CN117301785A - AGV self-adaptation lever drive unit with adjustable - Google Patents

AGV self-adaptation lever drive unit with adjustable Download PDF

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Publication number
CN117301785A
CN117301785A CN202311606235.0A CN202311606235A CN117301785A CN 117301785 A CN117301785 A CN 117301785A CN 202311606235 A CN202311606235 A CN 202311606235A CN 117301785 A CN117301785 A CN 117301785A
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CN
China
Prior art keywords
rotating shaft
lever drive
drive unit
wheel
agv
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202311606235.0A
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Chinese (zh)
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CN117301785B (en
Inventor
李特
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Suzhou Jiashun Intelligent Robot Co ltd
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Suzhou Jiashun Intelligent Robot Co ltd
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Priority to CN202311606235.0A priority Critical patent/CN117301785B/en
Publication of CN117301785A publication Critical patent/CN117301785A/en
Application granted granted Critical
Publication of CN117301785B publication Critical patent/CN117301785B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/026—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected transversally
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/023—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected longitudinally
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
    • B60G21/045—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on different axles on the same side of the vehicle, i.e. the left or the right side
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
    • B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
    • B60G21/055—Stabiliser bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/30—Rigid axle suspensions
    • B60G2200/34—Stabilising mechanisms, e.g. for lateral stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/30—Rigid axle suspensions
    • B60G2200/34—Stabilising mechanisms, e.g. for lateral stability
    • B60G2200/341—Panhard rod
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/422—Driving wheels or live axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/80—Interactive suspensions; arrangement affecting more than one suspension unit
    • B60G2204/81—Interactive suspensions; arrangement affecting more than one suspension unit front and rear unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/80—Interactive suspensions; arrangement affecting more than one suspension unit
    • B60G2204/82—Interactive suspensions; arrangement affecting more than one suspension unit left and right unit on same axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/80—Interactive suspensions; arrangement affecting more than one suspension unit
    • B60G2204/83—Type of interconnection
    • B60G2204/8302—Mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses an adjustable AGV self-adaptive lever driving unit, which relates to the technical field of AGV driving units and comprises a front bearing assembly and lever driving assemblies, wherein the front bearing assembly comprises a first fixed support, a first rotating shaft, a first mounting support and a front bearing wheel, the bottom of the inner wall of the first fixed support is rotationally connected with the first rotating shaft, the surface of the first rotating shaft is connected with the first mounting support, the bottoms of the two ends of the first mounting support are provided with the front bearing wheels, the lever driving assemblies are arranged on the two sides of the first mounting support, and the lever driving assemblies are not contacted with the front bearing assembly. This AGV self-adaptation lever drive unit with adjustable, the drive wheel is in the time of having the district of roughness fall in the face with the cooperation front load-bearing wheel of back load-bearing wheel, and the atress slope through first installing support, second installing support rotates can make each wheel remain throughout with ground contact, can prevent from taking place unsettled car body stationarity when influencing the AGV car and remove from this.

Description

AGV self-adaptation lever drive unit with adjustable
Technical Field
The invention relates to the technical field of AGV driving units, in particular to an adjustable AGV self-adaptive lever driving unit.
Background
AGVs are also commonly referred to as AGV carts, which are equipped with automatic navigation devices such as electromagnetic or optical devices, and are capable of traveling along a prescribed navigation path, and have safety protection and various transfer functions, and AGV drive units are simply understood as the chassis of the AGV cart, which is composed of chassis plates, drive wheels, and load-bearing wheels.
Currently, in actual field operation, if the ground flatness has a drop, when the AGV travels to a certain ground, the front bearing wheel may have a suspended wheel, and cannot contact the ground, thereby affecting the stability of the vehicle body during traveling of the AGV.
Accordingly, in view of the above, an adjustable AGV self-adaptive lever drive unit is proposed, which is improved with respect to the existing structure and the shortcomings.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an adjustable AGV self-adaptive lever driving unit, which solves the problems in the prior art.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides an AGV self-adaptation lever drive unit with adjustable, includes preceding bearing assembly and lever drive assembly, preceding bearing assembly includes first fixed bolster, first rotation axis, first installing support and preceding bearing wheel, the inner wall bottom rotation of first fixed bolster is connected with first rotation axis, and the surface connection of first rotation axis has first installing support, the both ends bottom of first installing support is provided with preceding bearing wheel, lever drive assembly sets up in the both sides of first installing support, and lever drive assembly and preceding bearing assembly each other contactless.
Further, the central axis of the first mounting bracket coincides with the central axis of the first rotating shaft, and the front bearing wheels are symmetrically distributed about the vertical central axis of the first rotating shaft.
Further, lever drive assembly includes second fixed bolster, second rotation axis, second installing support, driving motor, drive wheel and rear load-bearing wheel, the second rotation axis is worn to be equipped with in the inside of second fixed bolster, and the end connection of second rotation axis has the second installing support, the one end side of second installing support is provided with driving motor, and driving motor's output is connected with the drive wheel, the other end of second installing support is connected with rear load-bearing wheel.
Further, the driving motor, the second mounting bracket and the driving wheel are in one-to-one correspondence, and the second mounting bracket is rotationally connected with the second fixing bracket through a second rotating shaft.
Further, two second fixed brackets are arranged in total, and the second fixed brackets are symmetrically distributed with respect to the vertical central axis of the first rotating shaft.
Further, the rear side of the first fixing support is provided with a first telescopic push rod, and the top of the first telescopic push rod is fixed with a first fixing plate.
Further, one side of the second fixing support is provided with a second telescopic push rod, and the top of the second telescopic push rod is connected with a second fixing plate.
Further, the second fixing plate and the first fixing plate are located at the same height, and the second fixing plate and the first fixing plate are fixedly connected with the chassis of the vehicle body through bolts.
Further, touch sensors are arranged at the bottom of the chassis of the vehicle body on two sides of the first fixing plate, a corrugated sleeve is sleeved on the outer wall of the touch sensors, a spring is sleeved on the outer wall of the corrugated sleeve, and a contact plate is connected to the bottom of the corrugated sleeve.
Further, auxiliary rods are arranged around the surface of the contact plate, the auxiliary rods are in sliding connection with the chassis of the vehicle body, and contact balls are arranged at two ends of the surface of the first mounting bracket.
The invention provides an adjustable AGV self-adaptive lever driving unit, which has the following beneficial effects:
1. this AGV self-adaptation lever drive unit with adjustable, the drive wheel is in the time of having the district of roughness fall in the face with the cooperation front load-bearing wheel of back load-bearing wheel, and the atress slope through first installing support, second installing support rotates can make each wheel remain throughout with ground contact, can prevent from taking place unsettled car body stationarity when influencing the AGV car and remove from this.
2. This AGV self-adaptation lever drive unit with adjustable can be synchronous and the flexible of same row distance makes the height of automobile body chassis adjusted through first flexible push rod, the flexible push rod of second, and the contact plate is rectangular form its length and is in on the arc motion route of contact ball, and the contact plate of arbitrary side rises and makes the ripple cover shrink to make the contact plate trigger touch sensor, the drive wheel reverse rotation drives automobile body chassis and retreats in order to reschedule the route this moment, so as to prevent that the automobile body from continuing to remove and leading to the chassis to be scraped by ground.
3. This AGV self-adaptation lever drive unit with adjustable, and when first installing support does not have the wide-angle slope, the bellows cover is favorable to the bellows cover to extend the reset through the elastic support effect of spring to prevent that the bellows cover stretches out and draws back and can't recover when bulldozing, in order to prevent that touch sensor from being triggered by the mistake, be favorable to protecting touch sensor simultaneously and prevent that it from exposing.
Drawings
FIG. 1 is a schematic top view of an adjustable AGV self-adapting lever drive unit according to the present invention;
FIG. 2 is a schematic diagram of the overall bottom view of an adjustable AGV self-adapting lever drive unit according to the present invention;
FIG. 3 is a schematic diagram of the overall side view of an adjustable AGV self-adapting lever drive unit according to the present invention;
FIG. 4 is a schematic overall elevational view of an adjustable AGV self-adapting lever drive unit according to the invention;
FIG. 5 is a schematic view of the internal configuration of the bellows of an adjustable AGV self-adapting lever drive unit of the present invention.
In the figure: 1. a front load bearing assembly; 101. a first fixing bracket; 102. a first rotation shaft; 103. a first mounting bracket; 104. a front load-bearing wheel; 2. a lever drive assembly; 201. a second fixing bracket; 202. a second rotation shaft; 203. a second mounting bracket; 204. a driving motor; 205. a driving wheel; 206. a rear load-bearing wheel; 3. a first telescopic push rod; 4. a first fixing plate; 5. the second telescopic push rod; 6. a second fixing plate; 7. a touch sensor; 8. a corrugated sleeve; 9. a spring; 10. a contact plate; 11. an auxiliary lever; 12. contact balls.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 4, the present invention provides the following technical solutions: the utility model provides an AGV self-adaptation lever drive unit with adjustable, including preceding bearing assembly 1 and lever drive assembly 2, preceding bearing assembly 1 includes first fixed bolster 101, first rotation axis 102, first installing support 103 and preceding bearing wheel 104, the inner wall bottom rotation of first fixed bolster 101 is connected with first rotation axis 102, and the surface of first rotation axis 102 is connected with first installing support 103, the both ends bottom of first installing support 103 is provided with preceding bearing wheel 104, lever drive assembly 2 sets up in the both sides of first installing support 103, and lever drive assembly 2 and preceding bearing assembly 1 are mutual contactless, the axis of first installing support 103 coincides with the axis of first rotation axis 102, and vertical axis symmetric distribution about first rotation axis 102 between the preceding bearing wheel 104;
the operation is as follows, the front bearing assembly 1 is installed in the front end centre position of the chassis of the car body, and the lever drive assembly 2 is installed in the both sides of the chassis of the car body, when the uneven road surface of AGV car removes, the front bearing wheel 104 of first installing support 103 both ends bottom contacts with ground, when any front bearing wheel 104 lifts because of ground, the first installing support 103 atress of this end takes place rotatoryly through first rotation axis 102 for the front bearing wheel 104 of the other end of first installing support 103 produces downward force, from this makes the front bearing wheel 104 of first installing support 103 both ends contact with ground all the time.
As shown in fig. 1 to 4, the lever driving assembly 2 comprises a second fixed bracket 201, a second rotating shaft 202, a second mounting bracket 203, a driving motor 204, driving wheels 205 and rear bearing wheels 206, wherein the second rotating shaft 202 penetrates through the second fixed bracket 201, the end part of the second rotating shaft 202 is connected with the second mounting bracket 203, one end side surface of the second mounting bracket 203 is provided with the driving motor 204, the output end of the driving motor 204 is connected with the driving wheels 205, the other end of the second mounting bracket 203 is connected with the rear bearing wheels 206, the driving motor 204 is in one-to-one correspondence with the second mounting bracket 203 and the driving wheels 205, the second mounting bracket 203 is in rotary connection with the second fixed bracket 201 through the second rotating shaft 202, the two second fixed brackets 201 are arranged, and the second fixed brackets 201 are symmetrically distributed about the vertical central axis of the first rotating shaft 102;
the driving motor 204 drives the driving wheel 205 to rotate to realize the forward, backward and steering operations of the AGV, when the AGV moves on a flat ground, the driving wheel 205 and the rear bearing wheel 206 are all in contact with the ground, but when the ground is uneven and any one of the driving wheel 205 and the rear bearing wheel 206 on the same side is lifted up due to the ground, the second mounting bracket 203 rotates through the second rotating shaft 202 so that the wheel on the other end receives downward acting force, thereby enabling the driving wheel 205 and the rear bearing wheel 206 on the same side to always be in contact with the ground, and therefore, the driving wheel 205 and the rear bearing wheel 206 can always keep the contact with the ground when being matched with the front bearing wheel 104 in the face of a region with the flatness drop, and the suspension of the wheels is prevented from influencing the stability of the AGV when the AGV moves.
As shown in fig. 1-4, a first telescopic push rod 3 is arranged on the rear side surface of a first fixed bracket 101, a first fixed plate 4 is fixed on the top of the first telescopic push rod 3, a second telescopic push rod 5 is arranged on one side of a second fixed bracket 201, a second fixed plate 6 is connected to the top of the second telescopic push rod 5, the second fixed plate 6 and the first fixed plate 4 are positioned at the same height, and the second fixed plate 6 and the first fixed plate 4 are fixedly connected with a chassis of a vehicle body through bolts;
the vehicle body chassis lifting device specifically comprises a second fixing plate 6 and a first fixing plate 4, wherein the second fixing plate 6 and the first fixing plate 4 are fixedly connected with the vehicle body chassis through bolts, and the first telescopic push rod 3 and the second telescopic push rod 5 can synchronously extend and retract with the same row distance, so that the second fixing plate 6 and the first fixing plate 4 synchronously lift to carry the vehicle body chassis to lift, and therefore the height of the vehicle body chassis can be adjusted.
As shown in fig. 4-5, touch sensors 7 are arranged at two sides of the first fixed plate 4 at the bottom of the vehicle chassis, a corrugated sleeve 8 is sleeved on the outer wall of the touch sensors 7, a spring 9 is sleeved on the outer wall of the corrugated sleeve 8, a contact plate 10 is connected to the bottom of the corrugated sleeve 8, auxiliary rods 11 are arranged around the surface of the contact plate 10, the auxiliary rods 11 are in sliding connection with the vehicle chassis, and contact balls 12 are arranged at two ends of the surface of the first mounting bracket 103;
the specific operation is as follows, because the first mounting bracket 103 can rotate through the first rotation shaft 102 due to the ground drop, but the excessive rotation of the first mounting bracket 103 is easy for the collision of the chassis of the vehicle body, so when one end of the first mounting bracket 103 is lifted, the contact ball 12 contacts the bottom surface of the contact plate 10, if the first mounting bracket 103 is excessively rotated, the contact ball 12 is lifted and pushes up the contact plate 10, the contact plate 10 is lifted up to shrink the bellows 8, so that the contact plate 10 triggers the touch sensor 7, and at the moment, the driving wheel 205 reversely rotates to drive the chassis of the vehicle body to retreat to reschedule a path, so as to prevent the chassis from being scratched by the ground caused by the continuous movement of the vehicle body;
after the height of the chassis of the vehicle body is increased, the vehicle body can conveniently pass through a zone with a flatness drop, and after the height of the chassis of the vehicle body is increased, as the contact plate 10 is in a strip shape and the length of the contact plate is positioned on the arc-shaped movement path of the contact ball 12, when the contact ball 12 is contacted with the contact plate 10, the contact plate 10 can stably and horizontally rise by virtue of the auxiliary limit of the auxiliary rod 11 without tilting, so that the touch sensor 7 can still work after the height of the chassis of the vehicle body is increased, and the chassis of the vehicle body can be prevented from still passing through the ground with the drop when the height of the chassis of the vehicle body is increased;
and when the first mounting bracket 103 is not stressed or the stress degree is smaller and cannot incline at a large angle, the bellows sleeve 8 is favorable for stretching and resetting of the bellows sleeve 8 through the elastic supporting action of the spring 9, so that the bellows sleeve 8 is prevented from stretching and contracting and cannot recover when being pushed, the touch sensor 7 is prevented from being triggered by mistake, and the touch sensor 7 is also favorable for being protected from being exposed.
To sum up, as shown in fig. 1-5, in use, the adjustable AGV self-adaptive lever driving unit is firstly installed in the center of the front end of the chassis of the vehicle, the lever driving assembly 2 is installed on both sides of the chassis of the vehicle, when the AGV vehicle moves on uneven road, the front bearing wheels 104 at the bottoms of both ends of the first mounting bracket 103 are in contact with the ground, and when any front bearing wheel 104 is lifted up due to the ground, the first mounting bracket 103 at the end is forced to rotate through the first rotating shaft 102, so that the front bearing wheel 104 at the other end of the first mounting bracket 103 generates downward force, and thus the front bearing wheels 104 at both ends of the first mounting bracket 103 are always in contact with the ground;
the driving motor 204 drives the driving wheel 205 to rotate to realize the forward, backward and steering operation of the AGV, when the AGV moves on the flat ground, the driving wheel 205 and the rear bearing wheel 206 are all in contact with the ground, but when the ground is uneven and any one of the driving wheel 205 and the rear bearing wheel 206 on the same side is lifted up due to the ground, the second mounting bracket 203 rotates through the second rotating shaft 202 so that the wheel on the other end receives downward acting force, and therefore the driving wheel 205 and the rear bearing wheel 206 on the same side are always in contact with the ground, and the driving wheel 205 and the rear bearing wheel 206 are matched with the front bearing wheel 104 to enable the wheel to always be in contact with the ground when facing the region with the flatness drop, so that the suspension of the wheel is prevented to influence the stability of the AGV when the AGV moves;
because the first mounting bracket 103 can rotate through the first rotating shaft 102 due to the ground drop, the first mounting bracket 103 is excessively rotated to easily collide with the chassis of the vehicle body, so that when one end of the first mounting bracket 103 is lifted, the contact ball 12 contacts the bottom surface of the contact plate 10, and if the first mounting bracket 103 is excessively rotated, the contact ball 12 lifts up to push up the contact plate 10, the contact plate 10 lifts up to shrink the bellows 8, so that the contact plate 10 triggers the touch sensor 7, and at the moment, the driving wheel 205 reversely rotates to drive the chassis of the vehicle body to retreat to reschedule a path, so that the chassis is prevented from being scratched by the ground due to continuous movement of the vehicle body;
the second fixing plate 6 and the first fixing plate 4 are fixedly connected with the chassis of the vehicle body through bolts, and the first telescopic push rod 3 and the second telescopic push rod 5 can synchronously extend and retract at the same row distance, so that the second fixing plate 6 and the first fixing plate 4 synchronously lift to carry the chassis of the vehicle body to lift, and the height of the chassis of the vehicle body can be adjusted;
after the height of the chassis of the car body is increased, the car body can conveniently pass through a zone with a flatness drop, and after the height of the chassis of the car body is increased, as the contact plate 10 is in a strip shape and the length of the contact plate is positioned on the arc-shaped movement path of the contact ball 12, when the contact ball 12 is contacted with the contact plate 10, the contact plate 10 can stably and horizontally rise by virtue of auxiliary limit of the auxiliary rod 11 without tilting, so that the touch sensor 7 can still work after the height of the chassis of the car body is increased, and the chassis of the car body can be prevented from still passing through the ground with the drop when the height of the chassis of the car body is increased;
and when the first mounting bracket 103 is not stressed or the stress degree is smaller and cannot incline at a large angle, the bellows sleeve 8 is favorable for stretching and resetting of the bellows sleeve 8 through the elastic supporting action of the spring 9, so that the bellows sleeve 8 is prevented from stretching and contracting and cannot recover when being pushed, the touch sensor 7 is prevented from being triggered by mistake, and the touch sensor 7 is also favorable for being protected from being exposed.
The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (10)

1. An adjustable AGV self-adaptation lever drive unit, includes preceding bearing assembly (1) and lever drive subassembly (2), its characterized in that: the front bearing assembly (1) comprises a first fixed support (101), a first rotating shaft (102), a first mounting support (103) and a front bearing wheel (104), the inner wall bottom of the first fixed support (101) is rotationally connected with the first rotating shaft (102), the surface of the first rotating shaft (102) is connected with the first mounting support (103), the bottoms of the two ends of the first mounting support (103) are provided with the front bearing wheel (104), the lever driving assembly (2) is arranged on the two sides of the first mounting support (103), and the lever driving assembly (2) is not contacted with the front bearing assembly (1).
2. An adjustable AGV self-adapting lever drive unit according to claim 1, wherein: the central axis of the first mounting bracket (103) coincides with the central axis of the first rotating shaft (102), and the front bearing wheels (104) are symmetrically distributed about the vertical central axis of the first rotating shaft (102).
3. An adjustable AGV self-adapting lever drive unit according to claim 1, wherein: the lever drive assembly (2) comprises a second fixed support (201), a second rotating shaft (202), a second mounting support (203), a driving motor (204), a driving wheel (205) and a rear bearing wheel (206), wherein the second rotating shaft (202) is arranged in the second fixed support (201) in a penetrating mode, the second mounting support (203) is connected with the end portion of the second rotating shaft (202), the driving motor (204) is arranged on one end side face of the second mounting support (203), the driving wheel (205) is connected with the output end of the driving motor (204), and the rear bearing wheel (206) is connected with the other end of the second mounting support (203).
4. An adjustable AGV self-adapting lever drive unit according to claim 3, wherein: the driving motor (204) is arranged in one-to-one correspondence with the second mounting bracket (203) and the driving wheel (205), and the second mounting bracket (203) is rotationally connected with the second fixing bracket (201) through the second rotating shaft (202).
5. An adjustable AGV self-adapting lever drive unit according to claim 3, wherein: the two second fixing supports (201) are arranged in total, and the second fixing supports (201) are symmetrically distributed about the vertical central axis of the first rotating shaft (102).
6. An adjustable AGV self-adapting lever drive unit according to claim 1, wherein: the rear side of the first fixed support (101) is provided with a first telescopic push rod (3), and the top of the first telescopic push rod (3) is fixed with a first fixed plate (4).
7. The adjustable AGV adaptive lever drive unit according to claim 6 wherein: one side of the second fixed support (201) is provided with a second telescopic push rod (5), and the top of the second telescopic push rod (5) is connected with a second fixed plate (6).
8. The adjustable AGV adaptive lever drive unit according to claim 7 wherein: the second fixing plate (6) and the first fixing plate (4) are positioned at the same height, and the second fixing plate (6) and the first fixing plate (4) are fixedly connected with the chassis of the vehicle body through bolts.
9. The adjustable AGV adaptive lever drive unit according to claim 8 wherein: the automobile body chassis bottom is provided with touch sensor (7) in the both sides of first fixed plate (4), and the outer wall cover of touch sensor (7) is equipped with ripple cover (8), the outer wall cover of ripple cover (8) is equipped with spring (9), the bottom of ripple cover (8) is connected with contact plate (10).
10. The adjustable AGV adaptive lever drive unit according to claim 9 wherein: auxiliary rods (11) are arranged around the surface of the contact plate (10), the auxiliary rods (11) are connected with the chassis of the vehicle body in a sliding mode, and contact balls (12) are arranged at two ends of the surface of the first mounting bracket (103).
CN202311606235.0A 2023-11-29 2023-11-29 AGV self-adaptation lever drive unit with adjustable Active CN117301785B (en)

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Citations (5)

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Publication number Priority date Publication date Assignee Title
US5547207A (en) * 1995-08-09 1996-08-20 Madler; Herman J. Rough terrain vehicle
CN208134464U (en) * 2018-05-07 2018-11-23 郑州迪飞机电设备有限公司 A kind of Caterpillar walking wheel suspension
CN209366315U (en) * 2018-12-26 2019-09-10 深圳洛可可工业设计有限公司 A kind of avoidance trolley
CN110775046A (en) * 2019-10-22 2020-02-11 浙江万安科技股份有限公司 Vehicle rollover prevention control system and rollover prevention control method
CN211032085U (en) * 2016-12-14 2020-07-17 锥能机器人（上海）有限公司 Carrying trolley

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5547207A (en) * 1995-08-09 1996-08-20 Madler; Herman J. Rough terrain vehicle
CN211032085U (en) * 2016-12-14 2020-07-17 锥能机器人（上海）有限公司 Carrying trolley
CN208134464U (en) * 2018-05-07 2018-11-23 郑州迪飞机电设备有限公司 A kind of Caterpillar walking wheel suspension
CN209366315U (en) * 2018-12-26 2019-09-10 深圳洛可可工业设计有限公司 A kind of avoidance trolley
CN110775046A (en) * 2019-10-22 2020-02-11 浙江万安科技股份有限公司 Vehicle rollover prevention control system and rollover prevention control method

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