drive wheels 21 are respectively set at two diagonally opposite corners of the chassis 11. The drive wheels 21 are rotatably connected to the bracket 23. The drive motor 24 is fixedly connected to one side of the bracket 23. The drive motor 24 is driven by the drive wheels 21. The drive wheels 21 are provided with a steering component 25. The steering component 25 can drive the rotating wheel to rotate to achieve the steering of the vehicle body.

[0039] 2) The steering assembly 25 includes a horizontal plate 251 fixed to the top of the bracket 23. A steering gear 252 is fixedly connected to the horizontal plate 251. The steering gear 252 is rotatably connected to the bottom of the shock absorber assembly 3. A steering motor 253 is also connected to the bottom of the horizontal plate 251. The output end of the steering motor 253 is connected to a drive gear 254. The rotation of the drive gear 254 can drive the steering gear 252 to rotate along the shock absorber assembly 3 to achieve steering.

[0040] 3) The driven wheel 22 is a universal wheel, and the rotation of the drive wheel 21 can drive the universal wheel to rotate to achieve steering.

[0041] 2.3 Vibration damping components

[0042] The shock absorption assembly 3 includes a fixed plate 31 and a shock-absorbing plate 32 arranged in parallel. The bottom of the fixed plate 31 is connected to the wheel assembly 2, and the top of the shock-absorbing plate 32 is connected to the movable plate 5. Four sets of shock-absorbing dampers 33 are connected between the fixed plate 31 and the shock-absorbing plate 32. The extension and contraction of each shock-absorbing damper 33 can be adjusted independently to ensure that the wheel assembly 2 is always in contact with the ground. At the same time, the dampers are designed according to different loads to adapt to different road surfaces.

[0043] 2.4 Lifting Components

[0044] The lifting assembly 6 includes a lifting motor 61 fixed on the movable plate 5. The output end of the lifting motor 61 is connected to a reducer 62. The output end of the reducer 62 is connected to a commutator 63. The commutator 63 is connected to a worm gear lift 65 via a coupling 64. The lifting end of the worm gear lift 65 is connected to a conveyor plate 7.

[0045] The following is a specific embodiment: As shown in the figure, the lifting assembly 6 consists of a servo motor, a reducer 62, a commutator 63, a coupling 64, and four sets of worm gear lifts 65. Power is sequentially transmitted from the servo motor and reducer 62 to the commutator 63 and the worm gear lifts 65. Through a one-to-four linkage mechanism, the synchronization requirement of the lifting process can be achieved, ensuring synchronous lifting. Simultaneously, the servo motor has high control precision and fast response speed, achieving a lifting accuracy of ±5mm, meeting the ±15mm requirement, with a lifting stroke of 250mm. The worm gear type is SWL5T, with a single unit capable of carrying 2T. The reducer 62 uses a K47 dual-output shaft. Limit switches are installed on the worm gear lifts 65, and automatic lifting is controlled by detecting the limit switch signals. Furthermore, a through hole 34 is opened at the top of the shock-absorbing plate 32, allowing the lifting rod of the worm gear lift 65 to move up and down through the through hole 34.

[0046] 2.5 Driving Method

[0047] A battery mounting slot 12 is provided on the chassis 11 for installing the drive battery. Lithium batteries are used to power and drive each motor.

[0048] The vehicle is powered by a 48V-100Ah lithium battery. The system can monitor the current battery level in real time and automatically alert the user when the battery is low. The lithium battery has a charge cycle life of over 1000 cycles, and a full charge typically takes 2-3 hours, providing approximately 2 hours of operation.

[0049] The calculation process assumes a vehicle load of 3 tons, a tare weight of 2 tons, a fully loaded speed of 0.5 m / s, and a ground friction coefficient of 0.1. Therefore, the total power consumption during operation is...

[0050] Total motor power

[0051] P=(3000+2000)*10*0.5*0.1=2500W

[0052] The battery energy required for one full-load operation is Q = 2500 * 1 = 2500 Vah, and the battery voltage is 48V.

[0053] The battery capacity required for 1 hour of full-load driving is

[0054] C line = Q / U = 2500 / 48 = 52AH

[0055] The energy consumption per hour under no-load conditions is Q = 2000 * 10 * 0.5 * 0.1 * 1 = 1000 Vah, with a battery voltage of 48V.

[0056] The battery capacity required for 1 hour of unloaded driving is

[0057] Line C = 1000 / 48 = 20.8AH

[0058] When a 48V 100AH ​​battery is selected, it can provide 2 hours of working time after a single charge.

[0059] 2.6 Online charging

[0060] The AGV power supply system includes a battery pack, a battery management system (BMS), and a charging system. The AGV uses an online charging system powered by lithium batteries. Charging stations are set up along the AGV's path according to production process requirements, enabling continuous charging. As shown in the diagram, charging electrodes are located at the rear of the AGV. When the AGV reaches the automatic charging station, the AGV brush plate contacts the AGV brush head, and the charger detects the connection and begins charging.

[0061] 2.7 Navigation System

[0062] 1) Magnetic navigation module

[0063] AGVs use magnetic navigation, which involves pre-laying magnetic strips on the ground as the path for the vehicle. Magnetic navigation has advantages such as low cost, high reliability, strong anti-interference ability, and strong adaptability to harsh environments.

[0064] Meanwhile, magnetic stripe sensors, landmark sensors, and RFID readers are installed under the AGV, which ensures navigation accuracy whether the AGV is moving forward or backward. It has a compact structure, is easy to use, has a wide navigation range, high navigation accuracy, high sensitivity, and good anti-interference ability.

[0065] Using magnetic strip navigation, the platform runs along the magnetic track and is equipped with four magnetic navigation modules to enable the AGV to move forward, backward, laterally, and rotate 360° in place. It also features soft start and stop to ensure smooth operation of the AGV, and multiple speeds are adjustable, allowing for free acceleration and deceleration.

[0066] The bottom of the chassis 11 is connected to a card reader 9 for reading station information. A set of magnetic navigation sensors 10 for magnetic field detection is installed around each of the chassis 11. The conveyor vehicle is also equipped with a controller 4 that transmits signals to the wireless remote control. Operators remotely control the AGV vehicle via a wireless joystick. Manual operation is possible, with five-speed adjustable stepless speed control for flexibility and convenience, suitable for various applications requiring precise displacement and positioning. It uses 433MHz wireless communication and communicates with the controller 4 via RS232, offering advantages such as strong anti-interference capability, long communication distance, and high reliability.

[0067] The lifting assembly 6 is also fitted with a bellows dust cover 66. The top of the bellows dust cover 66 is connected to the conveyor plate 7, and the bottom is connected to the movable plate 5.

[0068] 2) Route laying

[0069] An RFID station is placed at the required location (turning, decelerating, stopping, etc.) along the movement trajectory. When the card reader 9 in the middle of the vehicle detects the station, the system makes corresponding instructions based on the station information to achieve accurate positioning.

[0070] Although the specific embodiments of the utility model have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the utility model. Based on the technical solution of the utility model, various modifications or variations that can be made by those skilled in the art without creative effort are still within the scope of protection of the utility model.

Claims

1. An axle-driven AGV intelligent conveyor vehicle, characterized in that: Includes a housing (1), with a chassis (11) connected to the bottom of the housing (1), a set of walking wheels (2) connected to the chassis (11), a shock-absorbing component (3) connected to the top of the walking wheels (2), a movable plate (5) connected to the top of the shock-absorbing component (3), a lifting component (6) connected to the movable plate (5), a conveyor plate (7) connected to the top of the lifting component (6), at least two sets of positioning plates (8) connected to the conveyor plate (7), and several slots (81) for locking the axle are opened on the positioning plates (8).

2. The axle AGV intelligent conveyor vehicle according to claim 1, characterized in that: The walking wheel set (2) includes two drive wheels (21) and two driven wheels (22) set at the four corners of the chassis (11). The two drive wheels (21) are respectively set at two diagonal corners of the chassis (11). The drive wheels (21) are rotatably connected to the bracket (23). The bracket (23) is fixedly connected to the drive motor (24) on one side. The drive motor (24) is driven by the drive wheels (21). The drive wheels (21) are equipped with a steering component (25). The steering component (25) can drive the rotating wheel to rotate to achieve the steering of the vehicle body.

3. The axle AGV intelligent conveyor vehicle according to claim 2, characterized in that: The steering assembly (25) includes a horizontal plate (251) fixed to the top of the bracket (23), a steering gear (252) fixedly connected to the horizontal plate (251), and the steering gear (252) is rotatably connected to the bottom of the shock absorber assembly (3); the bottom of the horizontal plate (251) is also connected to a steering motor (253), the output end of the steering motor (253) is connected to a drive gear (254), and the rotation of the drive gear (254) can drive the steering gear (252) to rotate along the shock absorber assembly (3) to achieve steering.

4. The axle AGV intelligent conveyor vehicle according to claim 2 or 3, characterized in that: The driven wheel (22) is a universal wheel, and the rotation of the drive wheel (21) can drive the universal wheel to rotate to achieve steering.

5. The axle AGV intelligent conveyor vehicle according to claim 1, characterized in that: The shock absorption assembly (3) includes a fixed plate (31) and a shock absorption plate (32) arranged in parallel. The bottom of the fixed plate (31) is connected to the walking wheel set (2), and the top of the shock absorption plate (32) is connected to the movable plate (5). Several shock absorbers (33) are connected between the fixed plate (31) and the shock absorption plate (32).

6. The axle AGV intelligent conveyor vehicle according to claim 5, characterized in that: The lifting assembly (6) includes a lifting motor (61) fixed on the movable plate (5). The output end of the lifting motor (61) is connected to a reducer (62). The output end of the reducer (62) is connected to a commutator (63). The commutator (63) is connected to the worm gear jack (65) via a coupling (64). The lifting end of the worm gear jack (65) is connected to a conveyor plate (7).

7. The axle AGV intelligent conveyor vehicle according to claim 6, characterized in that: A through hole (34) is opened at the top of the damping plate (32), and the lifting rod of the worm gear jack (65) can move up and down through the through hole (34).

8. The axle AGV intelligent conveyor vehicle according to claim 1, characterized in that: A battery mounting slot (12) is provided on the chassis (11) for installing the drive battery.

9. The axle AGV intelligent conveyor vehicle according to claim 1, characterized in that: The bottom of the chassis (11) is connected to a card reader (9) for reading the station, and a set of magnetic navigation sensors (10) for magnetic field detection are set around the chassis (11).

10. The axle AGV intelligent conveyor vehicle according to claim 1, characterized in that: The lifting assembly (6) is also fitted with a bellows dust cover (66), the top of which is connected to the conveyor plate (7) and the bottom of which is connected to the movable plate (5).

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