CN114475862A - AGV dolly in slight uneven place of adaptation - Google Patents
AGV dolly in slight uneven place of adaptation Download PDFInfo
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- CN114475862A CN114475862A CN202210219268.9A CN202210219268A CN114475862A CN 114475862 A CN114475862 A CN 114475862A CN 202210219268 A CN202210219268 A CN 202210219268A CN 114475862 A CN114475862 A CN 114475862A
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- agv
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- 230000006978 adaptation Effects 0.000 title claims description 4
- 230000001360 synchronised effect Effects 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 230000005571 horizontal transmission Effects 0.000 claims abstract description 4
- 230000000903 blocking effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The invention provides an AGV (automatic guided vehicle) suitable for a slightly uneven field, and relates to the field of AGV trolleys. The invention comprises a frame, wherein a plurality of universal wheels are arranged on the periphery of the frame, a self-adjusting device for adapting to uneven ground is arranged in the middle of the bottom of the frame, and driving wheels are respectively arranged on the left side and the right side of the self-adjusting device; the self-adjusting device comprises a longitudinal spring guide cylinder, a spring is sleeved outside the spring guide cylinder, a lower spring support seat is arranged at the lower end of the spring, a left-right swinging ring is sleeved outside the spring, the front end and the rear end of the left-right swinging ring are rotatably connected to a horizontal transmission synchronous bottom plate, a swinging ring hole is formed in the transmission synchronous bottom plate, and the left-right swinging ring is fixedly connected to the lower spring support seat. The AGV has the advantages of simple structure and compact space, can meet the flexible requirements of the traditional AGV, and can avoid the phenomena of unbalanced friction force and slippage of the left and right wheels due to uneven road surface.
Description
Technical Field
The invention relates to the field of AGV trolleys, in particular to an AGV trolley suitable for a slightly uneven field.
Background
An Automatic Guided Vehicle (AGV) is a transportation Vehicle equipped with an electromagnetic or optical Automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transportation Vehicle in industrial application, and using a rechargeable battery as its power source. The AGV is characterized by wheeled movement, and has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like compared with walking, crawling or other non-wheeled mobile robots. However, the traveling driving structure of the existing AGV lacks a synchronous flexible connection device, and when the AGV passes through a rugged road, the differential structure is easy to slip, which seriously affects the accurate control of the traveling dynamics of the AGV, and causes the application range to be limited.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides the AGV trolley suitable for a slightly uneven field, has a simple structure and a compact space, can meet the flexible requirements of the traditional AGV trolley, and can avoid the phenomena of unbalanced friction force and slippage caused by uneven road surfaces of left and right wheels.
The technical scheme of the invention is realized as follows:
an AGV trolley suitable for a slightly uneven site comprises a frame, wherein a plurality of universal wheels are mounted on the periphery of the frame, a self-adjusting device used for adapting to uneven ground is arranged in the middle of the bottom of the frame, and driving wheels are mounted on the left side and the right side of the self-adjusting device respectively; the self-adjusting device comprises a longitudinal spring guide cylinder, the upper end of the spring guide cylinder is fixed on a vehicle frame, a spring is sleeved outside the spring guide cylinder, the lower end of the spring is provided with a lower spring support seat for supporting the spring, the middle of the lower spring support seat is provided with a guide sliding hole through which the spring guide cylinder passes, the lower end of the spring guide cylinder is also provided with a blocking piece for preventing the lower spring support seat from sliding out of the spring guide cylinder, the spring is sleeved with a left-right swinging ring, the front end and the rear end of the left-right swinging ring are fixedly connected with rotating shafts, the rotating shafts are rotatably connected on a horizontal transmission synchronous bottom plate, a swinging ring hole corresponding to the left-right swinging ring is arranged on the transmission synchronous bottom plate, the left-right swinging ring is fixedly connected on the upper end of the lower spring support seat, the left side and the right side of the transmission synchronous bottom plate are respectively fixed with a longitudinal swinging guide shaft, and the vehicle frame is provided with a swinging groove for matching the swinging guide shaft to slide up and down and swing left and right, the swing guide shaft is positioned in the swing groove, and the left side and the right side of the transmission synchronous bottom plate are respectively provided with a driving wheel.
Furthermore, the upper end of the spring guide cylinder is fixedly connected with a first flange plate, and the flange plate is connected to the frame through a first fixing bolt.
Furthermore, the lower spring supporting seat comprises a conical tube, a second flange is fixed at the upper end of the conical tube, and the second flange is fixedly connected with the left-right swinging ring through a second fixing bolt.
Further, the blocking member includes a circlip for the shaft, and the circlip for the shaft is fixed to the lower end of the spring guide cylinder.
Furthermore, the front end and the rear end of the left and right swinging rings are fixed with rotating shafts, the rotating shafts are rotatably connected to the transmission synchronous bottom plate through rotating connecting pieces, each rotating connecting piece comprises an upper pressing block and a lower pressing block which are fixedly connected, a groove matched with the rotating shafts is formed in the middle of the upper end face of each lower pressing block, and the upper pressing block are fixed to the transmission synchronous bottom plate through a third fixing bolt.
Furthermore, an end cover with the diameter larger than the width of the swing groove is fixed at the upper end of the swing guide shaft.
Further, the driving wheels are differential driving wheels.
Furthermore, a universal wheel mounting seat used for connecting a universal wheel is fixed on the periphery of the frame.
Furthermore, the universal wheel mounting seat is an installation barrel with an opening at the lower end, the universal wheel is installed at the inner top of the installation barrel, and the lower end of the universal wheel extends out of the lower end of the installation barrel.
Furthermore, the frame is U-shaped, and the front end and the rear end of the frame are fixedly connected with horizontal mounting plates for fixing the universal wheel mounting seats.
The invention has the beneficial effects that: when the invention is used, articles are loaded on the frame, the spring is compressed under the gravity of the articles, the elastic force at the lower end of the spring is transmitted to the transmission synchronous bottom plate through the lower spring supporting seat and the left-right swinging ring in sequence and finally transmitted to the driving wheel and the universal wheel, when the left and the right driving wheels pass through uneven road surfaces, the driving wheels drive the transmission synchronous bottom plate to swing left and right, but the left and the right swing rings are rotationally connected on the transmission synchronous bottom plate, so that the left and right swinging rings are still kept horizontal, and the vehicle frame is also kept horizontal through the lower spring supporting seat and the spring guide cylinder, but the elastic force of the spring is still transmitted to the driving wheels through the lower spring supporting seat, the left and right swinging rings and the transmission synchronous bottom plate, so that the driving wheels have enough self-adaptive downward pressure, the balance of the friction force on the two driving wheels is ensured, the slipping phenomenon is avoided, and the effect of adapting to slightly uneven fields is achieved; the invention has simple structure, compact space and good flexibility.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an exploded view of the present invention;
fig. 2 is an assembly view of the present invention.
In the figure: 1-universal wheel mounting seat, 2-end cover, 3-vehicle frame, 4-spring guide cylinder, 5-upper pressing block, 6-spring, 7-left and right swinging ring, 8-transmission synchronous bottom plate, 9-lower pressing block, 10-spring lower supporting seat, 11-blocking piece, 12-driving wheel, 13-universal wheel, 14-guiding slide hole, 15-rotating shaft, 16-swinging ring hole, 17-swinging guide shaft, 18-swinging groove and 19-mounting plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be 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.
Referring to fig. 1-2, the AGV trolley suitable for the slightly uneven ground comprises a frame 3, a plurality of universal wheels 13 are mounted on the periphery of the frame 3, a self-adjusting device suitable for the uneven ground is arranged in the middle of the bottom of the frame 3, and driving wheels 12 are mounted on the left side and the right side of the self-adjusting device respectively; the self-adjusting device comprises a longitudinal spring guide cylinder 4, the upper end of the spring guide cylinder 4 is fixed on a vehicle frame 3, a spring 6 is sleeved outside the spring guide cylinder 4, the lower end of the spring 6 is provided with a lower spring support seat 10 for supporting the spring 6, the middle of the lower spring support seat 10 is provided with a guide sliding hole 14 through which the spring guide cylinder passes, the lower end of the spring guide cylinder 4 is also provided with a blocking piece 11 for preventing the lower spring support seat 10 from sliding out of the spring guide cylinder 4, the spring 6 is also sleeved with a left-right swinging ring 7, the front end and the rear end of the left-right swinging ring 7 are rotatably connected on a horizontal transmission synchronous bottom plate 8, the transmission synchronous bottom plate 8 is provided with a swinging ring hole 16 corresponding to the left-right swinging ring 7, the left-right swinging ring 7 is fixedly connected on the upper end of the lower spring support seat 10, the left side and the right side of the transmission synchronous bottom plate 8 are respectively fixed with a longitudinal swinging guide shaft 17, the frame 3 is provided with a swing groove 18 for matching the swing guide shaft 17 to slide up and down and swing left and right, the swing guide shaft 17 is positioned in the swing groove 18, the length of the swing guide shaft 17 is proper and cannot be too short, when the swing guide shaft slides down to the lowest position, the swing guide shaft 17 is still in the swing groove 18 and cannot be separated from the swing groove 18, and the left side and the right side of the transmission synchronous bottom plate 8 are respectively provided with a driving wheel 12.
As a further embodiment, a first flange is fixedly connected to the upper end of the spring guide cylinder 4, and the flange is connected to the frame 3 through a first fixing bolt.
As a further embodiment, the lower spring support seat 10 includes a conical tube, and a second flange is fixed to the upper end of the conical tube, and the second flange is fixedly connected to the left and right rocking rings 7 through a second fixing bolt. The minimum inner diameter of the conical tube is smaller than the outer diameter of the spring 6, so that the spring 6 can be sleeved in the conical tube and cannot slide out.
As a further embodiment, the blocking member 11 includes a shaft circlip, the shaft circlip is fixed on the lower end side surface of the spring guide cylinder 4, and a positioning groove for fixing the shaft circlip is formed on the lower end side surface of the spring guide cylinder. The stop member 11 may be directly welded with a rigid stop ring.
As a further embodiment, the front and rear ends of the left and right rocking ring 7 are fixed with a rotating shaft 15, the rotating shaft 15 is rotatably connected to the transmission synchronization bottom plate 8 through a rotating connector, the rotating connector comprises an upper pressing block 5 and a lower pressing block 9 which are fixedly connected, a groove matched with the rotating shaft 15 is formed in the middle of the upper end face of the lower pressing block 9, and the upper pressing block 5 and the upper pressing block 9 are fixed on the transmission synchronization bottom plate 8 through a third fixing bolt. The groove can be an arc groove or a square groove corresponding to the size of the rotating shaft 15, and the purpose of facilitating the rotation of the rotating shaft 15 can be achieved.
As a further embodiment, the end cap 2 having a diameter larger than the width of the rocking groove 18 is fixed to the upper end of the rocking guide shaft 17. The end cover 2 can be a round cover, and can limit the downward sliding distance of the swinging guide shaft 17 and prevent the swinging guide shaft 17 from sliding out of the swinging groove 18.
As a further embodiment, the drive wheels 12 are differentially driven wheels.
As a further embodiment, a universal wheel mounting seat 1 for connecting a universal wheel 13 is fixed around the frame 3.
As a further embodiment, the universal wheel mounting seat 1 is a mounting barrel with an opening at the lower end, the universal wheel 13 is mounted on the inner top of the mounting barrel, and the lower end of the universal wheel 13 extends out of the lower end of the mounting barrel.
As a further embodiment, the frame 3 is U-shaped, and the front and rear ends of the frame 3 are fixedly connected with horizontal mounting plates 19 for fixing the universal wheel mounting base 1. The number of the universal wheels 13 can be 4, the front two and the rear two.
When the invention is used, articles are loaded on the frame 3, under the gravity of the articles, the spring 6 is compressed, the elastic force at the lower end of the spring 6 is transmitted to the transmission synchronous bottom plate 8 through the spring lower supporting seat 10 and the left and right swinging rings 7 in turn, and finally transmitted to the driving wheel 12 and the universal wheel 13, when the left and right driving wheels 12 pass through uneven roads, the driving wheel 12 drives the transmission synchronous bottom plate 8 to swing left and right, but the left and right swinging rings 7 are rotationally connected to the transmission synchronous bottom plate 8, so the left and right swinging rings 7 are still kept horizontal, meanwhile, the frame 3 is also kept horizontal through the spring lower supporting seat 10 and the spring guide cylinder 4, but the elastic force of the spring 6 is still transmitted to the driving wheel 12 through the spring lower supporting seat 10, the left and right swinging rings 7 and the transmission synchronous bottom plate 8, so that the driving wheel 12 has enough self-adaptive downward pressure to ensure the balance of the friction force on the two driving wheels 12, the phenomenon of skidding can not appear, has reached the slightly uneven place effect of adaptation.
When the vehicle is to turn, the two driving wheels 12 drive the transmission synchronous bottom plate 8 to turn at different speeds, and then the swinging guide shaft 17 on the transmission synchronous bottom plate 8 drives the vehicle frame 3 to turn because the swinging guide shaft 17 is positioned in the swinging groove 18.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a AGV dolly in slight uneven place of adaptation which characterized in that:
the self-adjusting device is used for adapting to uneven ground, and driving wheels are respectively arranged on the left side and the right side of the self-adjusting device;
the self-adjusting device comprises a longitudinal spring guide cylinder, the upper end of the spring guide cylinder is fixed on a vehicle frame, a spring is sleeved outside the spring guide cylinder, the lower end of the spring is provided with a lower spring support seat for supporting the spring, the middle of the lower spring support seat is provided with a guide slide hole through which the spring guide cylinder passes, the lower end of the spring guide cylinder is also provided with a blocking piece for preventing the lower spring support seat from sliding out of the spring guide cylinder, the spring is sleeved with a left-right swinging ring, the front end and the rear end of the left-right swinging ring are rotatably connected on a horizontal transmission synchronous bottom plate, the transmission synchronous bottom plate is provided with a swinging ring hole corresponding to the left-right swinging ring, the left-right swinging ring is fixedly connected on the upper end of the lower spring support seat, the left side and the right side of the transmission synchronous bottom plate are respectively fixed with a longitudinal swinging guide shaft, and the vehicle frame is provided with a swinging groove for matching the swinging guide shaft to slide up and down and swing left and right, the swing guide shaft is positioned in the swing groove, and the left side and the right side of the transmission synchronous bottom plate are respectively provided with a driving wheel.
2. An AGV cart adaptable to a slightly uneven ground according to claim 1, further comprising: the upper end of the spring guide cylinder is fixedly connected with a first flange plate, and the flange plate is connected to the frame through a first fixing bolt.
3. An AGV cart adaptable to a slightly uneven ground according to claim 1, further comprising: the spring lower supporting seat comprises a conical pipe, a second flange plate is fixed at the upper end of the conical pipe, and the second flange plate is fixedly connected with the left-right swinging ring through a second fixing bolt.
4. An AGV cart adaptable to a slightly uneven ground according to claim 1, further comprising: the blocking piece comprises a shaft elastic check ring, and the shaft elastic check ring is fixed on the side face of the lower end of the spring guide cylinder.
5. An AGV cart adaptable to a slightly uneven ground according to claim 1, further comprising: the front end and the rear end of the left and right rocking rings are fixed with rotating shafts, the rotating shafts are connected to the transmission synchronous bottom plate in a rotating mode through rotating connecting pieces, each rotating connecting piece comprises an upper pressing block and a lower pressing block which are fixedly connected, a groove matched with the rotating shafts is formed in the middle of the upper end face of each lower pressing block, and the upper pressing blocks are fixed to the transmission synchronous bottom plate through third fixing bolts.
6. An AGV cart adaptable to a slightly uneven ground according to claim 1, further comprising: and an end cover with the diameter larger than the width of the swing groove is fixed at the upper end of the swing guide shaft.
7. An AGV cart adaptable to a slightly uneven ground according to claim 1, further comprising: the driving wheels are differential driving wheels.
8. An AGV cart adaptable to a slightly uneven ground according to claim 1, further comprising: and universal wheel mounting seats used for connecting universal wheels are fixed on the periphery of the frame.
9. An AGV cart adapted for use with a mildly uneven ground as claimed in claim 8, further comprising: the universal wheel mounting seat is an installation barrel with an opening at the lower end, the universal wheel is installed at the inner top of the installation barrel, and the lower end of the universal wheel extends out of the lower end of the installation barrel.
10. An AGV cart adapted for use with a mildly uneven ground as claimed in claim 9, further comprising: the frame is U-shaped, and the front end and the rear end of the frame are fixedly connected with horizontal mounting plates for fixing the universal wheel mounting seats.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210219268.9A CN114475862A (en) | 2022-03-08 | 2022-03-08 | AGV dolly in slight uneven place of adaptation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210219268.9A CN114475862A (en) | 2022-03-08 | 2022-03-08 | AGV dolly in slight uneven place of adaptation |
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| Publication Number | Publication Date |
|---|---|
| CN114475862A true CN114475862A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210219268.9A Pending CN114475862A (en) | 2022-03-08 | 2022-03-08 | AGV dolly in slight uneven place of adaptation |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207697493U (en) * | 2017-12-29 | 2018-08-07 | 湖北三丰机器人有限公司 | A kind of AGV differential drive mechanisms being adapted to uneven road surface walking |
| CN208150870U (en) * | 2018-04-17 | 2018-11-27 | 浙江科钛机器人股份有限公司 | Scissors fork type jacking mechanism and AGV trolley |
| CN208198631U (en) * | 2018-02-05 | 2018-12-07 | 湖南驰众机器人有限公司 | A kind of AGV running gear with cartridge type damping |
| CN208344384U (en) * | 2018-06-19 | 2019-01-08 | 北京京东尚科信息技术有限公司 | AGV body chassis and AGV trolley with the mechanism |
| CN208498647U (en) * | 2018-07-24 | 2019-02-15 | 上海托华机器人有限公司 | A kind of passive force application mechanism of driving wheel and the AGV comprising it |
| CN210212526U (en) * | 2019-08-15 | 2020-03-31 | 湖南思控智能科技有限公司 | AGV differential drive device with beat function |
-
2022
- 2022-03-08 CN CN202210219268.9A patent/CN114475862A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207697493U (en) * | 2017-12-29 | 2018-08-07 | 湖北三丰机器人有限公司 | A kind of AGV differential drive mechanisms being adapted to uneven road surface walking |
| CN208198631U (en) * | 2018-02-05 | 2018-12-07 | 湖南驰众机器人有限公司 | A kind of AGV running gear with cartridge type damping |
| CN208150870U (en) * | 2018-04-17 | 2018-11-27 | 浙江科钛机器人股份有限公司 | Scissors fork type jacking mechanism and AGV trolley |
| CN208344384U (en) * | 2018-06-19 | 2019-01-08 | 北京京东尚科信息技术有限公司 | AGV body chassis and AGV trolley with the mechanism |
| CN208498647U (en) * | 2018-07-24 | 2019-02-15 | 上海托华机器人有限公司 | A kind of passive force application mechanism of driving wheel and the AGV comprising it |
| CN210212526U (en) * | 2019-08-15 | 2020-03-31 | 湖南思控智能科技有限公司 | AGV differential drive device with beat function |
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Application publication date: 20220513 |
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