CN110450884B

CN110450884B - AGV dolly

Info

Publication number: CN110450884B
Application number: CN201910707581.5A
Authority: CN
Inventors: 史中伟; 史正; 金尧
Original assignee: Hangzhou Zhongya Machinery Co Ltd
Current assignee: Hangzhou Zhongya Machinery Co Ltd
Priority date: 2019-08-01
Filing date: 2019-08-01
Publication date: 2024-07-19
Anticipated expiration: 2039-08-01
Also published as: CN110450884A

Abstract

The invention discloses an AGV trolley which is provided with a bottom plate, auxiliary wheels and a driving device, wherein the auxiliary wheels and the driving device are arranged on the bottom plate, the driving device comprises a hanging part, a servo motor and a driving wheel, the servo motor and the driving wheel are arranged on the hanging part, the hanging part comprises a mounting frame, a supporting seat and a buffer assembly, the supporting seat is arranged on the mounting frame in a sliding mode, the mounting frame is fixed on the bottom plate, and the buffer assembly is fixed on the mounting frame. The suspension part of the driving device of the AGV trolley is based on the design thought of bearing requirements, the driving device has the characteristics of bearing structures, and can directly provide supporting force for the whole vehicle after use, so that larger downward pressure is obtained for the driving wheels, and the problem of skidding of the driving wheels is solved.

Description

AGV dolly

Technical Field

The invention relates to a driving device on an AGV trolley.

Background

AGV carts are equipped with an automatic guidance device such as electromagnetic or optical, and can travel along a predetermined guidance path, and transportation means having safety protection and various transfer functions are widely used in the modern industrial fields. The structural basis that AGV dolly can move lies in that it has complete actuating system, and actuating system includes bottom plate, auxiliary wheel, drive arrangement. Four auxiliary wheels are arranged at the bottom of the bottom plate, the auxiliary wheels are driven in an unpowered mode, and each auxiliary wheel can rotate freely and is not limited in direction. The driving device comprises a suspension part, a servo motor and a driving wheel, wherein the suspension part comprises a supporting seat, a swing arm and a bracket. The support is fixedly arranged on the bottom plate, one end of the swing arm is movably arranged on the support, and the swing arm can swing in a vertical plane relative to the support, namely, the swing arm can do swing motion relative to the bottom plate. The servo motor and the driving wheel are arranged on the supporting seat, the servo motor can drive the driving wheel to rotate, the rotation direction can be changed, and the rotation speed can be adjusted. The supporting seat is fixed at the other end of the swing arm. The two driving devices are arranged on the bottom plate and are controlled by the left and right marks respectively, when the driving wheels on the two driving devices run at the same speed, the AGV can perform forward movement and backward movement, and when the driving wheels on the two driving devices run at different speeds, the AGV can perform left turning movement, right turning movement and in-situ rotation movement. Thus, the driving device not only provides power but also performs a change of direction.

In the prior art, the function contributed by the swing arm and the bracket on the driving device is a buffer effect, and the driving wheel naturally can immediately perform up-and-down motion when the swing arm swings, so that the driving wheel can show a good buffer effect when passing through an obstacle, and the buffer effect can bring about the technical effect of keeping the whole stability for the whole AGV trolley.

The drive contributes very little to the load bearing function of the AGV.

The load bearing of the AGV takes advantage of the support provided by the auxiliary wheels. The drive does not have a structure that takes the bearing of the AGV, and the downward force required to establish a frictional connection between the drive and the ground comes entirely from the weight of the drive itself, not the weight of other components on the AGV and the weight of the load. The greater the downforce, the more promoting the extent of the frictional connection that can be established between the drive wheel and the ground, i.e. the greater the downforce, the greater the available frictional force, where the downforce is generally due to gravity. No matter the parts of the AGV trolley except the driving device are multiple, the cargoes carried by the AGV trolley are multiple, the friction force between the driving device and the ground cannot be changed. Therefore, in the prior art, the driving wheel of the driving device is easy to generate slipping phenomenon with the ground, especially when the AGV is loaded with a heavy object. In addition, if the swing arm is clamped with the bracket when passing through the obstacle, the condition that the driving wheel is suspended can occur, and then the AGV trolley is deflected or stops moving.

Disclosure of Invention

The technical problem to be solved by the invention is how to avoid slipping of the driving wheel and the ground, thereby obtaining the AGV trolley.

In order to solve the technical problems, the invention adopts the following technical scheme: the AGV trolley is provided with a bottom plate, an auxiliary wheel and a driving device, wherein the auxiliary wheel and the driving device are arranged on the bottom plate, the driving device comprises a hanging part, a servo motor and a driving wheel, the servo motor and the driving wheel are arranged on the hanging part, the hanging part comprises a mounting frame, a supporting seat and a buffer component, the supporting seat is arranged on the mounting frame in a sliding mode, the mounting frame is fixed on the bottom plate, the buffer component is fixed on the mounting frame, two guide units are arranged on the mounting frame, the two guide units are symmetrically distributed on the mounting frame, any one guide unit comprises a first guide groove and a second guide groove, the first guide groove faces the first guide groove of one guide unit and faces the first guide groove of the other guide unit, the first guide groove of the two guide units faces the first guide groove of the other guide unit oppositely, the second guide groove of the two guide units faces the two guide groove of the other guide unit is parallel and identical, the two guided units are arranged on the supporting seat, any one guided unit is symmetrically distributed on the supporting seat, the two guided units comprises a first guide groove and a second guide unit, the first ball and a second ball is inserted into the ball bearing in the first guide unit, the ball is inserted into the ball bearing in the first guide groove in the direction of the first guide unit, the ball is inserted into the ball bearing in the second bearing in the direction of the second guide unit, the first guide unit is opposite to the first guide groove is opposite to the direction to the first ball in the direction, and the second guide unit is inserted into the ball bearing in the second guide unit is opposite in the direction, and the direction in the direction is arranged in the direction, and the guide unit is arranged. The buffer assembly comprises a spring, one end of the spring is connected with the middle part of the supporting seat, the other end of the spring is connected with the mounting frame, the supporting seat is provided with a carrying part, the carrying part is positioned between the two guided units, and the servo motor and the driving wheel are arranged on the carrying part.

The servo motor and the driving wheel are arranged on the carrying part of the supporting seat. Because the suspension component in this technical scheme has bearing capacity, so can directly fix the mounting bracket on the bottom plate of AGV dolly during the use, like this, the drive wheel bears the burden task with the auxiliary wheel. The pressure exerted by the mounting frame is transmitted to the support seat through the damping assembly and finally acts on the driving wheel, so that the driving wheel is provided with a pre-compression force through the suspension member, and the pre-compression force increases with the increase of the load. Even under no-load conditions, the degree of connection established by the drive wheel with the ground is still much greater than what can be provided by the suspension elements of the prior art based on swing arm structures.

The guided unit is arranged on the basis of the ball bearing, the ball bearing can rotate in the guide groove, sliding friction between the guided unit and the mounting frame at the guide groove is avoided, and the support seat can do linear motion on the mounting frame freely. In actual operation, the supporting seat makes linear reciprocating motion in the vertical direction on the mounting frame. When the driving wheel encounters an obstacle, the tilting force is applied only to one side of the driving wheel. The direction of the force intersects with the movement direction of the supporting seat on the mounting frame, the ball bearing can rotate and the fit clearance inside the ball bearing and the fit clearance between the ball bearing and the guide groove can realize that the guided unit which is the forefront (taking the advancing direction of the AGV as a reference basis) responds first, and then the other guided unit of the supporting seat follows. The guided unit is arranged based on the ball bearing, so that the supporting seat can slide freely on the mounting frame, the supporting seat can be guaranteed to respond in a homeotropic mode after being acted on by acting force in a non-vertical direction, and the situation that the supporting seat is clamped with the mounting frame is avoided.

In order to solve the problem that the supporting seat and the mounting frame are clamped, the spring is arranged at a specific position, namely one end of the spring is connected with the middle part of the supporting seat, and the other end of the spring is connected with the mounting frame, so that the acting force of the spring on the supporting seat is always located in the middle of the supporting seat, but not at the two ends of the supporting seat, or other parts deviating from the middle part of the supporting seat.

The guiding structure formed by the guiding unit and the guided unit is functionally independent from the buffer component, namely, the guiding structure is only responsible for the guiding function, and the buffer component is only responsible for the buffer function. The function is independent and the structure is independent, thereby being beneficial to simplifying the structure and improving the running stability of the suspension component.

The structural characteristics of the ball bearing itself being rotatable and the fit clearance inside the ball bearing and the fit clearance between the ball bearing and the guide groove can play a positive role in the early stage of responding to an obstacle, but the small amount of shake caused by the structural characteristics needs to be suppressed in the buffer stage after the spring is compressed. Therefore, the buffer assembly further comprises a guide post, a sliding sleeve and a connecting frame, wherein the guide post is fixedly arranged on the supporting seat, an inner cavity is formed in the guide post, one end of the spring extends into the inner cavity of the guide post, the sliding sleeve is fixed on the mounting frame, the guide post is in sliding connection with the sliding sleeve, the connecting frame is fixed on the mounting frame, and the other end of the spring is connected with the mounting frame. In the buffering stage, the amount of the guide post embedded into the sliding sleeve is increased rapidly, and the more the guide post is limited by the sliding sleeve, the trace shaking is restrained by the amount of the guide post embedded into the sliding sleeve.

In order to ensure that the stress balance of the suspension component after being mounted on the bottom plate is ensured, the two sides of the mounting frame are provided with connecting ends. The connecting end is fixedly connected with the bottom plate during installation.

The invention adopts the technical scheme that: the suspension part of the driving device of the AGV trolley is based on the design thought of bearing requirements, the driving device has the characteristics of bearing structures, and can directly provide supporting force for the whole vehicle after use, so that larger downward pressure is obtained for the driving wheels, and the problem of skidding of the driving wheels is solved.

Drawings

The invention is further described below with reference to the drawings and the detailed description.

FIG. 1 is an assembled schematic view of the suspension components of the drive of the AGV of the present invention;

FIG. 2 is a schematic view of the suspension components of the drive of the AGV of the present invention;

FIG. 3 is a schematic diagram of a drive mechanism for an AGV of the present invention.

Detailed Description

The driving system of the AGV trolley comprises a bottom plate, auxiliary wheels and a driving device. Four auxiliary wheels are arranged at the bottom of the bottom plate, the auxiliary wheels are driven in an unpowered mode, and each auxiliary wheel can rotate freely and is not limited in direction. Two sides of the bottom plate are respectively provided with a driving device, as shown in figure 3, each driving device comprises a hanging part, a servo motor 1 and a driving wheel 2. The servo motor 1 and the driving wheel 2 are arranged on the suspension part, and the driving wheel 2 is driven to rotate after the servo motor 1 is electrified. As shown in fig. 1 and 2, the suspension member includes a mounting frame 3, a support base 4, and a buffer assembly.

The mounting frame 3 is of an n-shape as a whole and is formed by combining three straight parts, and the straight parts on two sides are perpendicular to the middle straight part. Both sides of the mounting frame 3 are provided with guide units which are of straight groove structures, and the two guide units are symmetrically distributed on the mounting frame 3. Each guide unit comprises a first guide groove 5 and a second guide groove 6, and the space occupied by the first guide groove and the cross section of the space occupied by the second guide groove are rectangular; the opening orientation of the first guide groove 5 is perpendicular to the opening orientation of the second guide groove 6; between the two guide units, the first guide groove 5 of one guide unit and the first guide groove 5 of the other guide unit are in opposite and opposite position relation, and the first guide grooves 5 of the two guide units are opposite, and the second guide grooves 6 of the two guide units are parallel and the same. Two connecting ends 7 are respectively arranged on two sides of the mounting frame 3, the two connecting ends 7 have the same structure and are symmetrically distributed on the mounting frame 3, and the connecting ends 7 are used for being connected with a bottom plate.

The support base 4 is slidably mounted on the mounting frame 3. Two sides of the supporting seat 4 are provided with a guided unit, and the two guided units are symmetrically distributed on the supporting seat 4. Each guided unit comprises a first ball bearing 8 and a second ball bearing 9, and the first ball bearing 8 or the second ball bearing 9 can freely rotate after being stressed; the axis of the first ball bearing 8 is perpendicular to the axis of the second ball bearing 9; the extending direction of the axial lead of the first ball bearing 8 of one guided unit is opposite to the extending direction of the axial lead of the first ball bearing 8 of the other guided unit, and the axial leads of the first ball bearings 8 of the two guided units are overlapped, and the extending directions of the axial leads of the second ball bearings 9 of the two guided units are parallel and the same. When the support is installed, the first ball bearing 8 is embedded in the first guide groove 5, the second ball bearing 9 is embedded in the second guide groove 6, and the support seat 4 is positioned between the two guide units, so that a movable connection relationship is established between the support seat 4 and the installation frame 3. The support base 4 can do linear reciprocating motion on the mounting frame 3. The middle part of the support seat 4 is provided with a through hole which is convenient for installing the servo motor 1 and the driving wheel 2, here the carrying part 10 of the support seat 4, and the carrying part 10 is positioned between two guided units.

The buffer component comprises a guide post 11, a sliding sleeve 12, a spring 13 and a connecting frame 14. The overall frame 14 is also n-shaped and is composed of three straight portions, with the straight portions on both sides being perpendicular to the straight portion in the middle. The connecting frame 14 is fixed on the mounting frame 3. The sliding sleeve 12 is fixed on the mounting frame 3 and is positioned at the middle part of the mounting frame 3, and the guide post 11 is arranged on the supporting seat 4 and is positioned at the middle part of the aphasia supporting seat 4. The guide post 11 is internally provided with an inner cavity with a blind hole structure, the inner cavity is cylindrical and is provided with only one opening; the center line of the inner cavity coincides with the center line of the guide post 11. One end of the spring 13 extends into the inner cavity of the guide post 11, and the other end of the spring 13 is positioned outside the guide post 11. When the spring is installed, the guide post 11 stretches into the sliding sleeve 12, and the other end of the spring 13 is contacted with the connecting frame 14 and presses the connecting frame 14 to establish a connection relationship. For a better connection, a bolt is provided in the middle of the connecting frame 14, which bolt protrudes into the spring 13. The guide post 11 can slide in the sliding sleeve 12, and the sliding direction of the guide post 11 is parallel to the moving direction of the supporting seat 4 on the mounting frame 3.

During assembly, the servo motor 1 and the driving wheel 2 are arranged on the carrying part 10 of the supporting seat 4, and the connecting end 7 of the mounting frame 3 is fixed on the bottom plate. The bottom plate distributes the load of the whole vehicle to the driving device, and finally the driving wheel 2 is acted on, and the driving wheel 2 is contacted with the ground more tightly due to the downward pressure. The suspension member can bear load and by means of the load bearing increase the degree of contact of the driving wheel 2 with the ground. The expansion and contraction of the buffer assembly allows the support 4 to slide linearly on the mounting frame 3, thereby coping with obstacles on various road surfaces encountered by the driving wheel 2.

Claims

1. An AGV dolly, the AGV dolly is equipped with bottom plate, auxiliary wheel and drive arrangement all install on the bottom plate, drive arrangement includes suspension element, servo motor (1) and drive wheel (2) all install on suspension element, its characterized in that: the suspension part comprises a mounting frame (3), a supporting seat (4) and a buffer component, wherein the supporting seat (4) is arranged on the mounting frame (3) in a sliding mode, the mounting frame (3) is fixed on a bottom plate, the buffer component is fixed on the mounting frame (3), two guide units are arranged on the mounting frame (3), the two guide units are symmetrically distributed on the mounting frame (3), any one guide unit comprises a first guide groove (5) and a second guide groove (6), the orientation of the first guide groove (5) is perpendicular to the orientation of the second guide groove (6), the first guide groove (5) of one guide unit is opposite to the orientation of the first guide groove (5) of the other guide unit, the second guide groove (6) of the two guide units is parallel and identical, the supporting seat (4) is provided with two guided units, the two guided units are symmetrically distributed on the supporting seat (4), the arbitrary guided unit comprises a first ball bearing (8) and a second ball bearing (9) of the ball bearing (8), the extending direction of the axial lead of the first ball bearing (8) of one guided unit is opposite to the extending direction of the axial lead of the first ball bearing (8) of the other guided unit, the axial leads of the first ball bearings (8) of the two guided units are coincident, the extending directions of the axial leads of the second ball bearings (9) of the two guided units are parallel and identical, the first ball bearing (8) is embedded in the first guide groove (5), the second ball bearing (9) is embedded in the second guide groove (6), the supporting seat (4) is positioned between the two guided units, the buffer assembly comprises a spring (13), one end of the spring (13) is connected with the middle part of the supporting seat (4), the other end of the spring (13) is connected with the mounting frame (3), the supporting seat (4) is provided with a carrying part (10), the carrying part (10) is positioned between the two guided units, and the servo motor (1) and the driving wheel (2) are arranged on the carrying part (10);

the buffer assembly further comprises a guide post (11), a sliding sleeve (12) and a connecting frame (14), wherein the guide post (11) is fixedly arranged on the supporting seat (4), the guide post (11) is provided with an inner cavity, one end of the spring (13) stretches into the inner cavity of the guide post (11), the sliding sleeve (12) is fixed on the mounting frame (3), the guide post (11) is in sliding connection with the sliding sleeve (12), the connecting frame (14) is fixed on the mounting frame (3), and the other end of the spring (13) is connected with the mounting frame (3);

the two sides of the mounting frame (3) are provided with connecting ends (7), and the connecting ends (7) are connected with the bottom plate.