CN108791574B - Intelligence AGV dolly - Google Patents
Intelligence AGV dolly Download PDFInfo
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- CN108791574B CN108791574B CN201810871434.7A CN201810871434A CN108791574B CN 108791574 B CN108791574 B CN 108791574B CN 201810871434 A CN201810871434 A CN 201810871434A CN 108791574 B CN108791574 B CN 108791574B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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Abstract
The invention belongs to the technical field of intelligent control, and particularly relates to an intelligent AGV (automatic guided vehicle), which comprises a vehicle body and wheels; the damping device also comprises a first shaft and a damping unit; the wheels and the vehicle body are rotatably mounted through a first shaft; the buffering unit is installed between wheel and a axle, and the buffering unit is the circumference around an axle and distributes, and the buffering unit has been used for cushioning the wheel, and the buffering unit includes a pneumatic rod, No. two pneumatic rods and No. three pneumatic rods. The wheel is relieved through the mutual matching of the first pneumatic rod, the second pneumatic rod and the third pneumatic rod, so that the service life of the wheel is prolonged; simultaneously, the emergency stop control unit is arranged, so that the brake can be timely carried out when the vehicle encounters an obstacle, the service life of the trolley is prolonged, and the practicability of the trolley is improved.
Description
Technical Field
The invention belongs to the technical field of intelligent control, and particularly relates to an intelligent AGV.
Background
The intelligent trolley, namely the wheeled robot, is one of mobile robots, and the content of the intelligent trolley covers the knowledge fields of multiple subjects such as machinery, automobiles, electronics, automatic control, computers, sensing technologies and the like, and as a new comprehensive technology, the intelligent trolley can be widely applied to the technical fields of automatic trucks in factories, fixed-site carriers and the like, can also be applied to complex and severe working environments, and has a good application prospect.
Also a technical scheme of intelligence AGV dolly has appeared among the prior art, has disclosed a dolly like chinese patent application No. 2017108294219, including frame, axle and a plurality of wheel, the axle includes relative first end and the second end that sets up, the position and the frame rotatable coupling that the axle is close to first end, the position and the frame elastic connection that the axle is close to the second end, the wheel is connected respectively at the first end and the second end of axle, works as when the dolly is marchd on uneven road surface, the axle is rotatory around axle and frame rotatable coupling's position, just distance between wheel, axle and the frame gets down the change at the elastic force.
The trolley of the technical scheme has the advantages of good road surface adaptability and the like, and is better in comfort for bearing objects. But in the technical scheme, the trolley is not subjected to damping treatment, so that the friction between the wheels and the transmission shaft is increased, and the wheels are easy to wear; meanwhile, when the trolley encounters an obstacle, the trolley is braked and stopped timely, so that the technical scheme is limited.
Disclosure of Invention
In order to make up for the defects of the prior art, the wheel of the intelligent AGV provided by the invention is relieved through the mutual matching of the first air pressure rod, the second air pressure rod and the third air pressure rod, so that the service life of the wheel is prolonged; simultaneously, the emergency stop control unit is arranged, so that the brake can be timely carried out when the vehicle encounters an obstacle, the service life of the trolley is prolonged, and the practicability of the trolley is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention discloses an intelligent AGV (automatic guided vehicle) which comprises a vehicle body and wheels; the damping device also comprises a first shaft and a damping unit; the wheels and the vehicle body are rotatably mounted through a first shaft; the cushioning units are arranged between the wheels and the first shaft, are distributed in a circumferential manner around the first shaft and comprise a first air pressure rod, a second air pressure rod and a third air pressure rod; one end of the first pneumatic rod is hinged to the inner wall of the wheel, and the other end of the first pneumatic rod is hinged to the first shaft; the second pneumatic rod and the third pneumatic rod are located between two adjacent first pneumatic rods, one end of the second pneumatic rod is hinged with one end of the third pneumatic rod, one end of the second pneumatic rod and one end of the third pneumatic rod are hinged on the inner wall of the wheel, the other end of the second pneumatic rod is hinged in the middle of the first pneumatic rod, and the other end of the third pneumatic rod is hinged in the middle of the other first pneumatic rod. The warehouse trolley is loaded with a lot of articles, and when a user uses the trolley to transport the articles, the requirement on the running stability of the trolley is high, so that the articles are prevented from tipping due to the shaking of the trolley during the transportation, and the safety of the user is damaged; when an object is placed on the trolley, the object and the self weight of the trolley body extrude the wheels, in the prior art, the wheels are directly contacted with the first shaft, and the contact is rigid contact, so that the abrasion of the wheels and the first shaft is increased, and the service life of the trolley is shortened; the first air pressure rod rotates when the wheels are extruded by objects and the vehicle body by arranging the cushioning unit, and the second air pressure rod and the third air pressure rod are hinged on the first air pressure rod, so that the first air pressure rod drives the second air pressure rod and the third air pressure rod to rotate; the buffering unit is arranged, so that on one hand, the force applied to the wheels during rotation is relieved, and the direct contact between the wheels and the first shaft is avoided, so that the damage to the wheels is avoided, and the service life of the trolley is prolonged; on the other hand, when the wheels run on an uneven road, the jolting force of the trolley is relieved through the telescopic action among the first air pressure rod, the second air pressure rod and the third air pressure rod, so that the wheels are kept stable, and the stability of the trolley is improved.
Preferably, a limiting unit is arranged between the adjacent first air pressure rods and comprises a first rod and a second rod; one end of the first rod is hinged with one end of the second rod, the other end of the first rod is hinged to the first air pressure rod, the other end of the second rod is hinged to the other first air pressure rod, and the first rod is connected with the second rod through a spring. In the prior art, a limit unit is not arranged between adjacent first air pressure rods, so that the first air pressure rods, the second air pressure rods and the third air pressure rods rotate excessively and exceed the telescopic ranges of the first air pressure rods, the second air pressure rods and the third air pressure rods, the wheels are in rigid contact with a first shaft, and the wheels are damaged; by arranging the limiting unit, the first air pressure rod pulls the first rod and the second rod to rotate in the rotation of the first air pressure rod, and when the first rod and the second rod rotate to form a horizontal plane, the first rod and the second rod are matched with each other to prevent the first air pressure rod from rotating, so that the wheels are prevented from being in rigid contact with the first shaft; meanwhile, the first rod and the second rod are connected through the spring, and in the horizontal plane formed by the first rod and the second rod, the first rod and the second rod are prevented from rotating under the action of the spring, and meanwhile, the force from the first air pressure rod is relieved, so that the first rod and the second rod are protected.
Preferably, a third groove is formed in the first shaft; a rubber wheel is arranged in the third groove; one side of the first air pressure rod, which is far away from the wheel, is hinged on the rubber wheel, and the rubber wheel rolls in the third groove. When the wheel is extruded by articles and the dead weight of the vehicle body, the first air pressure rod rotates, if the first air pressure rod is directly hinged on the first shaft, the hinged position is in rigid contact, and the first air pressure rod is easily broken; the first air pressure rod is hinged to the rubber wheel, the rubber wheel rolls in the third groove, and part of stress of the first air pressure rod is relieved during rolling of the rubber wheel, so that the first air pressure rod is protected, and the service life of the wheel is prolonged.
Preferably, emergency stop control units are arranged at two ends of the vehicle body and comprise a first plate, a limiting rod, a moving rod and a retarding unit; the first plates are fixedly arranged at two ends of the vehicle body; the first plate is provided with a limiting groove and a first groove; an induction block is arranged at the bottom end of the first groove and connected with a brake system; the bottom of the retarding unit is fixedly provided with a limiting rod and a moving rod; the limiting rods are positioned on two sides of the moving rod; the first plate is fixedly connected with the retarding unit through a spring, and the spring is sleeved on the outer side of the moving rod; one end of the moving rod, which is close to the first plate, is fixedly connected with an induction head; the limiting rod slides in the limiting groove, and the moving rod slides in the first groove. In the travelling of dolly, when the dolly meets the barrier, the barrier promotes to slow down the unit to the one side motion of being close to the automobile body, because the effect of gag lever post, avoided slowing down unit and a board emergence dislocation, make the accurate touch of the inductive head of installation on the carriage release lever feel the perception piece, thereby response piece control braking system stops braking, avoid the dolly to receive the damage on the one hand, thereby the dolly has been protected, on the other hand has also avoided the barrier to receive big impact, thereby protect the barrier.
Preferably, the retarding unit comprises a second plate, a rolling ball, a moving block, an installation block and a third plate; the middle position of the bottom of the third plate is fixedly connected with a moving block; two sides of the moving block are fixedly connected to the mounting block through springs; the mounting block is fixedly mounted at the top of the second plate; the third plate and the second plate are in rolling connection through the rolling balls; and a second groove is formed in the top of the second plate and used for limiting the sliding of the moving block. When the trolley is extruded by an obstacle, the second plate and the third plate are rotatably arranged through the rolling balls, the third plate rolls relative to the second plate, and the impact of the obstacle on the trolley is relieved during the rolling of the third plate, so that the service life of the trolley is prolonged; the third plate slides in the rolling process, the moving block slides in the second groove, the moving block is fixedly connected to the mounting block through the spring and extrudes the spring, the moving block resets under the action of the spring, the second plate moves, and the limiting rod which is separated from the limiting groove is pushed into the limiting groove in the moving process, so that the induction head on the moving rod accurately touches the induction block, the brake system is controlled to brake the trolley, and the control effect of the emergency stop control unit is improved.
Preferably, the third plate is a flexible plate. When the trolley is subjected to an obstacle, if the third plate in contact with the obstacle is a rigid plate, the obstacle is subjected to large impact, and the damage degree to the trolley is increased; the third plate is a flexible plate, so that on one hand, the overall weight of the trolley is light due to the small size and light weight of the flexible plate, the heavy load during driving is reduced, the loss during braking is relieved, and the service life of the wheels is prolonged; on the other hand, the flexible board can deform, the flexible board relieves the received impact force, and the damage of the trolley is avoided, so that the service life of the trolley is prolonged.
Preferably, one end face of the third plate, which is far away from the second plate, is in a circular arc shape. When No. three boards received the barrier and assaulted, if the straight board, the atress everywhere of the board of going straight is unanimous, has increaseed the damage of No. three boards, if be the circular arc board, when No. three boards received the barrier, the power that the circular arc board will receive was alleviated, avoids No. three boards to receive the damage to the life of dolly has been improved.
The invention has the following beneficial effects:
1. according to the intelligent AGV trolley, the first air pressure rod, the second air pressure rod and the third air pressure rod are matched with each other, so that the wheels are relieved during rotation of the first air pressure rod, the second air pressure rod and the third air pressure rod, and the service life of the wheels is prolonged.
2. According to the intelligent AGV disclosed by the invention, through the limiting unit, on one hand, the first rod and the second rod are mutually matched to prevent the first air pressure rod from rotating, so that the wheels are prevented from being in rigid contact with the first shaft; on the other hand, the first rod is connected with the second rod through the spring, the first rod and the second rod are prevented from rotating under the action of the spring, and meanwhile, the force from the first pneumatic rod is relieved, so that the first rod and the second rod are protected.
3. According to the intelligent AGV disclosed by the invention, the emergency stop control unit is arranged, so that when the AGV encounters an obstacle, the emergency stop control unit controls the brake system to brake the AGV, on one hand, the damage to the AGV is avoided, and therefore, the dolly is protected, and on the other hand, the obstacle is also prevented from being subjected to large impact, and therefore, the obstacle is protected.
4. According to the intelligent AGV trolley, the retarding unit is arranged, when the trolley encounters an obstacle, the third plate slides on the second plate, the force applied to the third plate is retarded, the third plate is protected, and the service life of the trolley is prolonged.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of the wheel;
FIG. 3 is a cross-sectional view of the scram control unit;
FIG. 4 is an enlarged view of a portion of FIG. 2 at A;
in the figure: the automobile shock absorber comprises an automobile body 1, wheels 2, a first shaft 3, a third groove 31, a rubber wheel 32, a shock absorption unit 4, a first air pressure rod 41, a second air pressure rod 42, a third air pressure rod 43, a limiting unit 5, a first rod 51, a second rod 52, an emergency stop control unit 6, a first plate 61, a limiting groove 611, a first groove 612, a limiting rod 62, a moving rod 63, a damping unit 7, a second plate 71, a rolling ball 72, a moving block 73, an installation block 74, a third plate 75 and a second groove 751.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 4, the AGV according to the present invention includes a body 1 and wheels 2; the damping device also comprises a first shaft 3 and a damping unit 4; the wheels 2 and the vehicle body 1 are rotatably mounted through a first shaft 3; the cushioning units 4 are arranged between the wheels 2 and the first shaft 3, the cushioning units 4 are circumferentially distributed around the first shaft 3, and each cushioning unit 4 comprises a first pneumatic rod 41, a second pneumatic rod 42 and a third pneumatic rod 43; one end of the first pneumatic rod 41 is hinged to the inner wall of the wheel 2, and the other end of the first pneumatic rod 41 is hinged to the first shaft 3; the second pneumatic rod 42 and the third pneumatic rod 43 are both positioned between two adjacent first pneumatic rods 41, one end of the second pneumatic rod 42 is hinged with one end of the third pneumatic rod 43, one end of the second pneumatic rod 42 and one end of the third pneumatic rod 43 are hinged on the inner wall of the wheel 2, the other end of the second pneumatic rod 42 is hinged in the middle of one pneumatic rod 41, and the other end of the third pneumatic rod 43 is hinged in the middle of the other pneumatic rod 41. The warehouse trolley is loaded with a lot of articles, and when a user uses the trolley to transport the articles, the requirement on the running stability of the trolley is high, so that the articles are prevented from tipping due to the shaking of the trolley during the transportation, and the safety of the user is damaged; when an object is placed on the trolley, the object and the trolley body 1 are subjected to self weight to extrude the wheels 2, in the prior art, the wheels 2 are directly contacted with the first shaft 3, and the contact is rigid contact, so that the abrasion of the wheels 2 and the first shaft 3 is increased, and the service life of the trolley is shortened; by arranging the cushioning unit 4, when the wheel 2 is extruded by an article and the vehicle body 1, the first air pressure rod 41 rotates firstly, and the second air pressure rod 42 and the third air pressure rod 43 are hinged on the first air pressure rod 41, so that the first air pressure rod 41 drives the second air pressure rod 42 and the third air pressure rod 43 to rotate; the buffering unit 4 is arranged, so that on one hand, the force applied to the wheel 2 in the rotation process is relieved, and the direct contact between the wheel 2 and the first shaft 3 is avoided, so that the damage to the wheel 2 is avoided, and the service life of the trolley is prolonged; on the other hand, when the wheel 2 encounters an uneven road, the bumping force of the trolley is relieved through the telescopic action among the first air pressure rod 41, the second air pressure rod 42 and the third air pressure rod 43, so that the wheel 2 is kept stable, and the stability of the trolley is improved.
As an embodiment of the present invention, a limiting unit 5 is disposed between adjacent first pneumatic rods 41, and the limiting unit 5 includes a first rod 51 and a second rod 52; one end of the first rod 51 is hinged with one end of the second rod 52, the other end of the first rod 51 is hinged to the first air pressure rod 41, the other end of the second rod 52 is hinged to the other first air pressure rod 41, and the first rod 51 is connected with the second rod 52 through a spring. After the wheel 2 is extruded by an article and the vehicle body 1, the first air pressure rod 41 can rotate, in the prior art, the limiting unit 5 is not arranged between the adjacent first air pressure rods 41, so that the first air pressure rod 41, the second air pressure rod 42 and the third air pressure rod 43 rotate too much and exceed the telescopic ranges of the first air pressure rod 41, the second air pressure rod 42 and the third air pressure rod 43, and the wheel 2 and the first shaft 3 are in rigid contact, so that the wheel 2 is damaged; by arranging the limiting unit 5, the first air pressure rod 41 pulls the first rod 51 and the second rod 52 to rotate in the rotation of the first air pressure rod 41, and when the first rod 51 and the second rod 52 rotate to form a horizontal plane, the first rod 51 and the second rod 52 are matched with each other to prevent the first air pressure rod 41 from rotating, so that the wheel 2 is prevented from being in rigid contact with the first shaft 3; meanwhile, the first rod 51 is connected with the second rod 52 through a spring, and in the horizontal plane formed by the rotation of the first rod 51 and the second rod 52, the first rod 51 and the second rod 52 are prevented from rotating due to the spring action, and the force from the first air pressure rod 41 is relieved, so that the first rod 51 and the second rod 52 are protected.
As an embodiment of the present invention, a third groove 31 is formed on the first shaft 3; a rubber wheel 32 is arranged in the third groove 31; the side of the first air pressure rod 41 far away from the wheel 2 is hinged on the rubber wheel 32, and the rubber wheel 32 rolls in the third groove 31. When the wheel 2 is extruded by articles and the self weight of the vehicle body, the first air pressure rod 41 rotates, if the first air pressure rod 41 is directly hinged on the first shaft 3, the hinged position is in rigid contact, and the first air pressure rod 41 is easily broken; the first air pressure rod 41 is hinged to the rubber wheel 32, the rubber wheel 32 rolls in the third groove 31, and part of stress of the first air pressure rod 41 is relieved during rolling of the rubber wheel 32, so that the first air pressure rod 41 is protected, and the service life of the wheel 2 is prolonged.
As an embodiment of the present invention, both ends of the vehicle body 1 are provided with emergency stop control units 6, and the emergency stop control units 6 include a first plate 61, a limiting rod 62, a moving rod 63 and a slowing unit 7; the first plates 61 are fixedly arranged at two ends of the vehicle body 1; the first plate 61 is provided with a limiting groove 611 and a first groove 612; the bottom end of the first groove 612 is provided with a sensing block 613, and the sensing block 613 is connected with a brake system; the bottom of the retarding unit 7 is fixedly provided with a limiting rod 62 and a moving rod 63; the limiting rods 62 are positioned at two sides of the moving rod 63; the first plate 61 is fixedly connected with the retarding unit 7 through a spring, and the spring is sleeved on the outer side of the moving rod 63; one end of the moving rod 63 close to the first plate 61 is fixedly connected with an induction head; the stopper rod 62 slides in the stopper groove 611, and the moving rod 63 slides in the first groove 612. In the travelling of dolly, when the dolly meets the barrier, the barrier promotes to slow down unit 7 and moves to one side near automobile body 1, because gag lever post 62's effect, avoided slowing down unit 7 and a board 61 and taken place the dislocation, make the accurate touch of the inductive head of installation on the carriage release lever 63 feel the perception piece, thereby response piece 613 control braking system stops, avoid the dolly to receive the damage on the one hand, thereby the dolly has been protected, on the other hand has also avoided the barrier to receive big impact, thereby protect the barrier.
As an embodiment of the present invention, the slowing unit 7 includes a second plate 71, a rolling ball 72, a moving block 73, a mounting block 74 and a third plate 75; the middle position of the bottom of the third plate 75 is fixedly connected with a moving block 73; two sides of the moving block 73 are fixedly connected to the mounting block 74 through springs; the mounting block 74 is fixedly mounted on the top of the second plate 71; the third plate 75 and the second plate 71 are connected in a rolling way through a rolling ball 72; the second plate 71 is provided with a second groove 751 at the top, and the second groove 751 is used for limiting the sliding of the moving block 73. When the trolley is extruded by an obstacle, the second plate 71 and the third plate 75 are rotatably mounted through the rolling balls 72, the third plate 75 rolls relative to the second plate 71, and the impact of the obstacle on the trolley is relieved in the rolling process of the third plate 75, so that the service life of the trolley is prolonged; the third plate 75 rolls, the moving block 73 slides in the second groove 751, the moving block 73 is fixedly connected to the mounting block 74 through a spring, the moving block 73 extrudes the spring, the moving block 73 resets under the action of the spring, the second plate 71 moves, and the limiting rod 62 separated from the limiting groove 611 is pushed into the limiting groove 611 in the moving process, so that the induction head on the moving rod 63 accurately touches the induction block 613, the brake system is controlled to brake the trolley, and the control effect of the emergency stop control unit 6 is improved.
In one embodiment of the present invention, the third plate 75 is a flexible plate. When the trolley is subjected to an obstacle, if the third plate 75 in contact with the obstacle is a rigid plate, the obstacle is subjected to large impact, and meanwhile, the damage degree to the trolley is increased; the third plate 75 is a flexible plate, so that on one hand, the overall weight of the trolley is light due to the small size and light weight of the flexible plate, the heavy load during driving is reduced, meanwhile, the loss during braking is relieved, and the service life of the wheel 2 is prolonged; on the other hand, the flexible board can deform, the flexible board relieves the received impact force, and the damage of the trolley is avoided, so that the service life of the trolley is prolonged.
In one embodiment of the present invention, an end surface of the third plate 75 away from the second plate 71 is formed in a circular arc shape. When No. three board 75 received the barrier and assaulted, if the straight board, the atress everywhere of the board of going straight is unanimous, has increaseed No. three board 75's damage, if the circular arc board, when No. three board 75 received the barrier, the power that the circular arc board will receive is alleviated, avoids No. three board 75 to receive the damage to the life of dolly has been improved.
When the trolley works, when the trolley is used for conveying articles, the wheels 2 are pressed by the articles and the self weight of the trolley body 1, the first air pressure rod 41, the second air pressure rod 42 and the third air pressure rod 43 rotate, the first air pressure rod 41, the second air pressure rod 42 and the third air pressure rod 43 relieve the force applied to the wheels in the rotation process, and meanwhile, the first rod 51 and the second rod 52 are matched with each other to prevent the first air pressure rod 41, the second air pressure rod 42 and the third air pressure rod 43 from rotating too much, so that the service life of the wheels 2 is prolonged; when the trolley meets an obstacle, the emergency stop control unit 6 is extruded by the obstacle, the third plate 75 slides on the second plate 71, and the sensing head on the moving rod 63 is in contact with the sensing block 613, so that the braking system is controlled to brake the trolley, the trolley is prevented from being damaged, and the service life of the trolley is prolonged.
The front, the back, the left, the right, the upper and the lower are all based on figure 3 in the attached drawings of the specification, according to the standard of the observation angle of a person, the side of the device facing an observer is defined as the front, the left side of the observer is defined as the left, and the like.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the scope of the present invention.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of protection of the present invention.
Claims (6)
1. An intelligent AGV comprises a vehicle body (1) and wheels (2); the method is characterized in that: the shock absorber also comprises a first shaft (3) and a shock absorption unit (4); the wheels (2) and the vehicle body (1) are rotatably mounted through a first shaft (3); the shock absorption units (4) are arranged between the wheels (2) and the first shaft (3), the shock absorption units (4) are distributed around the first shaft (3) in a circumferential manner, and each shock absorption unit (4) comprises a first air pressure rod (41), a second air pressure rod (42) and a third air pressure rod (43); one end of the first air pressure rod (41) is hinged to the inner wall of the wheel (2), and the other end of the first air pressure rod (41) is hinged to the first shaft (3); the second pneumatic rod (42) and the third pneumatic rod (43) are located between two adjacent first pneumatic rods (41), one end of the second pneumatic rod (42) is hinged with one end of the third pneumatic rod (43), one end of the second pneumatic rod (42) and one end of the third pneumatic rod (43) are hinged to the inner wall of the wheel (2), the other end of the second pneumatic rod (42) is hinged to the middle of one pneumatic rod (41), and the other end of the third pneumatic rod (43) is hinged to the middle of the other first pneumatic rod (41);
emergency stop control units (6) are arranged at two ends of the vehicle body (1), and each emergency stop control unit (6) comprises a first plate (61), a limiting rod (62), a moving rod (63) and a retarding unit (7); the first plates (61) are fixedly arranged at two ends of the vehicle body (1); the first plate (61) is provided with a limiting groove (611) and a first groove (612); the bottom end of the first groove (612) is provided with an induction block (613), and the induction block (613) is connected with a brake system; the bottom of the retarding unit (7) is fixedly provided with a limiting rod (62) and a moving rod (63); the limiting rods (62) are positioned at two sides of the movable rod (63); the first plate (61) is fixedly connected with the retarding unit (7) through a spring, and the spring is sleeved on the outer side of the moving rod (63); one end of the moving rod (63) close to the first plate (61) is fixedly connected with an induction head; the limiting rod (62) slides in the limiting groove (611), and the moving rod (63) slides in the first groove (612).
2. The intelligent AGV cart of claim 1, further comprising: a limiting unit (5) is arranged between the adjacent first air pressure rods (41), and the limiting unit (5) comprises a first rod (51) and a second rod (52); one end of the first rod (51) is hinged with one end of the second rod (52), the other end of the first rod (51) is hinged to the first air pressure rod (41), the other end of the second rod (52) is hinged to the other first air pressure rod (41), and the first rod (51) is connected with the second rod (52) through a spring.
3. The intelligent AGV cart of claim 1, further comprising: a third groove (31) is formed in the first shaft (3); a rubber wheel (32) is arranged in the third groove (31); one side of the first air pressure rod (41) far away from the wheel (2) is hinged on the rubber wheel (32), and the rubber wheel (32) rolls in the third groove (31).
4. The intelligent AGV cart of claim 1, further comprising: the slowing unit (7) comprises a second plate (71), a rolling ball (72), a moving block (73), an installation block (74) and a third plate (75); the middle position of the bottom of the third plate (75) is fixedly connected with a moving block (73); two sides of the moving block (73) are fixedly connected to the mounting block (74) through springs; the mounting block (74) is fixedly mounted on the top of the second plate (71); the third plate (75) is connected with the second plate (71) in a rolling way through a rolling ball (72); the top of the second plate (71) is provided with a second groove (751), and the second groove (751) is used for limiting the sliding of the moving block (73).
5. The intelligent AGV of claim 4, wherein: the third plate (75) is a flexible plate.
6. The intelligent AGV of claim 5, wherein: one end face, away from the second plate (71), of the third plate (75) is in an arc shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810871434.7A CN108791574B (en) | 2018-08-02 | 2018-08-02 | Intelligence AGV dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810871434.7A CN108791574B (en) | 2018-08-02 | 2018-08-02 | Intelligence AGV dolly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108791574A CN108791574A (en) | 2018-11-13 |
| CN108791574B true CN108791574B (en) | 2020-05-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810871434.7A Active CN108791574B (en) | 2018-08-02 | 2018-08-02 | Intelligence AGV dolly |
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| CN203497054U (en) * | 2013-09-09 | 2014-03-26 | 无锡虹业自动化工程有限公司 | Pivot steering AGV (automatic guided vehicle) type self-walking carrier vehicle |
| CN204451822U (en) * | 2015-01-27 | 2015-07-08 | 黄奎瑜 | A kind of all-terrain baby tire |
| CN106080021A (en) * | 2016-06-17 | 2016-11-09 | 段练 | A kind of vibration damping wheel hub |
| CN206133308U (en) * | 2016-09-21 | 2017-04-26 | 东莞市日博机电科技有限公司 | Double damping AGV dolly |
| CN107458148A (en) * | 2017-08-12 | 2017-12-12 | 佛山市诚新泰不锈钢制品有限公司 | A kind of air pressure spoke shock-absorbing wheel |
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Address after: Room 608, Building 2, the Taihu Lake Yungu, No. 198, Jialing River Road, High tech Zone, Suzhou City, Jiangsu Province, 215163 Patentee after: Yuanzi Robotics Technology (Suzhou) Co.,Ltd. Address before: No. 32, Group 2, Gulong Village, Miaotou Town, Shuyang County, Suqian City, Jiangsu Province 223600 Patentee before: Suqian Yuanzhihe Intelligent Technology Co.,Ltd. |
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