CN113184081A

CN113184081A - Universal wheel structure of AGV (automatic guided vehicle) carrying trolley for relay sorting

Info

Publication number: CN113184081A
Application number: CN202110583207.6A
Authority: CN
Inventors: 肖勇民; 汪明川
Original assignee: Shanghai Fawang Cloud Logistics Technology Co ltd
Current assignee: Shanghai Fawang Cloud Logistics Technology Co ltd
Priority date: 2021-05-27
Filing date: 2021-05-27
Publication date: 2021-07-30

Abstract

The invention provides a universal wheel structure of an AGV (automatic guided vehicle) for relay sorting, which comprises a universal wheel assembly, wherein the universal wheel assembly is arranged on a frame bottom plate of the AGV; the universal wheel assembly comprises a universal wheel, a universal wheel mounting plate, a front vertical plate, a middle vertical plate and a rear vertical plate, and the universal wheel is fixed at the bottom of the universal wheel mounting plate; riser before universal wheel mounting panel front end is connected, universal wheel mounting panel rear end is connected the back riser, riser in the inboard connection of universal wheel mounting panel, the bottom mounting of preceding riser, well riser, back riser is on frame bottom plate internal surface, the universal wheel mounting panel outside opens. The universal wheel structure is reliable in installation, firm and stable, and is convenient to replace, and the outer side of the universal wheel structure is provided with an opening.

Description

Universal wheel structure of AGV (automatic guided vehicle) carrying trolley for relay sorting

Technical Field

The invention relates to the field of mechanical equipment, in particular to a storage and sorting AGV carrying trolley.

Background

The rise in the field of e-commerce logistics has brought about a lot of equipment for producing and packaging in storage and express delivery.

The storage relay sorting AGV is a conveying vehicle for the storage relay sorting and conveying industry, takes a rechargeable storage battery as a power source, is controlled by a computer, and is provided with a microprocessor and conveying equipment for controlling the advancing route and the behavior of the conveying equipment.

Relay picking: 1) the AGV accepts the scheduling instructions to the edge of the item to be picked. 2) An operator scans a code to pick up goods and picks up the goods in the AGV carrying box. 3) The operator presses the confirmation key, the AGV walks to the next commodity edge needing to be selected, the operator places the secondary commodities in the AGV carrying box, and the operation is repeated in this way, so that the commodities in one order are sorted completely.

Compared with a goods-to-person AGV picking mode, the relay picking mode has the advantages that 1) the hit rate is high, goods are taken manually, and the accuracy is high. 2) The sorting efficiency is high. 3) The AGV trolley bears less commodities each time and has low power consumption. And power components such as a motor reducer and the like have long service life.

Common warehousing AGV drive suspension systems are known from CN208306795U, CN 208682542U. The AGV suspension structure that CN208306795U announced, including the chassis subassembly, still include: the device comprises a gear train assembly, a power assembly and an elastic assembly. The one end of train subassembly with power component hinged joint, the other end of train subassembly passes through elastic component set up in on the chassis subassembly, the power component drive train subassembly. During the process of forward and backward movement of the AGV, if the ground is uneven, the suspension structure can float along an arc line by taking the hinge shaft as an origin, so that the driving wheels move forwards. The backward direction and the up-down direction are floated, the position relation of the driving wheels relative to the middle two-dimensional code scanning port is changed along the X-axis direction, and the traveling precision of the AGV is adversely affected. The spring elasticity direction of the suspension structure is not fixed, the contact force structure of the driving wheel and the ground is complex, and the suspension structure is easy to slip under the conditions of low load and low ground roughness. When the floating driving wheel is floated, the position of the driving wheel changes back and forth on the horizontal plane, and the motion control precision is influenced. The spring force changes complicatedly, and is not beneficial to calculating and controlling the ground gripping force of the driving wheel.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the problems in the prior art and provides a universal wheel structure of an AGV (automatic guided vehicle) for relay picking.

In order to solve the above problems, the technical solution of the present invention is as follows:

the universal wheel structure of the AGV carrying trolley for relay sorting comprises a universal wheel assembly, wherein the universal wheel assembly is arranged on a frame bottom plate of the carrying trolley; the universal wheel assembly comprises a universal wheel, a universal wheel mounting plate, a front vertical plate, a middle vertical plate and a rear vertical plate, and the universal wheel is fixed at the bottom of the universal wheel mounting plate; riser before universal wheel mounting panel front end is connected, universal wheel mounting panel rear end is connected the back riser, riser in the inboard connection of universal wheel mounting panel, the bottom mounting of preceding riser, well riser, back riser is on frame bottom plate internal surface, the universal wheel mounting panel outside opens.

The four universal wheel assemblies are arranged at four corners of the frame bottom plate, and notches for mounting the universal wheel assemblies are arranged at the four corners of the frame bottom plate.

Mounting panel front end, rear end are provided with protruding tenon respectively, are provided with the tenon hole that corresponds with the mounting panel tenon on preceding riser, the back riser, and preceding riser, back riser pass through tenon fourth of the twelve earthly branches structure and are connected with mounting panel front end, rear end.

Bolt holes are formed in two sides of the tenon holes of the front vertical plate, and the front vertical plate is further connected with the mounting plate through bolts.

Bolt holes are formed in two sides of the tenon holes of the rear vertical plate, and the rear vertical plate is further connected with the mounting plate through bolts.

The middle vertical plate is connected with the inner side edge of the universal wheel mounting plate through bolts, and the two end parts of the middle vertical plate are respectively connected with the inner side edges of the front vertical plate and the rear vertical plate through bolts.

The universal wheel mounting plate upper surface sets up the strengthening rib, and the strengthening rib is the L type, and the universal wheel mounting plate side is connected to L type strengthening rib base and the back riser is connected.

The L-shaped reinforcing ribs are fixedly connected with the universal wheel mounting plate and the rear vertical plate through bolts respectively.

Has the advantages that: the universal wheel structure is reliable in installation, firm and stable, and is convenient to replace, and the outer side of the universal wheel structure is provided with an opening. 1) The universal wheel part adopts the mode of tenon fourth of twelve earthly branches structure location, bolt locking. Improve universal wheel installation component's structural strength and installation accuracy greatly to the universal wheel bears the wheel train part correlation structure under the heavy load condition and warp less, and four universal wheels of AGV are on a horizontal plane, and four universal wheels are good with ground contact, bear comparatively evenly. Guarantee AGV and relevant train stable in structure of motion control to improve AGV operation precision. 2) Four universal wheels and frame assembly adopt fixed mounting mode, and four universal wheels distribute in AGV four corners and the wheel base is great to guarantee that whole car operation process is stable, four universal wheel atress are balanced. The stress state when the AGV is fully loaded: the driving wheel only bears the counterforce generated by the positive pressure of the spring, and the rest load is distributed on the four universal wheels.

Drawings

The invention is described in detail below with reference to the drawings and the detailed description;

fig. 1 is a schematic general structural diagram of a relay picking AGV handling trolley according to the present invention.

FIG. 2 is a schematic diagram of an AGV handling cart gear train according to the present invention.

Fig. 3 is an exploded view of the universal wheel according to the present invention.

FIG. 4 is a schematic view of the structure of the universal wheel assembly according to the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

Referring to fig. 1, the relay sorting AGV, referring to fig. 1, includes a driving assembly 100, a universal wheel assembly 200, a battery system assembly 300, a frame assembly 400, an electrical component assembly 500, an operation panel assembly 600, a two-layer supporting plate assembly 700, a one-layer supporting plate assembly 800, a front housing seam 900, and a rear housing seam 910. The driving assembly 100, the universal wheel assembly 200, the battery assembly 300, the electrical component assembly 500 and the two-layer supporting plate assembly 700 are all assembled on the frame assembly 400; the operator panel assembly 600 is mounted on the two-layered support plate assembly 700. The battery system assembly 300 is a power source of the entire relay sorting AGV, and it is provided with a battery management system BMS, and can read the battery power and communicate with the PCB board in the electrical component assembly 500, and when the power is lower than a set value, the AGV automatically operates to a charging position to automatically charge. The driving assembly is provided with two linear bearings and guide rods thereof for guiding, the spring is sleeved on the linear guide rods, the driving wheel can only float up and down under the guide action of the guide rods, good contact between the driving wheel and the ground is ensured, and good stress states of the spring and the whole driving assembly are ensured. The course angle and the walking speed of the AGV can be adjusted through differential control of the two driving wheel motors, and the actions of walking, steering and the like of the AGV are realized. The center of the frame assembly 400 is provided with a scanning head for reading the ground two-dimensional code, and the speed of two driving wheels of the AGV is adjusted according to the angle and the position for reading the ground two-dimensional code, so that the traveling precision and the positioning precision of the AGV are controlled. The laser obstacle sensors are arranged on the diagonal positions of the frame assembly 400, so that obstacles in the range of 360 degrees in the AGV driving path can be detected, the safety performance of the AGV is guaranteed by timely decelerating and braking, meanwhile, the AGV advances and retreats in two directions, and the working efficiency of the AGV is improved. The operation panel assembly 600 is connected to the two-layered supporting plate assembly 700 by means of a hinge and can be adjusted by 0-90 deg. The operation panel is sucked at 0 degree or 90 degrees, the operation panel is prevented from rotating around the shaft randomly when swaying, the convenience in screen adjustment can be guaranteed, the screen cannot swing due to the vibration of the whole vehicle in the corresponding position operation process, and meanwhile, the screen content cannot be clearly seen due to the light. The frame assembly 400 adopts a mortise and tenon structure, so that the precision of key parts of the whole vehicle and the processing manufacturability of the whole vehicle are ensured. The battery system assembly 300 is provided with 4 bearings at the bottom to facilitate the removal of the battery.

Referring to fig. 2, the middle of the frame bottom plate 401 is provided with the driving wheel 100, and the four corners are provided with the universal wheel assemblies 200. And notches for mounting the universal wheel assemblies are arranged at four corners of the bottom plate of the frame. The universal wheel assembly 200 is opened at the outer side, so that the universal wheel can be conveniently replaced.

Referring to fig. 3 and 4, the universal wheel assembly 200 includes a universal wheel 201, a universal wheel mounting bolt 202, a universal wheel mounting plate 203, a front vertical plate 204, a front vertical plate transverse locking bolt 209, a front vertical plate longitudinal locking bolt 208, a middle vertical plate 205, a middle vertical plate transverse locking bolt 211, a middle vertical plate longitudinal locking bolt 210, a rear vertical plate 206, a rear vertical plate transverse positioning pin 405, a rear vertical plate transverse mounting bolt 215, and a rear vertical plate longitudinal mounting bolt 216. A stiffener 207, a stiffener longitudinal locking bolt 212, and a stiffener transverse locking bolt 214. In the assembling process, the universal wheel mounting plate 203 is firstly knocked into the rear vertical plate 206, and then the two plates are locked by the transverse mounting bolt 215 of the rear vertical plate; then the reinforcing rib 207 is locked by a reinforcing rib longitudinal locking bolt 212 and a reinforcing rib transverse locking bolt 214; knocking the front vertical plate 204 into the universal wheel mounting plate 203, and locking the two plates by using a front vertical plate transverse locking bolt 209; then the middle vertical plate 205 is locked on the universal wheel mounting plate 203 by the middle vertical plate transverse locking bolt 211, and then the universal wheel is assembled on the universal wheel mounting plate 203; the universal wheel assembly 200 is driven into the frame bottom plate 401, and the universal wheel assembly 200 is assembled on the frame bottom plate 401 through the front vertical plate longitudinal locking bolt 208, the middle vertical plate longitudinal locking bolt 210 and the rear vertical plate longitudinal mounting bolt 216.

The universal wheel structure is reliable in installation, firm and stable, and is convenient to replace, and the outer side of the universal wheel structure is provided with an opening.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention patent claims is defined by the appended claims and their equivalents.

Claims

1. The universal wheel structure of the AGV carrying trolley for relay sorting is characterized by comprising a universal wheel assembly, wherein the universal wheel assembly is arranged on a frame bottom plate of the carrying trolley; the universal wheel assembly comprises a universal wheel, a universal wheel mounting plate, a front vertical plate, a middle vertical plate and a rear vertical plate, and the universal wheel is fixed at the bottom of the universal wheel mounting plate; riser before universal wheel mounting panel front end is connected, universal wheel mounting panel rear end is connected the back riser, riser in the inboard connection of universal wheel mounting panel, the bottom mounting of preceding riser, well riser, back riser is on frame bottom plate internal surface, the universal wheel mounting panel outside opens.

2. The structure of universal wheels for an AGV according to claim 1, wherein four sets of universal wheel assemblies are provided at four corners of the frame bottom plate, and notches for mounting the universal wheel assemblies are provided at the four corners of the frame bottom plate.

3. The universal wheel structure of the AGV carrying trolley for relay sorting according to claim 1, wherein protruding tenons are respectively arranged at the front end and the rear end of the mounting plate, tenons corresponding to the tenons of the mounting plate are arranged on the front vertical plate and the rear vertical plate, and the front vertical plate and the rear vertical plate are connected with the front end and the rear end of the mounting plate through tenon-and-mortise structures.

4. The universal wheel structure of the AGV carrying trolley for relay sorting according to claim 3, wherein bolt holes are formed in two sides of the tenon holes of the front vertical plate, and the front vertical plate is further connected with the mounting plate through bolts.

5. The universal wheel structure of the AGV carrying trolley for relay sorting as claimed in claim 3, wherein bolt holes are formed in two sides of the tenon eye of the rear vertical plate, and the rear vertical plate is further connected with the mounting plate through bolts.

6. The universal wheel structure of the AGV carrying trolley for relay picking according to claim 1, wherein the middle vertical plate is connected with the inner side edge of the universal wheel mounting plate through a bolt, and two end portions of the middle vertical plate are respectively connected with the inner side edges of the front vertical plate and the rear vertical plate through bolts.

7. The universal wheel structure of the AGV dolly is selected in relay according to claim 3, characterized in that, the universal wheel mounting panel upper surface sets up the strengthening rib, and the strengthening rib is the L type, and the universal wheel mounting panel side connection back riser is connected to L type strengthening rib bottom edge.

8. The universal wheel structure of the AGV transporting trolley for relay sorting according to claim 7, wherein the L-shaped reinforcing ribs are fixedly connected with the universal wheel mounting plate and the rear vertical plate through bolts respectively.