CN111267999B - AGV driving device - Google Patents

Abstract

The present invention provides an AGV driving device, comprising: the device comprises a driving unit, a guiding unit and a damping unit. The damping unit is positioned on the upper layer of the driving unit, and the guiding unit is positioned at the front end of the driving unit. The driving unit, the guiding unit and the damping unit form a complete AGV driving device. The driving unit provides roof pressure mechanism and drive mechanism, can effectively avoid the AGV to drive the slip and idle running of drive wheel when the road is not level and smooth, and damping unit realizes shock attenuation buffering effect through the bolster, has improved AGV's stability greatly.

Description

AGV driving device

Technical Field

The invention relates to the technical field of transportation, in particular to an AGV driving device.

Background

The automatic guided vehicle is called AGV for short, and drive arrangement is one of its main constitutional unit, and its function is for AGV provides motion power, and guarantee AGV can normally work.

In order to keep the operation of the AGV stable, the existing AGV has a running speed of about 0 to 90 m/min, and belongs to medium and low speed running.

The structure on current AGV chassis is comparatively complicated, and each drive assembly spatial distribution is comparatively disordered, and along with the AGV is used more extensively, and the user has put forward higher requirement to the AGV at the ability of complicated operational environment, therefore the adaptability of AGV at complicated road conditions also becomes one of the measurement index of AGV practicality.

When the road surface is uneven or the ground is slippery, the AGV easily causes the phenomenon that the driving wheel slips or idles, so that the traction force is insufficient, and the vehicle body easily generates strong tremble. It is therefore desirable to provide a drive that simplifies the structure of the AGV chassis to avoid slipping or spinning of the AGV drive wheels and that is effective in reducing vibration.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides an AGV driving device, which provides a reasonable AGV driving layout, can effectively avoid the skidding and idling of driving wheels of an AGV when the AGV runs on an uneven road, and greatly improves the stability of the AGV.

The invention adopts the following technical scheme:

The invention relates to an AGV driving device which comprises a driving unit, a guiding unit and a damping unit. The damping unit is positioned on the upper layer of the driving unit, and the guiding unit is positioned at the front end of the driving unit. The driving unit, the guiding unit and the damping unit form a complete AGV driving device.

The driving unit includes: the device comprises a driving wheel, a wheel shaft, a first bearing, a jacking mechanism, a driving motor, a transmission mechanism, a car connecting seat cover plate, a connecting cylinder, a first pin shaft and a first cotter pin.

The driving motor is arranged on the left side and the right side of the car connecting seat, the motor shaft is connected with the wheel shaft through a transmission mechanism, the lower end of the jacking mechanism is connected with the wheel shaft through a first bearing, the upper end of the jacking mechanism is connected with the car connecting seat and a bottom box upper top plate through bolts, the bottom box upper top plate is positioned between the car connecting seat and the car connecting seat cover plate, the bottom box connecting plate, the car connecting seat and the car connecting seat cover plate are connected through common bolts, the connecting cylinder is positioned in the middle of the car connecting seat and is matched with a round hole in the middle of the car connecting seat cover plate, and the lower end of the jacking mechanism is in contact with the upper surface of the car connecting seat.

The driving wheels of the driving device are respectively arranged at the left side and the right side and driven by the driving motors corresponding to the driving wheels, the driving motors are driven according to the instruction sent by the control system, the two driving motors are not interfered with each other, and the AGV realizes different functions through different speeds of the two driving wheels.

The method comprises the following steps: the two driving wheels have the same speed, forward and backward movement are respectively realized according to different steering of the driving wheels, the speed of the left driving wheel is higher than that of the right driving wheel, so that the right rotation of the AGV is realized, and the speed of the right driving wheel is higher than that of the left driving wheel, so that the left rotation of the AGV is realized.

The transmission mechanism comprises: the universal joint driving fork, the universal joint driven fork, the clamp spring, the locking pin, the driven fork end cover, the cross reversing shaft, the first straight rod and the second straight rod.

The universal joint driving fork is characterized in that fork pieces are arranged at two ends of the upper end of the universal joint driving fork, through holes are formed in the fork pieces, pin holes are formed in the lower ends of the fork pieces, the through holes are arranged at 90 degrees with the pin holes, semicircular holes are formed in the fork pieces, two threaded holes are symmetrically formed in two ends of the semicircular holes, pin holes are formed in the lower ends of the fork pieces, the semicircular holes are arranged at 90 degrees with the pin holes, through holes are formed in the edges of end covers of the driven fork, the through holes correspond to the threaded holes of the driven fork of the universal joint, the driven fork of the universal joint is connected with end covers of the driven fork through bolts, semicircular holes are formed in the positions, corresponding to the semicircular holes of the driven fork of the universal joint, of the end covers of the driven fork, of the driven fork of the universal joint are also formed in corresponding to the semicircular holes, the two semicircular holes of the driven fork end covers of the driven fork of the universal joint are corresponding to form a complete circular hole, shaft lever is symmetrically arranged at the upper side and the lower side of the shaft body of the cross reversing shaft, shaft lever is matched with the semicircular holes of the driven fork of the universal joint driving fork, the upper shaft lever and the lower shaft lever are symmetrically arranged, the clamping springs are arranged at the outer sides of the shaft lever, the clamping springs are arranged at the outer sides of the left side of the semicircular holes of the driven fork and the driven fork are matched with the semicircular holes of the universal joint driving fork, the universal joint driving fork and the driven shaft is connected with the driven shaft.

The outer surface of the first straight rod is a hexagonal prism, the lower end of the first straight rod is provided with a limit boss with the outer surface being a hexagonal prism, the upper end of the first straight rod is fixed with the driven fork of the universal joint through a locking pin, clamping springs are arranged on two sides of the locking pin for locking, the inner surface of the second straight rod is a hexagonal prism, the upper side of the inner surface of the second straight rod is provided with a limit concave table, the inner surface of the hexagonal prism is matched with the side surface of the limit boss at the lower end of the first straight rod, and the lower end of the second straight rod is fixed with the driven fork of the other universal joint through the locking pin.

The outer surface of the first straight rod is matched with the inner surface of the second straight rod, the first straight rod can do relative linear motion relative to the axis direction of the second straight rod, the limiting boss at the lower end of the first straight rod interacts with the limiting concave table at the upper side of the inner surface of the second straight rod, the first straight rod can do sliding relative to the second straight rod, and vertical and transverse movement of two ends of the transmission mechanism can be achieved.

The universal joint driving fork is connected with the universal joint driven fork through the cross reversing shaft, the universal joint driven fork can do rotary motion with the left shaft lever and the right shaft lever of the cross reversing shaft as the axes relative to the universal joint driving fork, and vertical and transverse movement of two ends of the transmission mechanism can be realized.

One end of the transmission mechanism is connected with the wheel shaft through a pin, the other end of the transmission mechanism is connected with the driving motor through a pin, and when the driving wheel moves up and down, the transmission mechanism realizes the up-and-down movement of the driving wheel relative to a single plane without transverse displacement of the driving motor through the cooperative action of the rotation movement generated by the driven fork of the universal joint and the driving fork of the universal joint and the relative sliding of the first straight rod and the second straight rod.

The pressing mechanism includes: base, first push rod, first spring, second spring, third spring, second push rod.

The hollow pole internal surface in base upper end is equipped with the rectangle recess, and the base lower extreme is equipped with the go-between, and the go-between cooperatees with first bearing, and base lower extreme upper surface is equipped with spacing annular, the second spring is fixed at second push rod lower surface, second push rod surface is equipped with first bead, and the first bead of second push rod cooperatees with the rectangle recess of the hollow pole internal surface in base upper end, first spring lower extreme is fixed at second push rod top surface, and first spring upper end is fixed in the bottom surface of first push rod, first push rod surface is equipped with the second bead, and the boss is connected in top installation, the restriction of third spring lower extreme is in the spacing annular of base, and the upper end contacts with the connection boss lower surface of first push rod upper end.

The jacking mechanism applies pressure in a vertical direction to the driving wheel and the wheel shaft through the connection relation of the first bearing, so that the effect of jacking the driving wheel and the wheel shaft downwards integrally is realized, and the driving wheel is always clung to the ground.

The first spring is arranged between the first push rod and the second push rod, the first heavy shock absorption and jacking effect is achieved, the second spring is a plurality of springs and is fixed on the bottom surface of the second push rod, the second shock absorption and jacking effect is achieved, the third spring is arranged between the first push rod and the base, the third shock absorption and jacking effect is achieved, the whole shock absorption process is mutually limited and carried out, the respective extrusion length is reduced, and the respective service life is prolonged.

The radius of the circular ring formed by the closed cross section of the third spring from the upper end to the middle part gradually becomes larger, and the radius of the circular ring formed by the closed cross section of the third spring from the middle part to the lower end gradually becomes smaller.

The guide unit includes: a navigator frame and a navigator.

The navigator frame is arranged on the front side of the outer frame of the bottom box of the driving unit, and the navigator frame is connected with the outer frame of the bottom box through common bolts. The navigator is connected with the navigator frame through common bolts, and the navigator can be an infrared emission device, an ultrasonic wave generating device, a visual navigation device and other navigation devices according to requirements.

The shock absorbing unit includes: the device comprises a vertical shaft, a frame fixing plate, a compression spring, a stand column, a frame connecting plate, a buffer piece, a second bearing, a middle partition plate, a second pin shaft and a second cotter pin.

The frame fixing plate is connected with the upper end of the connecting cylinder through a common bolt, a through hole is formed in the lower end of the vertical shaft, the lower end of the vertical shaft is locked with the lower end of the car connecting seat through a first pin shaft and a first cotter pin, the upper part of the vertical shaft penetrates through a central round hole of the frame fixing plate, the upper end face of the vertical shaft is overlapped with the upper surface of the middle part of the frame fixing plate, the lower surfaces of the two sides of the frame connecting plate are attached to the upper surfaces of the two sides of the frame fixing plate, the compression spring is sleeved on the outer surface of the vertical shaft through the common bolt, the lower end of the compression spring abuts against the upper end face of the vertical shaft, and the upper end of the compression spring abuts against the lower end face of the hollow boss of the middle part of the frame connecting plate.

The second bearing is arranged in a hollow groove on the upper surface of the middle part of the frame connecting plate and is matched with the outer surface of the upright post, the boss of the middle partition plate is fixed with the hole at the upper end of the upright post through a second pin shaft and a second cotter pin, and the buffer piece is positioned between the middle partition plate and the frame fixing plate and is symmetrically arranged on the left side and the right side.

The buffer parts are four spring parts and are positioned between the middle partition plate and the frame fixing plate, and the buffer parts are symmetrically arranged on the left side and the right side of the buffer parts, so that the buffer damping effect of the middle partition plate relative to the frame fixing plate is realized.

When the AGV runs on an uneven road, the middle partition plate and the AGV body connected with the middle partition plate can slowly swing up and down under the action of the buffer piece so as to achieve balance, when the left driving wheel and the right driving wheel run in the process, one side of the left driving wheel is clung to the ground, the other side of the left driving wheel is slipped or suspended, the slipping or suspended driving wheel can tightly press the ground under the combined action of the jacking mechanism and the transmission mechanism, the driving wheel is prevented from slipping or even idling, and vibration can be reduced to a great extent.

The embodiment also provides an AGV trolley, which comprises a frame, a driven wheel assembly and an AGV driving device; AGV drive arrangement installs in frame bottom front end, from driving wheel assembly body is located frame bottom rear end, from driving wheel assembly body including elevating system, from the driving wheel mounting bracket, driven shaft, from the driving wheel through the driven shaft install in from the driving wheel mounting bracket lower extreme, from the driving wheel mounting bracket through elevating system and frame connection, elevating system can realize the altitude mixture control of vertical direction.

The invention has the beneficial effects that:

According to the AGV driving device, the upper surface of the middle partition plate is provided with the mounting clamping groove for the assembly units required by AGV driving, and the required assembly units can be added according to the requirement; the middle partition plate is fixedly connected with the frame, and is connected with the upright post through a second pin shaft and a second cotter pin, so that the middle partition plate can swing up and down within the range of up and down 30 degrees in a vertical plane, and a buffer piece is arranged between the middle partition plate and the frame fixing plate, so that the shock absorption and the buffer of the middle partition plate during the up and down swing can be realized; the driving wheel is connected with the driving motor through a transmission mechanism, the transmission mechanism realizes the non-coaxial movement of the driving wheel relative to the driving motor in the whole vertical direction of the driving device through the cooperative action of the rotary motion generated by the driven fork of the universal joint and the driving fork of the universal joint and the relative sliding of the first straight rod and the second straight rod, a jacking mechanism is arranged between the wheel shaft and the car connecting seat, and the pressure in the vertical direction is applied to the driving wheel, so that the driving wheel is constantly pressed against the ground, the AGV can work in a complex road condition environment, the slip or the idle running is effectively prevented, and the stability of the AGV is greatly improved.

Drawings

FIG. 1 is a schematic view of a portion of the AGV drive of the present invention;

FIG. 2 is a schematic view II of a portion of the AGV drive of the present invention;

FIG. 3 is a schematic view of the whole structure of the pressing mechanism of the present invention;

FIG. 4 is a schematic view of a base structure of the present invention;

FIG. 5 is a schematic view of a portion of the structure of the pressing mechanism of the present invention;

FIG. 6 is a schematic view of a third spring structure according to the present invention;

FIG. 7 is a schematic diagram of the overall structure of the transmission mechanism of the present invention;

FIG. 8 is a full cross-sectional view of the transmission of the present invention;

FIG. 9 is a schematic view of a portion of the structure of the transmission mechanism of the present invention;

FIG. 10 is a schematic view of a first straight bar construction according to the present invention;

FIG. 11 is a schematic view of a second straight rod according to the present invention;

FIG. 12 is a schematic view of a cross-shaped reversing shaft according to the present invention;

FIG. 13 is a schematic view of the overall structure of the shock absorbing unit of the present invention;

FIG. 14 is a schematic view of a portion of a shock absorbing unit according to the present invention;

FIG. 15 is a schematic view of a column structure according to the present invention;

FIG. 16 is a schematic view of the overall structure of the AGV drive of the present invention;

FIG. 17 is a schematic view of the positional relationship of the AGV drive of the present invention to the AGV frame;

FIG. 18 is a schematic diagram of an entire AGV of the present invention.

In the figure: 1-driving unit, 101-driving wheel, 102-wheel axle, 103-first bearing, 104-pressing mechanism, 1041-base, 1042-first push rod, 1043-first spring, 1044-second spring, 1045-third spring, 1046-second push rod, 105-driving motor, 106-transmission mechanism, 1061-universal joint driving fork, 1062-universal joint driven fork, 1063-jump ring, 1064-locking pin, 1065-driven fork end cover, 1066-cross reversing shaft, 1067-second straight rod, 1068-first straight rod, 107-car connecting seat, 108-car connecting seat cover plate, 109-connecting cylinder, 110-first pin roll, 111-first cotter pin; .

The device comprises a 2-damping unit, 201-vertical shafts, 202-frame fixing plates, 203-frame connecting plates, 204-buffer parts, 205-second bearings, 206-compression springs, 207-vertical columns, 208-second cotter pins, 209-second pin shafts and 210-middle partition plates;

3-car;

4-driven wheel assembly, 401-lifting mechanism, 402-driven wheel mounting rack, 403-driven wheel shaft and 404-driven wheel;

a 5-navigator unit, 501-navigator rack, 502-navigator;

6-the headstock.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Accordingly, the example term "below … …" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein interpreted accordingly.

As shown in fig. 1,2 and 16, an AGV driving apparatus according to the present invention:

The drive unit 1 includes: the driving wheel 101, the wheel axle 102, the first bearing 103, the pressing mechanism 104, the driving motor 105, the transmission mechanism 106, the car connecting seat 107, the car connecting seat cover 108, the connecting cylinder 109, the first pin 110 and the first cotter pin 111.

The driving wheel 101 is respectively connected with a driving motor 105 corresponding to the driving wheel 101 at the left side and the right side, the two driving motors 105 are respectively arranged at the left side and the right side of the car connecting seat 107, a motor shaft is connected with the wheel shaft 102 through a transmission mechanism 106, the lower end of the top pressing mechanism 104 is connected with the wheel shaft 102 through a first bearing 103, the upper end of the top pressing mechanism is connected with the car connecting seat 107 and a bottom box upper top plate through bolts, the bottom box upper top plate is positioned between the car connecting seat 107 and the car connecting seat cover plate 108, the bottom box connecting plate, the car connecting seat 107 and the car connecting seat cover plate 108 are connected through common bolts, the connecting cylinder 109 is positioned in the middle of the car connecting seat 107 and matched with a round hole in the middle of the car connecting seat cover plate 108, and the lower end of the top plate is contacted with the upper surface of the car connecting seat 107.

The two driving wheels 101 of the driving device are respectively arranged at the left side and the right side of the car connecting seat 107, and are driven by the driving motors 105 corresponding to each other, the driving motors 105 are driven according to the instruction sent by the control system, the two driving motors 105 are not interfered with each other, and the AGV realizes different functions through different speeds of the two driving wheels 101.

The method comprises the following steps: the two driving wheels 101 have the same speed, forward and backward movement are respectively realized according to different steering of the driving wheels 101, the speed of the left driving wheel is higher than that of the right driving wheel to realize the right rotation of the AGV, and the speed of the right driving wheel is higher than that of the left driving wheel to realize the left rotation of the AGV.

As shown in fig. 7-12, the transmission 106 includes: the universal joint driving fork 1061, the universal joint driven fork 1062, the clamping spring 1063, the locking pin 1064, the driven fork end cover 1065, the cross reversing shaft 1066, the first straight rod 1068 and the second straight rod 1067.

The outer surface of the first straight rod 1068 is a hexagonal prism, the lower end of the first straight rod 1068 is provided with a limit boss with the outer surface being a hexagonal prism, the inner surface of the second straight rod 1067 is a hexagonal prism, the upper side of the inner surface is provided with a limit concave table, the hexagonal prism inner surface of the second straight rod 1067 is matched with the side surface of the limit boss at the lower end of the first straight rod 1068, the first straight rod 1068 can slide relative to the second straight rod 1067, and vertical and transverse movement of two ends of the transmission mechanism 106 is achieved.

The universal joint driving fork 1061 is connected with the universal joint driven fork 1062 through the cross reversing shaft 1066, and the universal joint driven fork 1062 can do rotary motion relative to the universal joint driving fork 1061 by taking the left shaft lever and the right shaft lever of the cross reversing shaft 1066 as axes, so that the vertical and transverse movements of the two ends of the transmission mechanism 106 can be realized.

One end of the transmission mechanism 106 is connected with the wheel shaft 102 through a pin, the other end of the transmission mechanism 106 is connected with the driving motor 105 through a pin, and when the driving wheel 101 moves up and down, the transmission mechanism 106 realizes the up and down movement of the driving wheel 101 relative to a single plane without transverse displacement of the driving motor 105 through the cooperative action of the rotation movement generated by the universal joint driven fork 1062 and the universal joint driving fork 1061 and the relative sliding of the first straight rod 1068 and the second straight rod 1067.

As shown in fig. 3-6, the pressing mechanism 104 includes: base 1041, first push rod 1042, first spring 1043, second spring 1044, third spring 1045, second push rod 1046.

The hollow pole internal surface in base 1041 upper end is equipped with the rectangle recess, and the base 1041 lower extreme is equipped with the go-between, and the go-between cooperatees with first bearing 103, and base 1041 lower extreme upper surface is equipped with spacing annular, second spring 1044 is fixed at second push rod 1046 lower surface, second push rod 1046 surface is equipped with first bead, and the first bead of second push rod 1046 cooperatees with the rectangle recess of the hollow pole internal surface in base 1041 upper end, first spring 1043 lower extreme is fixed at second push rod 1046 top surface, and first spring 1043 upper end is fixed at the bottom surface of first push rod 1042, first push rod 1042 surface is equipped with the second bead, top installation connection boss, third spring 1045 lower extreme constraint is in base 1041's spacing annular, and the upper end contacts with the connection boss lower surface of first push rod 1042 upper end.

The pressing mechanism 104 applies a vertical pressure to the driving wheel 101 and the wheel axle 102 through the connection relation of the first bearing 103, so as to realize the effect of pressing the driving wheel 101 and the wheel axle 102 integrally downwards, thereby enabling the driving wheel 101 to be always clung to the ground.

The first spring 1043 is arranged between the first push rod 1042 and the second push rod 1046, so as to realize the first heavy shock absorption and jacking effect, the second spring 1044 is a plurality of springs, and is fixed on the bottom surface of the second push rod 1046, so as to realize the second shock absorption and jacking effect, the third spring 1045 is arranged between the first push rod 1042 and the base 1041, so as to realize the third heavy shock absorption and jacking effect, and the whole shock absorption process is mutually limited and carried out, thereby reducing the respective extrusion length, and further prolonging the respective service life.

The radius of the circular ring formed by the closed cross section of the third spring 1045 from the upper end to the middle part is gradually increased, and the radius of the circular ring formed by the closed cross section of the middle part to the lower end is gradually decreased, so that the extrusion effect of the third spring 1045 is enhanced, the damping effect of the third spring 1045 is enhanced, and the service life of the third spring is prolonged.

As shown in fig. 16 to 18, the guide unit 5 includes: a navigator frame 501 and a navigator 502.

The navigator frame 501 is mounted on the front side of the chassis frame of the driving unit 1, and the navigator frame 501 is connected with the chassis frame through common bolts. The navigator 502 is connected with the navigator frame 501 through a common bolt, and the navigator 502 can be a plurality of navigation devices such as an infrared emitting device, an ultrasonic generating device, a visual navigation device and the like according to requirements, and the navigation of the AGV has a mature technology and is not described in detail herein.

As shown in fig. 1-2,13-14, the shock absorbing unit includes: vertical shaft 201, frame fixing plate 202, compression spring 206, upright 207, frame connecting plate 203, buffer 204, second bearing 205, intermediate partition 210, second pin 209, and second cotter 208.

The frame fixing plate 202 is connected with the upper end of the connecting cylinder 109 through a common bolt, a through hole is formed in the lower end of the vertical shaft 201, the lower end of the vertical shaft 201 is locked with the lower end of the car connecting seat 107 through the first pin shaft 110 and the first cotter pin 111, the upper part of the vertical shaft 201 penetrates through a central round hole of the frame fixing plate 202, the upper end of the vertical shaft 201 coincides with the upper surface of the middle part of the frame fixing plate 202, the lower surfaces of two sides of the frame connecting plate 203 are jointed with the upper surfaces of two sides of the frame fixing plate 202, the compression spring 206 is sleeved on the outer surface of the vertical column 207 through the common bolt connection, the lower end of the compression spring 206 abuts against the upper end face of the vertical shaft 201, and the upper end of the compression spring 206 abuts against the lower end face of the hollow boss of the middle part of the frame connecting plate 203.

The second bearing 205 is installed in a hollow groove on the upper surface of the middle part of the frame connecting plate 203 and is matched with the outer surface of the upright post 207, and the boss of the middle partition 210 is fixed with the hole at the upper end of the upright post 207 through the second pin shaft 209 and the second cotter pin 208, so that the middle partition 210 can swing up and down within the range of up and down 30 degrees in the vertical plane.

The buffer members 204 are four spring members, and are located between the intermediate partition 210 and the frame fixing plate 202, and symmetrically arranged on the left and right sides, so as to achieve the buffer and shock absorption effects of the intermediate partition 202 relative to the frame fixing plate.

When the AGV runs on an uneven road, the middle partition 210 and the AGV body connected with the middle partition 210 can slowly swing up and down under the action of the buffer 204 so as to reach balance, when the left driving wheel 101 and the right driving wheel 101 run on the ground in a clinging way and the other side is slipped or suspended in the process, the slipping or suspended driving wheel 101 can tightly press the ground under the combined action of the top pressing mechanism 104 and the transmission mechanism 106, so that the slipping or even the idle running of the driving wheel 101 is avoided, and the vibration can be reduced to a great extent.

17-18, This embodiment also provides an AGV trolley including a frame 3, a driven wheel assembly 4 and the AGV drive of the above embodiment; AGV drive arrangement installs in frame 3 bottom front end, from driving wheel assembly body position in frame 3 bottom rear end, from driving wheel assembly body 4 including elevating system 401, from driving wheel mounting bracket 402, driven shaft 403, from driving wheel 404 through driven shaft 403 install in from driving wheel mounting bracket 402 lower extreme, from driving wheel mounting bracket 402 through elevating system 401 with frame 5 connection, elevating system 401 can realize the altitude mixture control of vertical direction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (5)

1. An agv drive comprising: the driving unit and the damping unit are positioned on the upper layer of the driving unit, and form a complete AGV driving device;

   The driving unit includes: the device comprises a driving wheel, a wheel shaft, a first bearing, a jacking mechanism, a driving motor, a transmission mechanism, a car connecting seat cover plate, a connecting cylinder, a first pin shaft and a first cotter pin;

   The driving wheel is respectively connected with the left side and the right side of the driving wheel and respectively corresponding driving motors, the two driving motors are respectively arranged at the left side and the right side of the car connecting seat, a motor shaft is connected with the wheel shaft through a transmission mechanism, the lower end of the pushing mechanism is connected with the wheel shaft through a first bearing, the upper end of the pushing mechanism is connected with the car connecting seat and an upper top plate of a bottom box through bolts, the upper top plate of the bottom box is positioned between the car connecting seat and a cover plate of the car connecting seat, the bottom box connecting plate, the car connecting seat and the cover plate of the car connecting seat are connected through common bolts, the connecting cylinder is positioned in the middle of the car connecting seat and matched with a round hole in the middle of the cover plate of the car connecting seat, and the lower end of the connecting cylinder is contacted with the upper surface of the car connecting seat;

   The shock absorbing unit includes: the device comprises a vertical shaft, a frame fixing plate, a compression spring, a stand column, a frame connecting plate, a buffer piece, a second bearing, a middle partition plate, a second pin shaft and a second cotter pin;

   The upper end of the frame fixing plate is connected with the upper end of the connecting cylinder through a common bolt, the lower end of the vertical shaft is provided with a through hole, the lower end of the vertical shaft is locked with the lower end of the car-to-car connecting seat through a first pin shaft and a first cotter pin, the upper part of the vertical shaft penetrates through a central round hole of the frame fixing plate, the upper end of the vertical shaft coincides with the upper surface of the middle part of the frame fixing plate, the lower surfaces of the two sides of the frame connecting plate are attached to the upper surfaces of the two sides of the frame fixing plate through common bolts, the compression spring is sleeved on the outer surface of the vertical shaft, the lower end of the compression spring is abutted against the upper end surface of the vertical shaft, the upper end of the compression spring is abutted against the lower end surface of a hollow boss of the middle part of the frame connecting plate, the second bearing is installed in a hollow groove of the upper surface of the middle part of the frame connecting plate and matched with the outer surface of the vertical shaft, the boss of the middle partition plate and the hole of the upper end of the vertical shaft are fixed through a second pin shaft and a second cotter pin, and the buffer piece is positioned between the middle partition plate and the frame fixing plate, and the upper end of the frame fixing plate are symmetrically arranged on the left and right sides of the vertical shaft, and lower 30-degree range of the middle partition plate in a vertical plane is realized;

   The pressing mechanism includes: the novel high-speed hydraulic lifting device comprises a base, a first push rod, a first spring, a second spring, a third spring and a second push rod, wherein a rectangular groove is formed in the inner surface of a hollow rod at the upper end of the base, a connecting ring is arranged at the lower end of the base, the connecting ring is matched with a first bearing, a limit ring groove is formed in the upper surface of the lower end of the base, the second spring is fixed on the lower surface of the second push rod, a first convex rib is arranged on the outer surface of the second push rod, the first convex rib is matched with the rectangular groove of the inner surface of the hollow rod at the upper end of the base, the lower end of the first spring is fixed on the top surface of the second push rod, the upper end of the first spring is fixed on the bottom surface of the first push rod, a second convex rib is arranged on the outer surface of the first push rod, a connecting boss is arranged at the top end of the first push rod, the lower end of the third spring is restrained in the limit ring groove of the base, and the upper end of the third spring is contacted with the lower surface of the connecting boss at the upper end of the first push rod;

   the transmission mechanism comprises: the universal joint driving fork, the universal joint driven fork, the clamp spring, the locking pin, the driven fork end cover, the cross reversing shaft, the first straight rod and the second straight rod;

   The outer surface of the first straight rod is a hexagonal prism, the lower end of the first straight rod is provided with a limit boss with the outer surface being a hexagonal prism, the inner surface of the second straight rod is a hexagonal prism, the upper side of the inner surface of the second straight rod is provided with a limit concave table, the hexagonal prism inner surface of the second straight rod is matched with the side surface of the limit boss at the lower end of the first straight rod, and the first straight rod slides relative to the second straight rod to realize the vertical and horizontal movement of the two ends of the transmission mechanism;

   the universal joint driving fork is connected with the universal joint driven fork through a cross reversing shaft, and the universal joint driven fork can do rotary motion relative to the universal joint driving fork by taking the left shaft lever and the right shaft lever of the cross reversing shaft as the axes, so that the vertical and transverse movement of the two ends of the transmission mechanism is realized;

   One end of the transmission mechanism is connected with the wheel shaft through a pin, the other end of the transmission mechanism is connected with the driving motor through a pin, and when the driving wheel moves up and down, the transmission mechanism realizes the up and down movement of the driving wheel relative to a single plane without transverse displacement of the driving motor through the cooperative action of the rotation movement generated by the driven fork of the universal joint and the driving fork of the universal joint and the relative sliding of the first straight rod and the second straight rod;

   The two ends of the upper end of the driving fork of the universal joint are fork pieces, through holes are formed in the fork pieces, pin holes are formed in the lower ends of the fork pieces, the through holes are arranged at 90 degrees with the pin holes, the two ends of the upper end of the driven fork of the universal joint are fork pieces, semicircular holes are symmetrically formed in the two ends of the semicircular holes, the pin holes are formed in the lower ends of the fork pieces, the semicircular holes are arranged at 90 degrees with the pin holes, the through holes are formed in the edge of the end cover of the driven fork, the through holes correspond to the threaded holes of the driven fork of the universal joint, the driven fork of the universal joint is connected with the end cover of the driven fork through bolts, semicircular holes are formed in the corresponding parts of the end cover of the driven fork and the semicircular holes of the driven fork of the universal joint, the two semicircular holes correspond in size, a complete circular hole is formed, the upper shaft lever and the lower shaft lever are symmetrically arranged, the upper shaft lever and the lower shaft lever are matched with the through holes of the driving fork of the universal joint, the clamping springs are arranged on the outer sides of the shaft lever, the left shaft lever and the right shaft lever and the semicircular holes of the driven fork of the universal joint are matched with the semicircular holes of the driven fork, and the driving fork, the driven fork and the driven fork are matched and the driven shaft are arranged in the transmission device.
2. 2. The AGV drive of claim 1, wherein the AGV trolley formed by the AGV drive comprises a frame, a driven wheel assembly, and an AGV drive, wherein the AGV drive is mounted at a front end of a bottom of the frame, the driven wheel assembly is positioned at a rear end of the bottom of the frame, the driven wheel assembly comprises a driven wheel and a lifting mechanism, and the driven wheel is connected with the frame through the lifting mechanism.
3. 3. The AGV drive according to claim 1 or 2 wherein the buffer members are four spring members, and are disposed between the intermediate partition and the frame fixing plate and symmetrically disposed on both left and right sides thereof, so as to achieve a buffer damping effect of the intermediate partition with respect to the frame fixing plate;

   The first springs are arranged between the first push rod and the second push rod to achieve a first heavy shock absorption and jacking effect, the second springs are a plurality of springs and are fixed on the bottom surface of the second push rod to achieve a second shock absorption and jacking effect, the third springs are arranged between the first push rod and the base to achieve a third heavy shock absorption and jacking effect, and the whole shock absorption process is mutually limited and carried out, so that the respective extrusion lengths are reduced, and the respective service lives are prolonged;

   The radius of the circular ring formed by the closed cross section of the third spring from the upper end to the middle part gradually becomes larger, and the radius of the circular ring formed by the closed cross section of the third spring from the middle part to the lower end gradually becomes smaller.
4. 4. The AGV driving device according to claim 1 or 2 wherein the driving wheel is connected with the driving motor through a transmission mechanism, so as to realize the movement of the driving wheel in the vertical direction relative to the whole driving device, and a pressing mechanism is arranged between the wheel shaft and the car connecting seat, so that the driving wheel applies pressure in the vertical direction to the driving wheel, and the driving wheel is pressed against the ground at any time.
5. 5. The AGV drive according to claim 1 or2, further comprising a guide unit at a front end of the drive unit, the guide unit comprising: a navigator rack and a navigator; the navigator frame is arranged on the front side of the outer frame of the bottom box, is connected with the outer frame of the bottom box through a common bolt, and is arranged on the navigator frame.