CN117885699B

CN117885699B - AGV travelling bogie

Info

Publication number: CN117885699B
Application number: CN202410285374.6A
Authority: CN
Inventors: 单芝庆; 黄君杰; 张亚洲
Original assignee: Changzhi Intelligent Technology Wuxi Co ltd
Current assignee: Changzhi Intelligent Technology Wuxi Co ltd
Priority date: 2024-03-13
Filing date: 2024-03-13
Publication date: 2024-05-28
Anticipated expiration: 2044-03-13
Also published as: CN117885699A

Abstract

The invention relates to the technical field of transportation equipment, and particularly discloses an AGV transportation trolley, which comprises a parking device arranged in a frame and positioned on a chassis, and four casters distributed at the bottom of the frame, wherein the parking device comprises a parking plate rotatably arranged at the edge of the top of the chassis, an inclined section of the parking plate is hinged with the chassis, a first rack is arranged at the bottom of a horizontal section of the parking plate, a first gear meshed with the first rack is fixedly sleeved on a caster shaft of the casters, and the parking plate rotates relative to the chassis until the first rack is meshed with the first gear, so that a caster shaft is locked to realize parking; the vertical direction slidable mounting has the stand on the chassis, and the bottom of stand passes chassis back fixedly connected with supporting seat, and the top is fixedly connected with cylinder roller. According to the AGV transport trolley, the parking device can lock the foot wheel shafts and drive the supporting seats to contact the ground, so that the contact area between the whole trolley and the ground is increased, and the stability of the trolley in parking is improved.

Description

AGV travelling bogie

Technical Field

The invention relates to the technical field of conveying equipment, in particular to an AGV conveying trolley.

Background

The utility model provides a AGV has become mature in being applied to the transportation operation in workshop, also disclosed the patent number CN115742705A among the prior art, the name is a document of AGV dolly, it can provide drive and self-locking function for the device through driving wheel mechanism, when driving motor rotates, driving motor drives the drive worm and rotates, driving worm can drive function worm wheel and rotate, connect the tooth's socket and pass through connecting gear drive clutch block rotation when function worm wheel rotates, the clutch block can drive the synchronizing shaft through the synchronizing shaft again and rotate when rotating, drive driving wheel mechanism's removal wheel rotates when synchronizing shaft, and then drive whole device removal and transport the material, driving worm and function worm wheel possess unidirectional transmission's characteristic, driving wheel mechanism can automatic locking can not rotate or remove when driving motor does not rotate, in order to solve the drive wheel of AGV dolly and do not possess the parking structure, the AGV dolly is because the ground slope or reasons such as external force impact move the change the position when parking easily, the problem that stability is relatively poor.

Above-mentioned AGV dolly that proposes realizes stopping the AGV dolly through driving motor's unidirectional drive, and its essence is the same with the effect of brake, but when the external force intensity that the AGV dolly received enough breaks through the frictional force between tire and the ground, the AGV dolly still can produce the aversion, that is to say that this AGV dolly's stability still is not enough.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention provides an AGV transport trolley.

In order to achieve the above purpose, the present invention provides the following technical solutions: the parking device comprises a parking plate rotatably arranged at the edge of the top of the chassis, an inclined section of the parking plate is hinged with the chassis, a first rack is arranged at the bottom of a horizontal section of the parking plate, a first gear meshed with the first rack is fixedly sleeved on a foot wheel shaft of the foot wheel, and the parking plate rotates relative to the chassis until the first rack is meshed with the first gear, so that the foot wheel shaft is locked to realize parking;

The vertical direction slidable mounting has the stand on the chassis, and the bottom of stand passes chassis back fixedly connected with supporting seat, and then fixedly connected with cylinder roller in top, this cylinder roller can form sliding fit with the slope section of parking board, through pushing down the cylinder roller when the parking board is rotatory, makes supporting seat and ground realization contact.

Preferably, the outside of stand has cup jointed first spring, and the top and the cylinder roller of first spring link to each other, and the bottom then links to each other with the chassis, and in the initial state, the plane that the supporting seat bottom is located is higher than the truckle.

Preferably, the bottom of the horizontal section of the parking plate is provided with two guide posts along the length direction of the horizontal section, the first rack is slidably arranged on the two guide posts, the two sides of the first rack along the width direction of the first rack are integrally formed and connected with clamping seats, the two clamping seats are upwardly bent and sleeved on the parking plate, the first rack is completely meshed with the first gear through sliding of the first rack relative to the parking plate, the horizontal section of the parking plate is in a horizontal state, and the first rack and the first gear can be kept fixed relative to the parking plate after being completely meshed.

Preferably, the top fixed connection second rack of one of them cassette, the top unable adjustment base of parking board horizontal segment, rotate on the base and install the second gear with second rack looks meshing, cup joint in the electromagnetic braking ware behind the gear shaft of second gear runs through the base, and the electromagnetic braking ware is fixed in on the base.

Preferably, the top of the horizontal section of the parking plate is fixed with an inclination angle sensor, the inclination angle sensor is in signal connection with a controller on the chassis, the electromagnetic brake is controlled by the controller, and when the inclination angle acquired by the inclination angle sensor is zero, the controller controls the electromagnetic brake to start to work.

Preferably, the guide post is sleeved with a second spring, one end of the second spring is connected with the first rack, and the other end of the second spring is connected with the parking plate.

Preferably, two oil cylinders are hinged at the top of the chassis corresponding to the position of each parking plate, piston ends of the two oil cylinders are hinged at two sides of the middle of the parking plate, and the width of the cylindrical roller is smaller than that of the parking plate.

Preferably, the brake is arranged on the caster shaft, the brake comprises a rotating sleeve fixedly sleeved on the circumference of the caster shaft, a fixed disc is arranged in the rotating sleeve, the diameter of the fixed disc is smaller than the inner diameter of the rotating sleeve, and the fixed disc can be kept fixed through a first fixed rod and a second fixed rod;

One end of the first fixed rod is fixedly connected with the disk surface of the fixed disk, the other end of the first fixed rod is fixed at the edge of the chassis, one end of the second fixed rod is fixed on the disk surface of the fixed disk, and the other end of the second fixed rod extends to the transmission case and is fixedly connected with the transmission case;

The center department rotation of fixed disk installs the biconvex dish, and the biconvex dish deviates from one side integrated into one piece of fixed disk and is connected with the sleeve, and this telescopic internal diameter is greater than the diameter of truckle axle, and the truckle axle runs through the transmission case in proper order, rotates and arranges in the sleeve behind cover and the fixed disk, and the edge of fixed disk articulates there are two friction curved bars, and two friction curved bars are central symmetry and distribute, and the both ends of biconvex dish are articulated to be connected with the connecting rod, and the end rotation of connecting rod is connected in corresponding friction curved bar middle part.

Preferably, the top of the chassis is fixedly provided with a bidirectional oil cylinder, the tail end of a piston rod of the bidirectional oil cylinder is hinged with a hinge rod, a rotating rod is fixedly connected on the circumferential surface of each sleeve along the direction perpendicular to the axial direction of each sleeve, two rotating rods which are oppositely arranged are fixedly connected through a connecting shaft, and the hinge rod is rotationally sleeved at the middle part of the corresponding connecting shaft.

Preferably, the walking driving assembly is used for driving the casters to rotate, the walking driving assembly comprises an L-shaped mounting plate fixed at the bottom of the mounting frame, a transmission case is fixed on the plate surface of the L-shaped mounting plate, which faces the inner side of the mounting frame, a motor is arranged outside the transmission case, the casters are distributed on the outer side of the L-shaped mounting plate, and a caster shaft at the center of each caster penetrates through the L-shaped mounting plate to extend into the transmission case to be connected with the transmission system.

Compared with the prior art, the invention provides the AGV transport trolley, which has the following beneficial effects:

(1) According to the invention, the parking devices are arranged at the positions of the casters, the four parking devices can be flexibly applied according to the environment of the trolley, the parking devices can lock the caster shafts and simultaneously drive the supporting seats to contact the ground, so that the contact area of the whole trolley and the ground is increased, the parking devices lock the caster shafts in a mode of meshing gears and racks, the first racks designed in a floating mode can ensure complete meshing with the first gears, the locking stability of the caster shafts is ensured, and the supporting seats can be driven to move downwards to a limit state, namely to contact the ground, so that the stability of the trolley in parking is improved.

(2) When the brake works, the cylinder drives the sleeve to rotate clockwise, the biconvex plate acts on the friction curved bars through the connecting rods in the rotating process, so that the two friction curved bars are pushed outwards by taking the hinging point as the center, the outer sides of the friction curved bars are contacted with the inner sides of the rotating sleeves, the braking requirement of the trolley can be met by adopting a simpler mechanical structure through friction force generated by the two friction curved bars, the waste of resources and the manufacturing and maintenance cost of the trolley are greatly reduced, and the AGV trolley can be widely popularized and applied in workshops.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate and together with the embodiments of the invention and do not constitute a limitation to the invention, and in which:

FIG. 1 is a schematic diagram of the axial direction of an entire AGV transport cart in an embodiment;

FIG. 2 is a front view of the entire AGV transport cart in an embodiment;

FIG. 3 is a schematic view of the structure of the bottom of the entire AGV transport cart in an exemplary embodiment;

FIG. 4 is a schematic view showing the assembly of the chassis and the travel drive assembly with the mounting frame, respectively, in an embodiment;

FIG. 5 is a schematic view of the installation of various structures on a chassis in an embodiment;

FIG. 6 is a schematic view of the mounting of a parking brake and a brake on a chassis according to an embodiment;

FIG. 7 is a schematic diagram of a brake in an embodiment;

FIG. 8 is a schematic view of the mounting of a parking device on a chassis and a connecting shaft in an embodiment;

FIG. 9 is a schematic view of an embodiment of a parking device in an operating state;

FIG. 10 is a schematic diagram showing the distribution of various structures on a parking board in an embodiment;

fig. 11 is a schematic diagram showing connection of the first rack and the parking plate in the embodiment.

In the figure: 1. a frame; 2. a control panel; 3. casters; 4. a support base; 5. a chassis; 6. a walking drive assembly; 61. an L-shaped mounting plate; 62. a transmission case; 63. a motor; 7. a mounting frame; 8. a controller; 9. a bidirectional oil cylinder; 10. a hinge rod; 11. a brake; 12. a first fixing rod; 13. a connecting shaft; 14. a second fixing rod; 15. a foot wheel shaft; 16. a rotating sleeve; 17. a fixed plate; 18. a sleeve; 19. friction curved bars; 20. a connecting rod; 21. a biconvex plate; 22. a rotating rod; 23. a first gear; 24. a parking plate; 25. a column; 26. a cylindrical roller; 27. a first spring; 28. an oil cylinder; 29. an inclination sensor; 30. a clamping seat; 31. a first rack; 32. a second rack; 33. a base; 34. a second gear; 35. a gear shaft; 36. an electromagnetic brake; 37. a guide post; 38. and a second spring.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.

The embodiment provides an AGV travelling bogie, as shown in fig. 1 to 11, including setting up in frame 1 inside be rectangular structure's mounting bracket 7, the outside and the top of mounting bracket 7 all make frame 1 outside form closed structure through bolted connection outer backplate, install control panel 2 on one of them outer backplate, the inboard of mounting bracket 7 then is fixed with chassis 5, two sets of travelling drive assemblies 6 have been arranged respectively in chassis 5's both sides (two sets of travelling drive assemblies 6 all link to each other with mounting bracket 7 is fixed), each set of travelling drive assembly 6 corresponds respectively is provided with a truckle 3, rotate through travelling drive assembly 6 drive corresponding truckle 3, AGV dolly in the invention adopts the four drive form, drive truckle 3 through control each set of travelling drive assembly 6 and produce different rotational speeds and turn. The top of the chassis 5 is provided with a controller 8, the input end of the controller 8 is connected with the control panel 2 through an electric signal, the output end of the controller 8 is electrically connected with the parking device and the brake 11, namely, a person inputs a signal through the control panel 2, and then the controller 8 controls the parking device and the brake 11 to execute corresponding actions.

The trolley is driven by the travelling driving assembly 6 in the travelling process, the travelling driving assembly 6 comprises an L-shaped mounting plate 61 fixed at the bottom of the mounting frame 7, a transmission case 62 is fixed on the plate surface of the L-shaped mounting plate 61 facing the inner side of the mounting frame 7, a motor 63 is arranged outside the transmission case 62, the plate surface of the L-shaped mounting plate 61 facing the outer side of the mounting frame 7 is rotatably provided with a trundle 3, a trundle shaft 15 in the center of the trundle 3 passes through the L-shaped mounting plate 61 to extend into the transmission case 62 to be connected with a transmission system, the transmission system in the transmission case 62 is driven by the motor 63 to work, the transmission system drives the trundle shaft 15 to rotate, so that the trundle 3 rotates, and the transmission system in the transmission case 62 is not limited specifically, and can be sprocket transmission, belt wheel transmission or gear transmission in the prior art.

The AGV dolly needs to realize slowing down or temporarily stopping with the help of stopper 11 in the operation in-process, mainly is through driving wheel mechanism and brake block realizing the speed reduction or stopping of vehicle among the prior art, wherein driving wheel mechanism structure is complicated, and the brake block then more need rely on a complete system, when stepping on the brake pedal, the brake liquid in the brake master cylinder receives pressure, will press the transmission to brake calliper, under the effect of pressure transmission, the piston in the brake calliper can outwards remove, make the friction between brake block and the brake disc, the frictional force of production passes through the contact surface transmission between brake block and the brake disc, thereby produce braking force. The brake block can fully play the role of the brake block under the condition that the vehicle is heavier or the running speed is faster, but the AGV trolley is not too heavy even if the trolley is fully loaded in the workshop running process, the speed is smaller than that of a common automobile during the transportation operation, if the brake block and a matched system in the prior art are applied to the AGV trolley, the brake block is certainly a 'big maraca trolley', the waste is caused, and a whole set of oil liquid system configured for each brake block can increase the input cost. The invention can meet the braking requirement of the trolley by adopting a simple mechanical structure.

Specifically, the brake 11 includes a rotating sleeve 16 fixedly sleeved on the circumferential surface of the caster axle 15, a fixed disc 17 is disposed in the rotating sleeve 16, the diameter of the fixed disc 17 is smaller than the inner diameter of the rotating sleeve 16, and the fixed disc 17 can be kept fixed by a first fixed rod 12 and a second fixed rod 14, wherein one end of the first fixed rod 12 is fixedly connected with the disc surface of the fixed disc 17, the other end is fixed at the edge of the chassis 5, one end of the second fixed rod 14 is fixed on the disc surface of the fixed disc 17, and the other end extends to the transmission case 62 and is fixedly connected with the transmission case; the center of the fixed disc 17 is rotatably provided with a biconvex disc 21, one side of the biconvex disc 21 away from the fixed disc 17 is integrally formed and connected with a sleeve 18, the inner diameter of the sleeve 18 is slightly larger than the diameter of the trundle shaft 15, and the trundle shaft 15 sequentially penetrates through the transmission case 62, the rotating sleeve 16 and the fixed disc 17 and then is arranged in the sleeve 18. In the process that the walking drive assembly 6 drives the foot wheel shaft 15 to rotate, the rotating sleeve 16 rotates synchronously with the connecting shaft 13, the fixed disc 17 and the double-convex disc 21 are kept fixed, two friction curved rods 19 are hinged at the edge of the fixed disc 17, the two friction curved rods 19 are distributed in a central symmetry mode, the two ends of the double-convex disc 21 are hinged with connecting rods 20, the tail ends of the connecting rods 20 are rotationally connected to the middle parts of the corresponding friction curved rods 19, when the trolley is required to brake, the sleeve 18 is driven to rotate clockwise through external force, the double-convex disc 21 acts on the friction curved rods 19 through the connecting rods 20 in the rotating process, the two friction curved rods 19 are pushed outwards by taking a hinge point as the center, the outer sides of the friction curved rods 19 are in contact with the inner sides of the rotating sleeve 16, and the trolley is braked through friction generated by the two friction force.

In order to prevent sideslip of the AGV trolley during braking, four casters 3 are preferably used for braking synchronously, therefore, the invention is also fixedly provided with a bidirectional oil cylinder 9 at the top of the chassis 5, the tail end of a piston rod of the bidirectional oil cylinder 9 is hinged with a hinge rod 10, the circumferential surface of each sleeve 18 is fixedly connected with a rotating rod 22 along the direction vertical to the axial direction of the sleeve, two rotating rods 22 which are oppositely arranged are fixedly connected through a connecting shaft 13, the hinge rod 10 is rotatably sleeved at the middle part of the corresponding connecting shaft 13, and the rotating rod 22 in each brake 11 is driven to rotate through the bidirectional oil cylinder 9, so that the four brakes 11 synchronously realize braking.

After the AGV moves to the destination, it is not only braked by means of the brake 11 but also stopped stably by the parking device. The parking device comprises a parking plate 24 rotatably arranged at the top edge of a chassis 5, wherein the parking plate 24 is provided with two parts in total, namely an inclined section and a horizontal section, the inclined section is hinged on the chassis 5, the bottom of the horizontal section is provided with a first rack 31, the circumferential surface of a caster shaft 15 is fixedly sleeved with a first gear 23 meshed with the first rack 31, the top of the chassis 5 is also hinged with an oil cylinder 28, the piston end of the oil cylinder 28 is rotatably connected with the middle part of the parking plate 24, the oil cylinder 28 is controlled by a controller 8, when a trolley needs to park, a person sends a parking signal to the controller 8 through a control panel 2, the controller 8 controls the oil cylinder 28 to act, and the oil cylinder 28 drives the parking plate 24 to rotate clockwise, so that the first rack 31 on the parking plate 24 is meshed with the first gear 23 on the caster shaft 15, and the trolley forms stable parking. Of course, in the present invention, the rotation of the caster shaft 15 is stopped by the engagement of the first rack 31 and the first gear 23, but the cart is moved when the external force applied to the cart is greater than the friction force between the caster 3 and the ground. Therefore, in order to further improve the stability of the trolley during parking, the invention also provides that the stand column 25 is arranged on the chassis 5 in a sliding manner along the vertical direction, the bottom of the stand column 25 penetrates through the chassis 5 and is fixedly connected with the supporting seat 4, the top of the stand column 25 is fixedly connected with the cylindrical roller 26, the cylindrical roller 26 can form sliding fit with the inclined section of the parking plate 24, the outer part of the stand column 25 is also sheathed with the first spring 27, the top of the first spring 27 is connected with the cylindrical roller 26, and the bottom of the first spring 27 is connected with the chassis 5. In the initial state, the supporting seat 4 is in a suspended state under the action of the first spring 27, and the plane of the bottom of the supporting seat 4 is higher than the castor 3, so that the influence on the walking of the trolley is avoided. When the cylinder 28 acts to drive the parking plate 24 to rotate clockwise, the inclined section of the parking plate 24 gradually approaches the cylindrical roller 26 and applies downward force to the cylindrical roller 26, and when the cylinder 28 drives the parking plate 24 to rotate until the horizontal section of the parking plate 24 is in a horizontal state, the supporting seat 4 is also in contact with the ground. The first rack 31 and the first gear 23 can be matched to lock the foot wheel shaft 15 and simultaneously drive the supporting seat 4 to move downwards to contact with the ground, so that the friction force between the trolley and the ground can be increased, and the stability of the trolley is improved.

When the parking plate 24 is reset, the supporting seat 4 is automatically reset under the reaction force of the first spring 27, and it is further pointed out that when the cylinder 28 drives the parking plate 24 to reset, the upright post 25 gradually moves upwards under the action of the first spring 27, so as to avoid the movement interference between the piston rod of the cylinder 28 and the cylindrical roller 26.

In the rotating process of the parking plate 24, the first rack 31 can be meshed with the first gear 23 to lock the caster shaft 15, but because the rotation angle of the first gear 23 along the axial direction of the caster shaft is random after the trolley is braked, the first rack 31 and the first gear 23 can not be all meshed each time, the first gear 23 and the first rack 31 are in a half-meshed state, in which not only the horizontal section of the parking plate 24 cannot be completely in the horizontal position, but also the contact between the supporting seat 4 and the ground can be influenced by the fact that the rotation of the parking plate 24 is not in place, in such a case, the whole trolley is supported on the ground by means of the caster 3, the parking stability cannot be ensured, the meshing area of the first gear 23 and the first rack 31 is relatively smaller, and the locking effect of the caster shaft 15 is not very good.

In order to avoid this, it is preferable that the first gear 23 and the first rack 31 are fully engaged each time, so that the horizontal section of the parking plate 24 is maintained in a horizontal state each time. For this reason, two guide posts 37 are erected at the bottom of the horizontal section of the parking plate 24 along the length direction thereof, the first rack 31 is slidably mounted on the two guide posts 37, the two sides of the first rack 31 along the width direction thereof are integrally formed and connected with the clamping seats 30, and the two clamping seats 30 are upwardly bent and sleeved on the parking plate 24. The invention is equivalent to floating the first rack 31 on the parking plate 24 along the horizontal direction, when the first rack 31 contacts with the first gear 23 along with the clockwise rotation of the parking plate 24, the first rack 31 can slide relative to the parking plate 24, so that the first rack 31 can be fully meshed with the first gear 23 through slight sliding, and the support seat 4 can be ensured to smoothly contact with the ground. However, when the first gear 23 and the first rack 31 are completely engaged, the first rack 31 needs to be kept stationary, so that parking can be formed, and therefore, the second rack 32 is fixedly connected to the top of one of the clamping seats 30, the base 33 is fixed to the top of the horizontal section of the parking plate 24, the second gear 34 engaged with the second rack 32 is rotatably mounted on the base 33, the gear shaft 35 of the second gear 34 penetrates the base 33 and then is sleeved in the electromagnetic brake 36, and the electromagnetic brake 36 is fixed to the base 33. When the first rack 31 slides relative to the parking plate 24, the second rack 32 is meshed with the second gear 34 to drive the gear shaft 35 to rotate, and when the first rack 31 is required to be kept stationary, the electromagnetic brake 36 is started to brake the gear shaft 35. The starting time of the electromagnetic brake 36 is mainly determined by the parking plate 24, when the horizontal section of the parking plate 24 rotates until the first gear 23 and the first rack 31 can be just completely engaged, the horizontal section of the parking plate 24 is just in a horizontal state, and then the electromagnetic brake 36 is started to brake the caster shaft 15 (the electromagnetic brake 36 also adopts the existing mature equipment), so that the invention also fixes the inclination sensor 29 at the top of the horizontal section of the parking plate 24, when the horizontal section of the parking plate 24 is in a horizontal position, the inclination sensor 29 acquires a signal with zero inclination, then converts the signal into an electric signal, and transmits the electric signal to the controller 8, the controller 8 controls the electromagnetic brake 36 to act, and when the inclination acquired by the inclination sensor 29 is not equal to zero, the electromagnetic brake 36 is always in a non-working state.

The two guide posts 37 are also sleeved with second springs 38, one ends of the second springs 38 are connected with the first racks 31, the other ends of the second springs 38 are connected with the parking plate 24, when the first racks 31 slide on the guide posts 37, the second springs 38 are compressed or stretched, when the trolley is released from parking, the parking plate 24 is reset through the oil cylinder 28, and the first racks 31 are reset under the action of the second springs 38.

In addition, in the invention, a parking device is arranged at the position of each caster wheel 3, the parking devices can be used selectively according to the operation environment of the AGV trolley, for example, when the trolley stays on a flat ground, two parking devices can be selected to work, when the trolley stays on an inclined road section of an ascending slope, as the gravity center of the trolley is relatively backward, two parking devices behind the trolley can be selected to work, and similarly, when the trolley stays on an inclined road section of a descending slope, two parking devices in front of the trolley can be selected to work.

In the description of the present invention, the terms "first," "second," "another," "yet another" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless explicitly defined otherwise.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. The utility model provides an AGV travelling bogie, is including setting up in frame (1) be located parking ware on chassis (5), four truckles (3) of distribution in frame (1) bottom, its characterized in that: the parking device comprises a parking plate (24) rotatably arranged at the edge of the top of the chassis (5), an inclined section of the parking plate (24) is hinged with the chassis (5), a first rack (31) is arranged at the bottom of a horizontal section of the parking plate (24), a first gear (23) meshed with the first rack (31) is fixedly sleeved on a foot wheel shaft (15) of the caster wheel (3), and the parking plate (24) rotates relative to the chassis (5) until the first rack (31) is meshed with the first gear (23), so that the foot wheel shaft (15) is locked to realize parking;

The chassis (5) is provided with an upright post (25) in a sliding manner along the vertical direction, the bottom of the upright post (25) penetrates through the chassis (5) and then is fixedly connected with a supporting seat (4), the top of the upright post is fixedly connected with a cylindrical roller (26), the cylindrical roller (26) can form sliding fit with an inclined section of the parking plate (24), and the parking plate (24) rotates and simultaneously makes the supporting seat (4) contact with the ground by pressing down the cylindrical roller (26);

The novel bicycle brake is characterized by further comprising a brake (11) arranged on the caster shaft (15), wherein the brake (11) comprises a rotating sleeve (16) fixedly sleeved on the circumferential surface of the caster shaft (15), a fixed disc (17) is arranged in the rotating sleeve (16), the diameter of the fixed disc (17) is smaller than the inner diameter of the rotating sleeve (16), and the fixed disc (17) can be kept fixed through a first fixed rod (12) and a second fixed rod (14);

One end of the first fixed rod (12) is fixedly connected with the disk surface of the fixed disk (17), the other end of the first fixed rod is fixed at the edge of the chassis (5), one end of the second fixed rod (14) is fixed on the disk surface of the fixed disk (17), and the other end of the second fixed rod extends to the transmission case (62) and is fixedly connected with the transmission case;

the center of the fixed disc (17) is rotationally provided with a double-convex disc (21), one side of the double-convex disc (21) deviating from the fixed disc (17) is integrally formed and connected with a sleeve (18), the inner diameter of the sleeve (18) is larger than the diameter of a castor shaft (15), the castor shaft (15) sequentially penetrates through a transmission case (62), a rotating sleeve (16) and the fixed disc (17) and then is arranged in the sleeve (18), two friction curved rods (19) are hinged at the edge of the fixed disc (17), the two friction curved rods (19) are distributed in a central symmetry manner, two ends of the double-convex disc (21) are hinged with connecting rods (20), and the tail ends of the connecting rods (20) are rotationally connected with the middle parts of the corresponding friction curved rods (19);

The outer part of the upright post (25) is sleeved with a first spring (27), the top of the first spring (27) is connected with a cylindrical roller (26), the bottom of the first spring is connected with the chassis (5), and in an initial state, the plane of the bottom of the supporting seat (4) is higher than the trundle (3);

Two guide posts (37) are arranged at the bottom of the horizontal section of the parking plate (24) along the length direction of the horizontal section, the first rack (31) is slidably mounted on the two guide posts (37), clamping bases (30) are integrally formed on two sides of the first rack (31) along the width direction of the first rack, the two clamping bases (30) are bent upwards to be sleeved on the parking plate (24), the first rack (31) is completely meshed with the first gear (23) through sliding of the first rack (31) relative to the parking plate (24), the horizontal section of the parking plate (24) is in a horizontal state, and the first rack (31) and the first gear (23) can be kept fixed relative to the parking plate (24) after being completely meshed.

2. The AGV transport as set forth in claim 1 wherein: the top of one clamping seat (30) is fixedly connected with a second rack (32), a base (33) is fixed at the top of the horizontal section of the parking plate (24), a second gear (34) meshed with the second rack (32) is rotatably arranged on the base (33), a gear shaft (35) of the second gear (34) penetrates through the base (33) and then is sleeved in an electromagnetic brake (36), and the electromagnetic brake (36) is fixed on the base (33).

3. The AGV transport as set forth in claim 2 wherein: an inclination sensor (29) is fixed at the top of the horizontal section of the parking plate (24), the inclination sensor (29) is connected with a controller (8) on the chassis (5) in a signal mode, an electromagnetic brake (36) is controlled by the controller (8), and when the inclination acquired by the inclination sensor (29) is zero, the controller (8) controls the electromagnetic brake (36) to start to work.

4. An AGV transport cart according to claim 3 wherein: the guide post (37) is sleeved with a second spring (38), one end of the second spring (38) is connected with the first rack (31), and the other end of the second spring is connected with the parking plate (24).

5. An AGV transport cart according to any one of claims 1-4 wherein: two oil cylinders (28) are hinged at the positions, corresponding to the parking plates (24), of the top of the chassis (5), piston ends of the two oil cylinders (28) are hinged to two sides of the middle of each parking plate (24), and the width of each cylindrical roller (26) is smaller than that of each parking plate (24).

6. The AGV transport as set forth in claim 1 wherein: the top of chassis (5) is fixed with two-way hydro-cylinder (9), and the piston rod end of two-way hydro-cylinder (9) articulates and is connected with articulated pole (10), and on the circumference of every sleeve (18) along perpendicular to its axial direction fixedly connected with bull stick (22), link to each other through connecting axle (13) fixed between two bull sticks (22) of relative arrangement, articulated pole (10) rotate and cup joint at corresponding connecting axle (13) middle part.

7. The AGV transport as set forth in claim 6 wherein: still including being used for driving pivoted walking drive assembly (6) of truckle (3), walking drive assembly (6) are including fixing L type mounting panel (61) in mounting bracket (7) bottom, be fixed with transmission case (62) on the inboard face of mounting bracket (7) of L type mounting panel (61), the externally mounted of transmission case (62) has motor (63), truckle (3) distribute in the outside of L type mounting panel (61), truckle axle (15) of truckle (3) center department pass L type mounting panel (61) and extend to transmission case (62) inside and link to each other with transmission system.