CN113353853A

CN113353853A - Guiding assembly and AGV

Info

Publication number: CN113353853A
Application number: CN202110672581.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Beijing Tushi Technology Co ltd
Current assignee: Guangdong Tusk Robot Co ltd
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2021-09-07

Abstract

The invention discloses a guide assembly and an AGV. The guide assembly comprises a guide body, a swinging part and a supporting part. A guide groove is provided along the length direction of the guide body. The swinging part is connected to the tail ends of the two guide bodies to enable the two guide bodies to be parallel; the swinging portion has a first rolling element that contacts the ground, and the first rolling element vertically swings the guide body about the first rolling element. The support part is connected below the front parts of the two guide bodies to keep the two guide bodies parallel; the support portion has a second rolling element contactable with the ground, and the second rolling element keeps the front end of the guide body parallel to the ground. The AGV car includes body, yoke, sets up the holding tank on the body, and the yoke leaves or gets back to the body from holding tank, and the body is in order to accomplish transport or transfer work. A guide assembly is arranged between the fork arm and the accommodating groove arm; the guide assembly comprises any one of the guide assemblies described above. The invention not only realizes effective support, but also can realize flexible up-and-down floating and prevent jamming; can carry a large weight without deformation.

Description

Guiding assembly and AGV

Technical Field

The invention relates to the field of machinery, in particular to a guide assembly and an AGV.

Background

For a transport type AGV robot, the transport arm needs to actively or passively extend out of the body to perform the load bearing and transferring work of the article. The guide body for guiding the carrying arm in the process of actively or passively extending or leaving the body is an indispensable part, but the guide body in the prior art can only extend and retract within the length of the guide body for the telescopic stroke when being used in the field, and the guide body in the prior art often needs to extend the stroke to carry articles, so that the guide body is not suitable for the use of the carrying arm; in addition, in order to ensure that the sliding direction and the other directions of the guide body except the sliding direction are restricted and cannot float (such as the guide body used for a drawer), but the guide body is difficult to avoid encountering uneven ground in the carrying process, so that the carrying arm is blocked and cannot work, and the guide body cannot be suitable for the use occasion and the environment of the carrying arm; in addition, although there is a guide body with a floating function in the prior art, after the length of the guide rail is increased, the load-carrying capacity of the guide rail is greatly reduced, and the guide body is easy to bend and deform when carrying is large, so that the carrying arm cannot continue to work, and the guide body is also not suitable for being used in the carrying arm.

Disclosure of Invention

It is an object of the present invention to provide a guide assembly that solves one or more of the above mentioned problems.

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

a guide assembly comprises a guide body, a swinging part and a supporting part.

And a guide groove is arranged along the length direction of the guide body.

The swinging part is connected to the tail ends of the two guide bodies to enable the two guide bodies to be parallel; the swinging portion has a first rolling element that contacts the ground, and the first rolling element vertically swings the guide body about the first rolling element.

The support part is connected below the front parts of the two guide bodies to keep the two guide bodies parallel; the support portion has a second rolling element contactable with the ground, and the second rolling element keeps the front end of the guide body parallel to the ground.

Preferably: still include first spacing portion, first spacing portion sets up in the guide way, lets at least the front end of guide way seals.

Preferably: the swinging part closes the rear ends of the guide grooves at the ends of the two guide bodies.

Preferably: the first rolling body is a rolling bearing.

Preferably: the supporting part is connected to the front parts of the two guide bodies, and the second rolling body is a roller.

Preferably: the guide grooves are arranged on the opposite surfaces of the two guide bodies.

Preferably: and a third rolling body is arranged in the guide groove, and the third rolling body enables the object to be guided to slide in the guide groove.

Preferably: the guide wheel is respectively arranged on the outer sides of the two guide bodies.

Preferably: the guide body is limited along the length direction of the guide body by the second limiting part.

It is another object of the present invention to provide an AGV vehicle for over-travel article handling transfer.

The utility model provides a AGV car, includes body, yoke, set up the holding tank on the body, the yoke leaves or gets back to the body from holding tank, and the body is in order to accomplish transport or transfer work. A guide assembly is arranged between the fork arm and the accommodating groove arm, and the guide assembly comprises any one of the guide assemblies.

The invention has the technical effects that:

the guide assembly is connected with the rear end and the front end respectively and is a whole; the rolling bearing is arranged on the swinging part to touch the ground, so that effective support is realized, and flexible up-and-down floating can be realized to adapt to a convex hull or concave pit environment and prevent death; through the guide assembly, the telescopic mechanism does not need to be rigidly connected with the body, the overtravel telescopic can be realized, the supporting part is added to improve the rigidity of the guide body, the overlarge deformation caused by bearing is avoided, and the guide body is ensured not to be opened due to overlarge bearing.

In addition, the guide wheel is additionally arranged on the outer side of the guide body, so that sliding friction is generated between the guide body and the side wall of the body where the guide body is located, the resistance is reduced, and the locking is prevented.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In the drawings:

FIG. 1 is a schematic diagram of the general structure of the present invention;

FIG. 2 is another angular schematic view of FIG. 1;

FIG. 3 is a diagrammatic illustration of one of the AGV vehicles of the present invention;

FIG. 4 is a schematic cross-sectional view of FIG. 3;

FIG. 5 is an enlarged view of the portion A of FIG. 4;

wherein the figures include the following reference numerals:

1-a first rolling element; 2-a swing part; 3-a guide wheel; 4-a guide body; 401-guide groove; 5-a first limiting part; 6-a support part; 7-a second rolling element; 8-mounting a plate; 9-a third rolling element; 10-a second limiting part; 100-body; 200-a guide assembly; 300-yoke.

Detailed Description

The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided only for the purpose of illustrating the present invention and are not to be construed as unduly limiting the invention.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the 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 a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1 to 2, a guide assembly includes a guide body 4, a swing portion 2, and a support portion 6.

And a guide groove is arranged along the length direction of the guide body.

In certain embodiments, it is preferred that: the guide grooves 401 are provided on the opposite faces of the two guide bodies. The guide groove 401 is arranged in such a mode, the upper surface and the lower surface of an object sliding in the groove are limited, the object can only slide along the guide groove, the stability of the guide direction is guaranteed, and meanwhile, the guide groove 401 is prevented from falling into foreign matters to influence work.

As shown in fig. 1 and 2, the swinging portion is a long connecting arm, both ends of the connecting arm are provided with connecting ends embedded in the guide grooves, and an "n" shaped groove is arranged below the connecting arm for mounting the first rolling body. The connecting arm is adjusted according to the actual space and position, and is not limited herein.

In certain embodiments, it is preferred that: the first rolling body is a rolling bearing. The rolling bearings are at least two, and the best rolling bearing is arranged in a row.

Here, through the setting of swing portion, let do not have rigid connection between leading body and the body to can slide along the direction of guide way, the bearing can let leading body use its as the axle swing in addition, better adaptation different plane environment.

As shown in fig. 1 and 2, the support part 6 here comprises a connecting plate which locks the front parts of the two parallel guide bodies against opening due to excessive force; meanwhile, a mounting plate 8 is added for connecting the second rolling body 7; the mounting plate 8 is attached to the outside of the guide body 4. The connection plate is adjusted according to the actual space and position, and is not limited herein.

The second rolling body is contacted with the body when the guide body slides, and the second rolling body is supported in a grounding mode when the stress is overlarge so that the front end of the guide body is parallel to the ground, and smooth work is guaranteed.

In certain embodiments, it is preferred that: the supporting part is connected to the front parts of the two guide bodies, and the second rolling body is a roller. The roller is arranged below the guide body.

Here, since there is no rigid connection between the guide body and the object sliding in the guide slot, the front end will also open in case of too heavy load of the guide body; but owing to set up the supporting part and connect two parallel guide bodies, can effectually guarantee that the front end can not open, the second gyro wheel can play the intermediate strut simultaneously, avoids the guide body to warp, can't accomplish work.

In certain embodiments, it is preferred that: still include first spacing portion, first spacing portion sets up in the guide way, lets at least the front end of guide way seals.

As shown in fig. 1, 2, and 4, the first stopper is a single body and closes the inside of the front end of the guide groove 401. The limiting or other manners are realized by directly changing the width of the guide groove, and are not limited.

In certain embodiments, it is preferred that: the swinging part closes the rear ends of the guide grooves at the ends of the two guide bodies.

The guide groove 401 is closed at the front end and the rear end, so that guide failure caused by separation of the guide groove 401 can be effectively avoided.

As shown in fig. 1, 2, and 4, the connecting arm of the support portion is directly used as the second stopper portion to block the inside of the end of the guide groove 401. The width of the guide groove can be changed to realize limiting or other ways, which is not limited.

In certain embodiments, it is preferred that: a third rolling element is arranged in the guide groove, and the third rolling element 401 enables the object to be guided to slide in the guide groove.

The third rolling element 9 in the guide channel 401 is preferably a rolling bearing, followed by a roller for connecting the object to be guided, which reduces friction, improves the smoothness of the guidance and increases the service life.

When the guide body is used, in order to reduce the friction on the guide body, the guide wheel is added to reduce the abrasion on the outer side arm of the guide body.

In order to ensure the effective guiding of the guiding body, the second limiting part ensures that the guiding body cannot be separated from the body when in use, and the guiding work is interrupted.

The second guide body is preferably arranged on the body, when the guide body slides to a certain degree along with the object to be guided, the guide body stops sliding continuously, and the object to be guided continuously slides along the guide groove to reach the designated position for working.

The supporting part at the front end of the guide assembly can ensure that the second rolling element firstly touches the ground when the front end of the guide body is stressed by larger pressure, so that the guide body can smoothly slide, and the rolling bearing arranged on the swinging part at the tail part can ensure that the guide body can smoothly run in the body and realize the vertical swinging of the other end of the guide body; the supporting part and the swinging part firmly fix the two parallel guide bodies, so that the guide bodies are prevented from deforming and opening due to stress, and the guide wheels on the two sides of the guide bodies can limit the guide bodies in the horizontal direction, and the sliding friction between the guide bodies and the side wall of the body is prevented, so that the stretching smoothness of the guide bodies is ensured. The guide body assembly is suitable for the situation that the stroke length is larger than the guide body length and certain floating requirements on height space are needed.

For example: file cabinets, pull cabinets and drawers; the drawer can be completely pulled out of the body, the drawer is completely pushed back after bearing articles, the articles in the deepest position can be found, meanwhile, the requirement on the levelness of the used ground is not so high, the drawer and the cabinet can be large, the number of the articles to be borne is large, and the weight is large.

As shown in fig. 3, 4, 5; an AGV car, includes body 100, yoke 300, set up the holding tank on the body, the yoke leaves or gets back to the body from holding tank, the body is in order to accomplish transport or transfer work. A guide assembly 200 is arranged between the fork arm 300 and the accommodating groove arm, and the guide assembly 200 comprises any one of the guide assemblies.

The fork arm can be actively or passively extended, for example, in fig. 3, a motor and a motor-driven driving wheel are arranged on the fork arm, and when the fork arm needs to extend out of the body, the driving wheel can control the fork arm (sliding part) to slide out of the body or slide into the body by controlling the steering direction of the driving wheel. The third rolling element allows the yoke to smoothly slide in the slide groove, and can keep the yoke (sliding part) and the guide body in a parallel state.

When the yoke (sliding part) needs to slide out of the body, after the driving wheel continuously walks to a certain distance, the first limiting part acts to enable the guide body and the yoke (sliding part) to continue walking until the second limiting part prevents the guide body from continuing to move, and at the moment, the yoke (sliding part) moves out of the body, so that the over-travel design is realized.

When the fork arms (sliding parts) meet the unevenness of the mantle in the sliding process, the fork arms swing up and down by taking the supporting parts as the shafts. So as to adapt to the ground, and the situation that the sliding parts of the guide bodies are respectively dead due to rigid connection can not occur.

When the fork arm (sliding part) is heavy in load, the supporting part firmly pulls the front parts of the two guide bodies, and the two guide bodies are always kept parallel to prevent the fork arm (sliding part) from opening and losing efficacy; meanwhile, the third rolling body plays a supporting role for the guide body when the guide body is stressed to bend downwards, the third rolling body firstly begins to touch the ground, the direct contact between the guide body and the ground is avoided, and the smooth guide operation of the guide body assembly can be still ensured due to the fact that the third rolling body is in rolling friction with the ground, and the support performance of the guide body part is better.

Preferably, a lifting assembly is provided on the yoke. Such as a scissor lift assembly.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A guide assembly, characterized by: comprises a guide body, a swinging part and a supporting part;

a guide groove is arranged along the length direction of the guide body;

the swinging part is connected to the tail ends of the two guide bodies to enable the two guide bodies to be parallel; the swinging part is provided with a first rolling body which contacts with the ground, and the first rolling body enables the guide body to swing up and down by taking the first rolling body as an axis;

the support part is connected below the front parts of the two guide bodies to keep the two guide bodies parallel; the support portion has a second rolling element which can contact with the ground and keeps the front end of the guide body parallel to the ground.

2. The steering assembly of claim 1, wherein: still include first spacing portion, first spacing portion sets up in the guide way, lets at least the front end of guide way seals.

3. The steering assembly of claim 1 or 2, wherein: the swinging part closes the rear ends of the guide grooves at the ends of the two guide bodies.

4. The steering assembly of claim 3, wherein: the first rolling body is a rolling bearing.

5. The guide assembly of claim 1 or 4, wherein: the supporting part is connected to the front parts of the two guide bodies, and the second rolling body is a roller.

6. The guide assembly of claim 1 or 4, wherein: the guide grooves are arranged on the opposite surfaces of the two guide bodies.

7. The guide assembly of claim 1 or 4, wherein: and a third rolling body is arranged in the guide groove, and the third rolling body enables the object to be guided to slide in the guide groove.

8. The guide assembly of claim 1 or 4, wherein: the guide wheel is respectively arranged on the outer sides of the two guide bodies.

9. The guide assembly of claim 1 or 4, wherein: the guide body is limited along the length direction of the guide body by the second limiting part.

10. The utility model provides a AGV car, includes body, yoke, set up the holding tank on the body, the yoke leaves or gets back to the body in order to accomplish transport or transfer work from holding the tank, the yoke with hold and set up direction subassembly, its characterized in that between the tank arm: the guide assembly comprising the guide assembly of any one of claims 1-9.