CN109130749B - AGV dolly - Google Patents
AGV dolly Download PDFInfo
- Publication number
- CN109130749B CN109130749B CN201810969315.5A CN201810969315A CN109130749B CN 109130749 B CN109130749 B CN 109130749B CN 201810969315 A CN201810969315 A CN 201810969315A CN 109130749 B CN109130749 B CN 109130749B
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- agv
- longitudinal beam
- frame
- beam connecting
- connecting part
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G9/00—Resilient suspensions of a rigid axle or axle housing for two or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G9/00—Resilient suspensions of a rigid axle or axle housing for two or more wheels
- B60G9/02—Resilient suspensions of a rigid axle or axle housing for two or more wheels the axle or housing being pivotally mounted on the vehicle, e.g. the pivotal axis being parallel to the longitudinal axis of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/30—Rigid axle suspensions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides an AGV trolley which mainly comprises a longitudinal beam, a cross beam, a spring and a knuckle bearing forming a rotating shaft. The longitudinal beam is hinged to the AGV trolley frame through a pair of joint bearings which are arranged in parallel in the horizontal direction, so that the longitudinal beam can swing up and down, and meanwhile, a spring is further arranged between the longitudinal beam and the frame and used for adjusting the pressure between the wheels and the ground and providing a damping effect. The longitudinal beam and the cross beam are installed together through a hinge, so that the cross beam can swing left and right, and after the wheels are installed on the cross beam, the wheels on two sides can be well contacted with the ground, and the stress is uniform. The invention utilizes the paired knuckle bearings (spherical hinges) to realize the function of a pair of common hinges, reduces the precision requirement of machining, saves the trouble that the common hinges need machining parts such as bearing seats, rotating shafts and the like, and reduces the cost.
Description
Technical Field
The invention relates to the field of AGVs (automatic guided vehicles), in particular to an AGV driving wheel suspension mechanism.
Technical Field
The AGV is an abbreviation of (Automated Guided Vehicle), that is, "automatic guided vehicles", and means vehicles equipped with an automatic guiding device such as electromagnetic or optical, which can travel along a predetermined guiding path and have safety protection and various transfer functions.
The AGV is characterized by wheeled movement, and compared with walking, crawling or other non-wheeled mobile robots, the AGV has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like. Compared with other common equipment in material conveying, the movable area of the AGV does not need to be paved with fixing devices such as a track, a support frame and the like, and is not limited by places, roads and spaces. Therefore, in an automatic logistics system, the automation and the flexibility of the system can be fully reflected, and the efficient, economical and flexible unmanned production can be realized.
Traditional AGV drive wheel suspension mechanism adopts straight line lift and spring to make holistic pressure adjustment mechanism, and partial AGV drive wheel suspension mechanism can be controlling the round piece design hinge and make the two-wheeled atress even, but mechanical structure is relatively more complicated, and the spare part that needs is more, and mechanical precision is also relatively more difficult to improve moreover, and subaerial adaptability at unevenness is lower.
Disclosure of Invention
The invention provides an AGV driving wheel suspension mechanism aiming at solving the problems, which mainly aims at improving mechanical performance and reducing cost, and comprises the following specific technical scheme:
an AGV trolley comprises a cross beam and a longitudinal beam which are arranged on an AGV frame.
The longitudinal beam is arranged along the front-rear direction of the AGV and is provided with a frame connecting part and a longitudinal beam connecting part; the frame connecting part is positioned at one end of the longitudinal beam and is hinged with the AGV frame along the horizontal direction through at least one pair of first hinge structures, so that the longitudinal beam can swing up and down relative to the AGV frame;
the cross beam is arranged along the left-right direction of the AGV, and is provided with wheel mounting parts and cross beam connecting parts positioned between the wheel mounting parts at the left end and the right end respectively, and the wheel mounting parts are respectively connected with driving wheels; the beam connecting part and the longitudinal beam connecting part are hinged in the vertical direction through at least one pair of second hinge structures, so that the beam can swing left and right relative to the AGV frame, and the beam connecting part is positioned below the longitudinal beam connecting part;
a pressure regulating mechanism comprising: the device comprises a limit bolt, a first nut component, a second nut component and an elastic piece; the limit bolts penetrate through the AGV frame, the cross beam connecting part and the longitudinal beam connecting part from bottom to top, and the nut parts of the bolt pieces are abutted to the lower side of the AGV frame; the first nut piece is screwed on the limit bolt and is abutted against the upper side of the AGV frame so as to limit the limit bolt to move up and down in cooperation with the nut part; the second nut piece is sleeved at the end part of the screw rod part of the limit bolt, and the elastic piece is abutted between the second nut piece and the longitudinal beam connecting part and used for buffering ground impact and adjusting pressure between the driving wheel and the ground.
Further, the at least one pair of first hinge structures is an L-shaped knuckle bearing.
Further, the at least one pair of second hinge structures are linear knuckle bearings.
Further, the driving wheel is provided with an in-wheel motor.
The invention also provides another technical scheme:
an AGV trolley comprises a cross beam and a longitudinal beam which are arranged on an AGV frame.
The longitudinal beam is arranged along the front-rear direction of the AGV and is provided with a frame connecting part and a longitudinal beam connecting part; the frame connecting part is positioned at one end of the longitudinal beam and is hinged with the AGV frame along the horizontal direction through at least one pair of first hinge structures, so that the longitudinal beam can swing up and down relative to the AGV frame;
the cross beam is arranged along the left-right direction of the AGV, and is provided with wheel mounting parts and cross beam connecting parts positioned between the wheel mounting parts at the left end and the right end respectively, and the wheel mounting parts are respectively connected with driving wheels; the beam connecting part and the longitudinal beam connecting part are hinged in the vertical direction through at least one pair of second hinge structures, so that the beam can swing left and right relative to the AGV frame, and the beam connecting part is positioned above the longitudinal beam connecting part;
a pressure regulating mechanism comprising: the device comprises a limit bolt, a first nut component, a second nut component and an elastic piece; the limit bolts penetrate through the AGV frame, the longitudinal beam connecting part and the cross beam connecting part from bottom to top, and the nut parts of the bolt pieces are abutted to the lower side of the AGV frame; the first nut piece is screwed on the limit bolt and is abutted against the upper side of the AGV frame so as to limit the limit bolt to move up and down in cooperation with the nut part; the second nut piece is sleeved at the end part of the screw rod part of the limit bolt, and the elastic piece is abutted between the second nut piece and the longitudinal beam connecting part and used for buffering ground impact and adjusting pressure between the driving wheel and the ground.
The invention has the beneficial effects that:
1. in the invention, the longitudinal beam is hinged on the AGV frame through the knuckle bearing, so that the whole swing beam can swing up and down; and springs are arranged between the longitudinal beams and the AGV frame and used for adjusting the pressure between the driving wheels arranged on the AGV driving wheel suspension mechanism and the floor, providing a damping effect and adjusting the pressure between the driving wheels and the ground.
2. In the invention, the longitudinal beam and the transverse beam are connected through the knuckle bearing hinge, so that the whole transverse beam can swing left and right relative to the longitudinal beam, thereby ensuring uniform stress between two driving wheels arranged on an AGV driving wheel suspension mechanism and improving the adaptability on uneven ground.
Drawings
FIG. 1 is a schematic diagram of the mechanism of the drive wheel suspension mechanism of an AGV cart;
FIG. 2 is a front view of an exemplary embodiment of the AGV drive wheel suspension mechanism;
FIG. 3 is a top view of an exemplary embodiment of the AGV drive wheel suspension mechanism;
FIG. 4 is a three-dimensional view of an embodiment of the AGV drive wheel suspension mechanism;
wherein, the numerals in the drawings refer to the following parts:
AGV frame; 2. a longitudinal beam; 3. a cross beam; AGV drive wheel; 5. a spring; 6.L knuckle bearing; 7. a linear type knuckle bearing; 8. a limit bolt; 9 a second nut member; 10 first nut member.
Detailed Description
For the purpose of promoting an understanding of the principles and advantages of the invention, reference will now be made in detail to the drawings and embodiments, the invention being further illustrated in the drawings and described in detail herein, it being understood that the invention is illustrated by way of example and not limitation.
In connection with fig. 1 to 4, in the present embodiment, the present invention employs a knuckle bearing. The joint bearing is a spherical sliding bearing, the sliding contact surface of which is an inner spherical surface and an outer spherical surface, and can rotate and swing at any angle during movement, and the joint bearing is manufactured by adopting a plurality of special process treatment methods such as surface phosphating, hole explosion, gasket inlay, spraying and the like. The knuckle bearing has the characteristics of high load capacity, impact resistance, corrosion resistance, abrasion resistance, self-aligning property, good lubrication and the like.
Compared with a rolling bearing, the joint bearing has simpler structure and mainly comprises an inner ring with an outer spherical surface and an outer ring with an inner spherical surface. The knuckle bearing is generally used for swinging motion (i.e. angular motion) with lower speed, and because the sliding surface is spherical, the knuckle bearing can also perform tilting motion (i.e. aligning motion) within a certain angle range, and still can normally work when the supporting shaft and the shaft housing hole have larger concentricity.
The knuckle bearing can bear a large load. Depending on its different types and structures, it is possible to carry radial loads, axial loads or combined loads which are present both radially and axially. The composite material is inlaid on the outer spherical surface of the inner ring, so that the bearing can produce self-lubrication in operation. The device is generally used for swinging movement with lower speed and low-speed rotation, and can also perform tilting movement within a certain angle range, and when the concentricity of the supporting shaft and the shaft housing hole is larger, the device can still work normally.
The specific examples of the present invention are described below:
an AGV trolley comprises a cross beam 3 and a longitudinal beam 2 which are arranged on an AGV frame 1.
The longitudinal beams 2 are arranged along the front-rear direction of the AGV, and a frame connecting part is arranged on one side close to the frame 1 and a longitudinal beam connecting part is arranged on the other side. The frame connecting portion is hinged to the AGV frame through at least one pair of first knuckle bearings 6 along the horizontal direction, and the first knuckle bearings 6 are installed between the frame connecting portion and the AGV frame to enable the longitudinal beam 2 to swing up and down relative to the AGV frame 1. The frame connecting portion is a mounting hole which is matched with the first joint bearing.
The cross beam 3 is arranged along the left-right direction of the AGV, and the left end and the right end of the cross beam 3 are respectively provided with wheel mounting parts and cross beam connecting parts positioned between the wheel mounting parts at the left end and the right end, and each wheel mounting part is respectively connected with a driving wheel 4. The beam connecting part and the longitudinal beam connecting part are hinged in the vertical direction through at least one pair of second knuckle bearings 7, so that the beam 3 can swing left and right relative to the AGV frame 1. In this embodiment, the beam connection portion is located below the longitudinal beam connection portion, and the beam connection portion and the longitudinal beam connection portion are mounting holes respectively formed in the beam 3 and the longitudinal beam 3 and adapted to the second joint bearing.
Also comprises a pressure regulating mechanism. The pressure regulating mechanism specifically comprises a limit bolt 8, a first nut component 10, a second nut component 9 and an elastic piece 5. The limit bolt 8 passes through the AGV frame 1, the cross beam connecting part and the longitudinal beam connecting part from bottom to top, and the nut part of the limit bolt 8 is abutted to the lower side of the AGV frame 1. The first nut member 10 is screwed to the limit bolt 8 and is abutted to the upper side of the AGV frame 1, so as to cooperate with the nut portion to limit the limit bolt 8 to move up and down, the second nut member 9 is sleeved to the end portion of the screw rod portion of the limit bolt 8, and the elastic member 5 is abutted to the second nut member 9 and the longitudinal beam connecting portion for buffering ground impact and adjusting the pressure between the driving wheel and the ground, and meanwhile, the damping effect is achieved, and the tightness of connection between some gasket washers and components is increased correspondingly.
Further, the at least one pair of first knuckle bearings is an L-shaped knuckle bearing 6 (national standard).
Further, the at least one pair of second knuckle bearings is a linear knuckle bearing 7 (national standard).
As shown in fig. 2 and 3, in the embodiment, a pair of L-shaped knuckle bearings (national standard) are used to form one hinge, and a pair of linear knuckle bearings (national standard) are used to form the other hinge, so that the trouble that the conventional hinge needs machining parts such as a bearing seat, a rotating shaft and the like is omitted, the machining precision requirement is reduced, and the cost is saved.
Furthermore, the hub motor is arranged on the driving wheel, the hub motor is simpler in structure, and the motor, the speed reducer and the power wheel can be used as the driving wheel.
Through above structure, through joint bearing hinged joint, make whole crossbeam can the horizontal hunting for the longeron between longeron to guarantee to adorn evenly between two drive wheels on AGV drive wheel suspension mechanism, also improve subaerial adaptability at unevenness, the longeron with the AGV frame also passes through joint bearing hinged joint, can carry out certain luffing motion, more is favorable to the flexibility of going of dolly.
In another embodiment, in some cases where the structural space is limited, the longitudinal beam 2 may be installed below the transverse beam 3, so that the space structure of the whole AGV driving wheel suspension mechanism is further reduced, and the space is more compact. Since this scheme is an approximation of the above scheme, a person skilled in the art can learn how to practice this scheme from the above scheme and the corresponding figures, and the figures are not given.
Likewise, other hinge structures (such as hinge connection by two rotating shafts or hinge connection by a cross shaft universal joint) are adopted, so that the longitudinal beam and the transverse beam are connected through the hinge, the whole transverse beam can swing left and right relative to the longitudinal beam, the stress between two driving wheels arranged on an AGV driving wheel suspension mechanism is ensured to be even, the adaptability on uneven ground is improved, the longitudinal beam and the AGV frame are also connected through a knuckle bearing hinge, and certain up-and-down swing can be carried out, so that the travelling flexibility of a trolley is more facilitated.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. An AGV trolley comprises a longitudinal beam (2) and a transverse beam (3) which are arranged on an AGV frame (1), and is characterized in that,
the longitudinal beams (2) are arranged along the front-rear direction of the AGV trolley and are provided with frame connecting parts and longitudinal beam connecting parts; the frame connecting part is positioned at one end of the longitudinal beam and is hinged with the AGV frame (1) along the horizontal direction through at least one pair of first hinge structures, so that the longitudinal beam (2) can swing up and down relative to the AGV frame (1);
the cross beam (3) is arranged along the left-right direction of the AGV, wheel mounting parts and cross beam connecting parts are arranged at the left end and the right end of the cross beam, the cross beam connecting parts are positioned between the wheel mounting parts at the left end and the right end, each wheel mounting part is respectively connected with a driving wheel (4), and a hub motor is arranged on each driving wheel (4); the beam connecting part and the longitudinal beam connecting part are hinged in the vertical direction through at least one pair of second hinge structures, so that the beam (3) can swing left and right relative to the AGV frame (1), and the beam connecting part is positioned below the longitudinal beam connecting part;
the first hinge structure and the second hinge structure are knuckle bearings;
a pressure regulating mechanism comprising: the device comprises a limit bolt (8), a first nut member (10), a second nut member (9) and an elastic member (5); the limit bolts (8) penetrate through the AGV frame (1), the cross beam connecting parts and the longitudinal beam connecting parts from bottom to top, and the nut parts of the bolt pieces are abutted to the lower side of the AGV frame (1); the first nut member (10) is screwed on the limit bolt (8) and is abutted against the upper side of the AGV frame (1) so as to limit the limit bolt (8) to move up and down in cooperation with the nut part; the second nut piece (9) is sleeved at the end part of the screw rod part of the limit bolt (8), and the elastic piece (5) is abutted between the second nut piece (9) and the longitudinal beam connecting part and used for buffering ground impact and adjusting pressure between the driving wheel and the ground.
2. The AGV trolley of claim 1 wherein the at least one pair of first hinge structures are L-shaped knuckle bearings (6).
3. The AGV trolley of claim 1 wherein the at least one pair of second hinge structures are linear knuckle bearings (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810969315.5A CN109130749B (en) | 2018-08-23 | 2018-08-23 | AGV dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810969315.5A CN109130749B (en) | 2018-08-23 | 2018-08-23 | AGV dolly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109130749A CN109130749A (en) | 2019-01-04 |
| CN109130749B true CN109130749B (en) | 2023-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810969315.5A Active CN109130749B (en) | 2018-08-23 | 2018-08-23 | AGV dolly |
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| Country | Link |
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| CN (1) | CN109130749B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023092586A1 (en) * | 2021-11-29 | 2023-06-01 | Abb Schweiz Ag | Driving system and automatic guided vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007060173A1 (en) * | 2007-12-13 | 2009-06-25 | Norbert Lohrmann | Multitrack vehicle, particularly vehicle, has two steering wheels arranged on common imaginary axle, and has another wheel, whose axle is arranged parallel and spaced to axle |
| CN101612970A (en) * | 2009-07-30 | 2009-12-30 | 武汉科技学院 | Novel lying type three wheel rickshaw |
| JP2010089549A (en) * | 2008-10-03 | 2010-04-22 | Honda Motor Co Ltd | Stabilizer mounting structure |
| CN107351614A (en) * | 2017-06-22 | 2017-11-17 | 北京福田戴姆勒汽车有限公司 | A kind of braking balance suspension and multiple-axle vehicle |
| CN108161889A (en) * | 2018-02-08 | 2018-06-15 | 北京华航唯实机器人科技股份有限公司 | A kind of industrial robot based on AGV |
-
2018
- 2018-08-23 CN CN201810969315.5A patent/CN109130749B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007060173A1 (en) * | 2007-12-13 | 2009-06-25 | Norbert Lohrmann | Multitrack vehicle, particularly vehicle, has two steering wheels arranged on common imaginary axle, and has another wheel, whose axle is arranged parallel and spaced to axle |
| JP2010089549A (en) * | 2008-10-03 | 2010-04-22 | Honda Motor Co Ltd | Stabilizer mounting structure |
| CN101612970A (en) * | 2009-07-30 | 2009-12-30 | 武汉科技学院 | Novel lying type three wheel rickshaw |
| CN107351614A (en) * | 2017-06-22 | 2017-11-17 | 北京福田戴姆勒汽车有限公司 | A kind of braking balance suspension and multiple-axle vehicle |
| CN108161889A (en) * | 2018-02-08 | 2018-06-15 | 北京华航唯实机器人科技股份有限公司 | A kind of industrial robot based on AGV |
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| Publication number | Publication date |
|---|---|
| CN109130749A (en) | 2019-01-04 |
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