CN112249195B - AGV (automatic guided vehicle) of transport robot - Google Patents
AGV (automatic guided vehicle) of transport robot Download PDFInfo
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- CN112249195B CN112249195B CN202011498203.XA CN202011498203A CN112249195B CN 112249195 B CN112249195 B CN 112249195B CN 202011498203 A CN202011498203 A CN 202011498203A CN 112249195 B CN112249195 B CN 112249195B
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- agv
- inner shaft
- sliding column
- suspension mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a transport robot.A torque output by a steering assembly is transmitted to an inner shaft sleeve under the control of an electric control module, the inner shaft sleeve transmits the torque to a sliding column, and a driving wheel is driven by the sliding column to steer, so that the independent steering control of each wheel is realized, and the steering is flexible; each driving wheel is provided with an independent suspension mechanism, and the suspension mechanism is positioned right above the driving wheel, so that the effective acting distance of the suspension mechanism is increased, and the lateral rigidity is good; the load state and the speed are matched, so that the robot can run quickly when no load exists, and the robot has better obstacle crossing capability; when the robot runs at a low speed when fully loaded, each driving wheel has good ground-attaching performance, the suspension phenomenon is avoided, the abundant power performance is ensured, and the robot has good stability and accurate positioning performance when fully loaded.
Description
Technical Field
The invention relates to AGV equipment, in particular to an AGV of a transport robot.
Background
At present, AGV (Automated Guided Vehicle, AGV for short) is widely applied to logistics storage transportation, material transportation, industrial production enterprises and assembly production lines, but most of existing AGV products in the market can only meet working conditions of warehouses, flat ground and the like, and a suspension mechanism does not have an obstacle crossing function, so that the applicability is not strong on uneven roads or poor places, and slipping or overhead phenomena often occur. Traditional AGV is because chassis structure installation space is limited, and the structure of drive wheel suspension is complicated simultaneously, and some products on the market are provided with simple suspension device on the driving wheel, and this kind of suspension device can solve the unsettled problem of skidding of drive wheel to a certain extent, but opens the in-process that stops at the AGV heavy load, and the chassis rocks obviously, and the AGV that requires high to the motion precision is not suitable for.
The AGV on the market at present is divided into three major categories, the first major category is a structure form adopting a steering wheel and a universal wheel, for example, the authorization publication number is CN211516642U, and the name is a patent document of an AVG intelligent assembly system, the structure form is slow in speed, the maximum speed is generally not more than 1.5m/s, the transportation efficiency is low for transportation scenes, and the defects of heaviness and high price exist at the same time; the second category is an AGV using differential wheels, such as patent document No. CN206456918U entitled cross-belt sorting AGV, which is difficult to design a proper suspension mechanism or even no suspension mechanism due to structural arrangement and space limitations, and has poor damping performance, and also has the disadvantages of inflexible steering and poor positioning accuracy; the third type is the AGV adopting a hub motor and an independent suspension, four driving wheels are provided with suspension mechanisms, and meanwhile, each wheel needs to be provided with a steering mechanism, so that the defects that the mechanism is complex and the lateral rigidity of the suspension mechanism is small exist, and the AGV is not suitable for being used in the AGV with high positioning precision requirement in full-load operation.
Disclosure of Invention
The invention aims to provide an AGV (automatic guided vehicle) for a transportation robot, which aims to solve the problems of low speed, low transportation efficiency, inflexible steering, poor obstacle crossing capability, poor positioning accuracy and the like of the conventional AGV.
The invention solves the technical problems through the following technical scheme: an AGV (automatic guided vehicle) of a transport robot comprises a vehicle body, a driving wheel, an electric control module, a power module, a steering assembly and a suspension mechanism, wherein the electric control module, the power module, the steering assembly and the suspension mechanism are arranged on the vehicle body; each driving wheel is provided with a steering assembly and a suspension mechanism; each suspension mechanism comprises an outer shaft sleeve, an upper cover plate, a lower cover plate, an elastic assembly, a support frame, a sliding column and an inner shaft sleeve; the bottom of the sliding column is connected with a hub component of the driving wheel through a support frame, and the top of the sliding column is provided with a limiting piece; the inner shaft sleeve is coaxially sleeved outside the sliding column, the outer shaft sleeve is coaxially sleeved outside the inner shaft sleeve, and the outer shaft sleeve is fixedly arranged on the vehicle body; the bottom parts of the outer shaft sleeve and the inner shaft sleeve are provided with lower cover plates, the top part of the outer shaft sleeve and the middle upper part of the inner shaft sleeve are provided with upper cover plates, and the upper part of the inner shaft sleeve is fixedly connected with a corresponding steering assembly; the bottom end of the elastic component is connected with the supporting frame, and the top end of the elastic component is connected with the lower cover plate.
In the invention, the sliding column is a polygonal sliding column, or a convex block is arranged outside the sliding column, and a sliding groove matched with the convex block is arranged in the inner shaft sleeve, so that the sliding column not only can move up and down in the inner shaft sleeve, but also can transmit the steering torque of the inner shaft sleeve to the sliding column. Under the control of the electric control module, the torque output by the steering assembly is transmitted to the inner shaft sleeve, the inner shaft sleeve transmits the torque to the sliding column, and the sliding column drives the driving wheel to steer, so that the independent steering control of each wheel is realized, and the steering is flexible. Every drive wheel all is equipped with independent suspension mechanism, and suspension mechanism is located the drive wheel directly over, has increased suspension mechanism's effective working distance, and lateral rigidity is good. When the sliding column is in a free state, the sliding column moves downwards in the inner shaft sleeve to enable the top of the inner shaft sleeve to be in contact with the limiting piece, so that the inner shaft sleeve is prevented from being separated from the sliding column, the elastic component plays a role in absorbing vibration and reducing vibration, and has better obstacle crossing capability; when the robot is fully loaded, the elastic component is compressed, the sliding column moves upwards in the inner shaft sleeve, the lower cover plate is in contact with the support frame, the suspension mechanism is in a rigid and incompressible state, each driving wheel has good ground attaching performance, the suspension phenomenon can be avoided, sufficient power performance can be ensured, and the robot has good stability and accurate positioning performance when fully loaded; when the sliding column is in half-load, certain travel distances are reserved between the inner shaft sleeve and the limiting piece and between the lower cover plate and the supporting frame, the sliding column moves up and down in the inner shaft sleeve, and the elastic component plays a role in absorbing vibration; the AGV has the advantages that the AGV has the load state matched with the speed, namely, the AGV runs at a high speed when being unloaded and runs at a low speed when being fully loaded, so that the AGV speed is increased, and the transport efficiency is improved.
Further, the elastic assembly comprises an inner spring, an outer spring and a guide shaft sleeve; the inner spring is sleeved outside the sliding column, the outer spring is sleeved outside the inner spring, and a guide shaft sleeve is arranged on the support frame between the inner spring and the outer spring.
When the steering wheel is fully loaded, the lower cover plate is in line contact with the guide shaft sleeve, so that the friction force is reduced, and the torsion of the inner spring and the outer spring due to the friction force during steering is avoided.
Further, the inner shaft sleeve is connected with the outer shaft sleeve through a bearing, the bearing comprises an upper bearing and a lower bearing, and a positioning shaft sleeve is arranged between the upper bearing and the lower bearing. The bearing reduces the friction force during steering, and the steering is smoother.
Further, the sliding column is a polygonal sliding column; or a convex block is arranged outside the sliding column, and a sliding groove matched with the convex block is arranged in the inner shaft sleeve; or a sliding groove is arranged outside the sliding column, and a convex block matched with the sliding groove is arranged in the inner shaft sleeve.
The structural form of the sliding column or the structural forms of the sliding column and the inner shaft sleeve not only ensures that the inner shaft sleeve transmits steering torque to the sliding column, so that the sliding column drives the driving wheel to steer, but also can enable the sliding column to move up and down in the inner shaft sleeve.
Further, the steering assembly comprises a steering motor, a speed reducer, a pinion and a bull gear; the input of the steering motor is electrically connected with the electric control module, the output of the steering motor is electrically connected with the input of the speed reducer, the speed reducer is connected with the pinion through a flat key, the pinion is meshed with the gearwheel, and the gearwheel is fixedly sleeved on the inner shaft sleeve.
Furthermore, a hoop is arranged on the inner shaft sleeve above the large gear to limit the position of the large gear.
Further, the steering assembly is of a worm and gear transmission structure.
Further, the inner shaft sleeve is of a boss structure, and the boss structure is provided with a first boss, a second boss and a clamping groove; the outer shaft sleeve is coaxially sleeved on the second boss, the steering assembly is fixedly connected with the first boss, the upper cover plate is arranged on the top of the outer shaft sleeve and the first boss, and the clamping groove is formed in the first boss.
Further, the electric control module is used for controlling the speed of the AGV according to different load states.
When the AGV is in no load, the AGV runs at a high speed, so that the transportation efficiency is improved, and the elastic component has better obstacle crossing capability due to the vibration absorption and vibration reduction effects; when fully loaded, the AGV of the transport robot runs at a low speed, each driving wheel has good ground-attaching performance, the suspension phenomenon can be avoided, sufficient power performance is ensured, and the AGV of the transport robot has good stability and accurate positioning performance when fully loaded.
Furthermore, the AGV also comprises a path planning module, a navigation positioning module, an obstacle avoidance module and an image identification module which are electrically connected with the electric control module; the image recognition module is electrically connected with the image acquisition module.
Advantageous effects
Compared with the prior art, the AGV for the transport robot has the advantages that the loading state and the speed are matched, the AGV for the transport robot can run fast when the AGV is empty, the AGV for the transport robot has good obstacle crossing capability, the AGV for the transport robot runs at low speed when the AGV is fully loaded, each driving wheel has good ground adhering performance, the suspension phenomenon is avoided, the abundant power performance is guaranteed, and the AGV for the transport robot has good stability and accurate positioning performance when the AGV is fully loaded; the sliding mechanism is positioned right above the driving wheel, and has the characteristics of simple and compact structure, increased effective acting distance of the suspension mechanism and good lateral rigidity; the invention adopts four-wheel independent drive and four-wheel independent steering modes, and has the characteristics of high speed, powerful power and omnidirectional steering.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic diagram of an AGV configuration for a transport robot in an embodiment of the present invention;
FIG. 2 is a side view of a transport robot AGV according to an embodiment of the present invention;
FIG. 3 is a partial cross-sectional view of a transport robot AGV according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a suspension mechanism in the embodiment of the invention;
FIG. 5 is a cross-sectional view of an inner hub in an embodiment of the present invention;
FIG. 6 is a top view of an inner hub in an embodiment of the present invention;
FIG. 7 is a front view of a strut and support bracket according to an embodiment of the present invention;
FIG. 8 is a side view of a strut and support bracket according to an embodiment of the present invention;
FIG. 9 is a top view of the strut and support bracket of an embodiment of the present invention;
FIG. 10 is a schematic view of a guide sleeve according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of the suspension mechanism in a suspended state during idle operation in accordance with an embodiment of the present invention;
FIG. 12 is a schematic illustration of the suspension mechanism in a half-loaded condition under an embodiment of the present invention;
FIG. 13 is a schematic view of the suspension mechanism in a rigid fully loaded condition when fully loaded in an embodiment of the present invention;
the system comprises a 100-laser radar and camera probe, a 200-vehicle body, a 210-vehicle frame, a 220-steering motor, a 230-speed reducer, a 240-pinion, a 250-bull gear, a 260-suspension mechanism, a 261-limiting sheet, a 262-sliding column, a 2621-guide shaft sleeve, a 263-clamp, a 264-positioning shaft sleeve, a 265-outer shaft sleeve, a 266-inner spring, a 267-outer spring, a 268-screw, a 269-lower cover plate, a 270-bearing, a 271-upper cover plate, a 272-inner shaft sleeve, a 2721-first boss, a 2722-second boss, a 2723-clamping groove, a 273-supporting frame, a 300-hub assembly, a 400-power module and a 500-electric control module.
Detailed Description
The technical solutions in the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the AGV of the transport robot according to the present embodiment includes a vehicle body 200, a driving wheel, and an electronic control module 500, a power module 400, a steering assembly and a suspension mechanism 260 provided on the vehicle body 200. The vehicle body 200 comprises a frame 210, an electronic control module 500 and a power module 400 are arranged at the bottom of the frame 210, a reducer 230 of a steering assembly is fixed on the frame 210, a steering motor 220 is positioned below the frame 210, and an outer shaft sleeve 265 of a suspension mechanism 260 is fixed on the frame 210. Each driving wheel is provided with a steering component and a suspension mechanism 260, each steering component is electrically connected with the electric control module 500, and the electric control module 500 is used as a control center of the AGV of the transport robot and can realize four-wheel independent driving and four-wheel independent steering control. The power module 400 provides required power for each power-consuming component or structure of the AGV, and in this embodiment, the power module 400 is a battery pack.
As shown in fig. 3 and 4, each suspension mechanism 260 includes an outer hub 265, an upper cover plate 271, a lower cover plate 269, an elastic member, a support frame 273, a strut 262, and an inner hub 272; the bottom of the sliding column 262 is connected with the hub component 300 of the driving wheel through a support frame 273, and the top of the sliding column 262 is provided with a limiting sheet 261; the inner shaft sleeve 272 is coaxially sleeved outside the sliding column 262, the outer shaft sleeve 265 is coaxially sleeved outside the inner shaft sleeve 272, and the outer shaft sleeve 265 is fixedly arranged on the frame 210 of the vehicle body 200; a lower cover plate 269 is arranged at the bottom of the outer shaft sleeve 265 and the inner shaft sleeve 272, an upper cover plate 271 is arranged at the top of the outer shaft sleeve 265 and a first boss 2721 of the inner shaft sleeve 272, and the upper part of the inner shaft sleeve 272 is fixedly connected with a large gear 250 of a corresponding steering component; the bottom end of the elastic component is connected with the support frame 273, and the top end of the elastic component is connected with the lower cover plate 269.
In this embodiment, the limiting sheet 261 is a thin nut. The upper cover plate 271 and the lower cover plate 269 are both of an annular structure, the annular upper cover plate 271 is arranged at the top of the outer shaft sleeve 265 and on the first boss 2721 of the inner shaft sleeve 272, the annular lower cover plate 269 is arranged at the bottoms of the outer shaft sleeve 265 and the inner shaft sleeve 272, the upper cover plate 271 and the lower cover plate 269 are fixed on the outer shaft sleeve 265 through the screw 268 and the gasket, the outer shaft sleeve 265 is fixedly connected with the frame 210, and in the steering torque transmission process, the inner shaft sleeve 272 can rotate between the upper cover plate 271 and the lower cover plate 269, so that the stability during steering is ensured.
As shown in fig. 4, the elastic assembly includes an inner spring 266, an outer spring 267, and a guide sleeve 2621; the inner spring 266 and the outer spring 267 are two concentric compression coil springs. The inner spring 266 is sleeved outside the sliding column 262, the outer spring 267 is sleeved outside the inner spring 266, a guide shaft sleeve 2621 is arranged on a support frame 273 between the inner spring 266 and the outer spring 267, and the structure of the guide shaft sleeve 2621 is shown in fig. 10. In order to prevent the inner spring 266 and the outer spring 267 from twisting due to friction during steering, a guide sleeve 2621 is provided, and the guide sleeve 2621 makes contact between the guide sleeve 2621 and the lower cover 269 in a linear contact state during a rigid full load state, thereby reducing friction.
To facilitate smooth steering, the inner hub 272 is coupled to the outer hub 265 by a bearing 270, the bearing 270 including an upper bearing and a lower bearing with a locating hub 264 therebetween, as shown in fig. 4.
The outer shaft sleeve 265 is fixed on the frame 210, the large gear 250 of the steering assembly transmits steering torque to the inner shaft sleeve 272, the inner shaft sleeve 272 transmits the steering torque to the sliding column 262, the sliding column 262 drives the driving wheel to steer, and in order to realize the transmission of the steering torque from the inner shaft sleeve 272 to the sliding column 262, no relative movement exists between the transverse sliding column 262 and the inner shaft sleeve 272, so that the sliding column 262 can be in a polygonal structure, the shape of the inner wall of the inner shaft sleeve 272 is matched with the polygonal structure of the sliding column 262, for example, the sliding column 262 is in a square structure (as shown in fig. 9), and the inner wall of the inner shaft sleeve 272 is also in a square shape (as shown in; the slide column 262 may be provided with a projection outside, and the inner shaft sleeve 272 may be provided with a sliding groove adapted to the projection, or the slide column 262 may be provided with a sliding groove outside, and the inner shaft sleeve 272 may be provided with a projection adapted to the sliding groove, so that not only the transmission of the steering torque to the slide column 262 may be ensured, but also the slide column 262 may be moved up and down or vertically within the inner shaft sleeve 272.
In this embodiment, the steering assembly may adopt a transmission form of a motor and a reducer driving gear, and may also adopt a transmission structural form of a worm gear. As shown in fig. 3, the motor + reducer 230 drives a gear-driven type steering assembly including a steering motor 220, a reducer 230, a pinion 240, and a bull gear 250; the input end of the steering motor 220 is electrically connected with the electronic control module 500, the output end of the steering motor 220 is electrically connected with the input end of the reducer 230, the reducer 230 is connected with the pinion 240 through a flat key, the pinion 240 is in meshing transmission with the gearwheel 250, and the gearwheel 250 is coaxially and fixedly sleeved on the inner shaft sleeve 272. Each driving wheel corresponds to a steering component and a suspension mechanism 260, and under the control of the electronic control module 500, independent steering control of each driving wheel can be realized.
As shown in fig. 5 and 6, the inner hub 272 is a boss structure having a first boss 2721, a second boss 2722, and a detent 2723. The clamping groove 2723 is used for installing a clamping hoop 263, the clamping hoop 263 is used for limiting the large gear 250, and the large gear 250 is coaxially sleeved on a first boss 2721 close to the clamping groove 2723; the outer shaft sleeve 265 is coaxially sleeved on the second boss 2722, the upper cover plate 271 is arranged on the first boss 2721 close to the second boss 2722, the heights of the outer shaft sleeve 265 and the second boss 2722 are consistent, so that the upper cover plate 271 fixed on the outer shaft sleeve 265 and the lower cover plate 269 limit the second boss 2722 between the upper cover plate 271 and the lower cover plate 269, and therefore the up-down movement of the inner shaft sleeve 272 during steering is limited, and the stability during steering is guaranteed.
As shown in fig. 7 to 9, the spool 262, the support frame 273 and the guide shaft sleeve 2621 are schematically illustrated in structure, and the spool 262 and the support frame 273 may be an integrated structure or an independent structure. The bottom and the support frame 273 fixed connection of traveller 262, the both ends and the wheel hub subassembly 300 fixed connection of drive wheel of support frame 273, the steering torque who transmits for traveller 262 and support frame 273 drives the drive wheel and rotates, realizes steering control.
The transport robot AGV further comprises a path planning module, a navigation positioning module, an obstacle avoidance module and an image identification module which are electrically connected with the electric control module 500; the image recognition module is electrically connected with the image acquisition module. In this embodiment, the image acquisition module is the camera probe 100 disposed on the vehicle body 200, and the obstacle avoidance module is the laser radar 100 disposed on the vehicle body 200. The electric control module 500 is used for controlling the speed of the AGV according to different states of the suspension mechanism 260 or load states, so that the speed is matched with the states of the suspension mechanism 260 or load states, and particularly, when the AGV is in a no-load state, the AGV runs at the highest speed, so that the transportation speed and efficiency are improved; when the transport robot AGV is fully loaded, the transport robot AGV travels at a low speed, each driving wheel has good ground-attaching performance, the suspension phenomenon can be avoided, the abundant power performance is ensured, and the robot AGV has good stability and accurate positioning performance when being fully loaded.
Under the control of the electronic control module 500, the torque output by the large gear 250 is transmitted to the inner shaft sleeve 272, the inner shaft sleeve 272 transmits the torque to the sliding column 262, and the sliding column 262 drives the driving wheels to steer, so that the independent steering control of each wheel is realized, and the steering is flexible.
Each driving wheel is provided with an independent suspension mechanism 260, and the suspension mechanisms 260 are positioned right above the driving wheels, so that the effective acting distance of the suspension mechanisms 260 is increased, and the lateral rigidity is good. The strut 262 type structure of the suspension mechanism 260 has the characteristics of simple and compact structure.
As shown in fig. 11, when the vehicle is unloaded, in order to keep the elastic component in a free state, the elastic force of the elastic component pushes the outer sleeve 265, the inner sleeve 272 and the vehicle body 200 to move upwards through the lower cover 269, so that the sliding column 262 moves downwards relatively in the inner sleeve 272 until the top of the inner sleeve 272 contacts with the limiting piece 261, and the inner sleeve 272 is prevented from being separated from the sliding column 262, and the unloaded state of the vehicle body 200 or the transport robot AGV corresponds to the suspended state of the suspension mechanism 260, at this time, the transport robot AGV can run at high speed, and the elastic component plays a role in absorbing vibration and has better obstacle crossing capability.
As shown in fig. 13, when the robot is fully loaded, the gravity of the load compresses the elastic component through the lower cover 269, so that the outer sleeve 265, the inner sleeve 272 and the vehicle body 200 move downward, thereby moving the sliding column 262 relatively upward in the inner sleeve 272 until the lower cover 269 is in line contact with the guide sleeve 2621, the suspension mechanism 260 is in a rigid incompressible state, the full load state of the vehicle body 200 or the transport robot AGV corresponds to the rigid full load state of the suspension mechanism 260, at this time, the transport robot AGV can run at a low speed, each driving wheel has good ground contact performance, the suspension phenomenon can be avoided, sufficient power performance can be ensured, and the robot has good stability and accurate positioning performance when fully loaded.
As shown in fig. 12, during half-load, certain travel distances are arranged between the inner shaft sleeve 272 and the limiting piece 261 and between the lower cover plate 269 and the guide shaft sleeve 2621, the sliding column 262 can move up and down in the inner shaft sleeve 272, the elastic component plays a role in vibration absorption and vibration reduction, the half-load state of the vehicle body 200 or the transport robot AGV corresponds to the half-load state of the suspension mechanism 260, at this time, the transport robot AGV can run at high speed, and the elastic component plays a role in vibration absorption and vibration reduction, so that the AGV has good obstacle crossing capability.
The loading state of the AGV of the transport robot or the state of the suspension mechanism 260 is matched with the speed, namely the AGV travels at a high speed when being unloaded and travels at a low speed when being fully loaded, so that the speed of the AGV of the transport robot is increased, and the transport efficiency is improved. The AGV of the transport robot is an AGV which has the advantages of high speed, strong driving force, good obstacle crossing capability, flexibility and high positioning precision of full-load operation, and simultaneously provides an independent suspension mechanism 260 with a compact and simple structure.
The above disclosure is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or modifications within the technical scope of the present invention, and shall be covered by the scope of the present invention.
Claims (8)
1. An AGV (automatic guided vehicle) of a transport robot comprises a vehicle body, a driving wheel, an electric control module, a power module, a steering assembly and a suspension mechanism, wherein the electric control module, the power module, the steering assembly and the suspension mechanism are arranged on the vehicle body; the method is characterized in that: each driving wheel is provided with a steering assembly and a suspension mechanism; each suspension mechanism comprises an outer shaft sleeve, an upper cover plate, a lower cover plate, an elastic assembly, a support frame, a sliding column and an inner shaft sleeve; the bottom of the sliding column is connected with a hub component of the driving wheel through a support frame, and the top of the sliding column is provided with a limiting piece; the inner shaft sleeve is coaxially sleeved outside the sliding column, the outer shaft sleeve is coaxially sleeved outside the inner shaft sleeve, and the outer shaft sleeve is fixedly arranged on the vehicle body; the bottom parts of the outer shaft sleeve and the inner shaft sleeve are provided with lower cover plates, the top part of the outer shaft sleeve and the middle upper part of the inner shaft sleeve are provided with upper cover plates, and the upper part of the inner shaft sleeve is fixedly connected with a corresponding steering assembly; the bottom end of the elastic component is connected with the supporting frame, and the top end of the elastic component is connected with the lower cover plate;
the elastic assembly comprises an inner spring, an outer spring and a guide shaft sleeve; the inner spring is sleeved outside the sliding column, the outer spring is sleeved outside the inner spring, and a guide shaft sleeve is arranged on the support frame between the inner spring and the outer spring;
the electric control module is used for controlling the speed of the AGV according to different load states;
when the AGV runs at a high speed, the elastic assembly is in a free state, the elastic force of the elastic assembly pushes the outer shaft sleeve, the inner shaft sleeve and the AGV body to move upwards through the lower cover plate, so that the sliding column moves downwards relatively in the inner shaft sleeve until the top of the inner shaft sleeve is contacted with the limiting piece;
when the AGV runs at a low speed, the gravity of the load compresses the elastic assembly through the lower cover plate, so that the outer shaft sleeve, the inner shaft sleeve and the AGV body move downwards, the sliding column moves upwards relatively in the inner shaft sleeve until the lower cover plate is in line contact with the guide shaft sleeve, the suspension mechanism is in a rigid incompressible state, the full load state of the AGV body corresponds to the rigid full load state of the suspension mechanism, and the AGV runs at a low speed;
when the AGV runs at a high speed, the inner shaft sleeve and the limiting piece are in a half-load state, a certain stroke distance is reserved between the lower cover plate and the guide shaft sleeve, the sliding column moves up and down in the inner shaft sleeve, the half-load state of the AGV body corresponds to the half-load state of the suspension mechanism, and the AGV runs at a high speed.
2. The transport robot AGV of claim 1, characterized by: the inner shaft sleeve is connected with the outer shaft sleeve through a bearing, the bearing comprises an upper bearing and a lower bearing, and a positioning shaft sleeve is arranged between the upper bearing and the lower bearing.
3. The transport robot AGV of claim 1, characterized by: the sliding column is a polygonal sliding column; or a convex block is arranged outside the sliding column, and a sliding groove matched with the convex block is arranged in the inner shaft sleeve; or a sliding groove is arranged outside the sliding column, and a convex block matched with the sliding groove is arranged in the inner shaft sleeve.
4. The transport robot AGV of claim 1, characterized by: the steering assembly comprises a steering motor, a speed reducer, a pinion and a bull gear; the input of the steering motor is electrically connected with the electric control module, the output of the steering motor is electrically connected with the input of the speed reducer, the speed reducer is connected with the pinion through a flat key, the pinion is meshed with the gearwheel, and the gearwheel is fixedly sleeved on the inner shaft sleeve.
5. The transport robot AGV of claim 4, characterized by: and a hoop is arranged on the inner shaft sleeve above the big gear.
6. The transport robot AGV of claim 1, characterized by: the steering assembly is of a worm and gear transmission structure.
7. The transport robot AGV of claim 1, characterized by: the inner shaft sleeve is of a boss structure, and the boss structure is provided with a first boss, a second boss and a clamping groove; the outer shaft sleeve is coaxially sleeved on the second boss, the steering assembly is fixedly connected with the first boss, the upper cover plate is arranged on the top of the outer shaft sleeve and the first boss, and the clamping groove is formed in the first boss.
8. A transport robot AGV according to any one of claims 1 to 7, wherein: the system also comprises a path planning module, a navigation positioning module, an obstacle avoidance module and an image identification module which are electrically connected with the electric control module; the image recognition module is electrically connected with the image acquisition module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011498203.XA CN112249195B (en) | 2020-12-17 | 2020-12-17 | AGV (automatic guided vehicle) of transport robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011498203.XA CN112249195B (en) | 2020-12-17 | 2020-12-17 | AGV (automatic guided vehicle) of transport robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112249195A CN112249195A (en) | 2021-01-22 |
| CN112249195B true CN112249195B (en) | 2021-04-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011498203.XA Expired - Fee Related CN112249195B (en) | 2020-12-17 | 2020-12-17 | AGV (automatic guided vehicle) of transport robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112976933A (en) * | 2021-03-26 | 2021-06-18 | 苏州苏相机器人智能装备有限公司 | Liftable from driving wheel and robot |
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| DE102004005869A1 (en) * | 2004-02-05 | 2005-09-15 | Abm Greiffenberger Antriebstechnik Gmbh | Compact drive unit for single-wheel drive forklifts combines the motor flange of a drive motor with part of the housing of the steering booster as a one-piece unit |
| CN201129390Y (en) * | 2007-12-20 | 2008-10-08 | 南京金城机械有限公司 | Adjustable dual spring rear shock absorber for motorcycle |
| CN201214586Y (en) * | 2008-05-06 | 2009-04-01 | 樊铁山 | Shock-absorbing device of mine car |
| CN106585768A (en) * | 2016-12-23 | 2017-04-26 | 上海铁路局上海机车检修段 | Trackless self-guidance transport vehicle |
| CN110001768A (en) * | 2019-04-28 | 2019-07-12 | 山东华力机电有限公司 | A kind of steering wheel structure and the AGV using the steering wheel |
| CN209757322U (en) * | 2019-02-01 | 2019-12-10 | 广东博智林机器人有限公司 | Chassis of automatic guided vehicle and automatic guided vehicle |
| CN111852966A (en) * | 2020-06-18 | 2020-10-30 | 山东大学 | Hydraulic system of hydraulically-driven double steering wheels and heavy-load AGV |
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2020
- 2020-12-17 CN CN202011498203.XA patent/CN112249195B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004005869A1 (en) * | 2004-02-05 | 2005-09-15 | Abm Greiffenberger Antriebstechnik Gmbh | Compact drive unit for single-wheel drive forklifts combines the motor flange of a drive motor with part of the housing of the steering booster as a one-piece unit |
| CN201129390Y (en) * | 2007-12-20 | 2008-10-08 | 南京金城机械有限公司 | Adjustable dual spring rear shock absorber for motorcycle |
| CN201214586Y (en) * | 2008-05-06 | 2009-04-01 | 樊铁山 | Shock-absorbing device of mine car |
| CN106585768A (en) * | 2016-12-23 | 2017-04-26 | 上海铁路局上海机车检修段 | Trackless self-guidance transport vehicle |
| CN209757322U (en) * | 2019-02-01 | 2019-12-10 | 广东博智林机器人有限公司 | Chassis of automatic guided vehicle and automatic guided vehicle |
| CN110001768A (en) * | 2019-04-28 | 2019-07-12 | 山东华力机电有限公司 | A kind of steering wheel structure and the AGV using the steering wheel |
| CN111852966A (en) * | 2020-06-18 | 2020-10-30 | 山东大学 | Hydraulic system of hydraulically-driven double steering wheels and heavy-load AGV |
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| CN112249195A (en) | 2021-01-22 |
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