CN210258627U - AGV dolly with accurate shock attenuation steering wheel - Google Patents
AGV dolly with accurate shock attenuation steering wheel Download PDFInfo
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- CN210258627U CN210258627U CN201920528671.3U CN201920528671U CN210258627U CN 210258627 U CN210258627 U CN 210258627U CN 201920528671 U CN201920528671 U CN 201920528671U CN 210258627 U CN210258627 U CN 210258627U
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Abstract
The utility model provides a AGV dolly with accurate shock attenuation steering wheel, its operates steadily, compact structure, trafficability characteristic is strong, degree of automation is high. The steering wheel assembly comprises a frame part, wherein corresponding wheels are respectively arranged at four corners of the bottom of the frame part, the wheels comprise two sets of steering wheels and two bearing wheels, the two sets of steering wheels are fixedly arranged at corresponding angular positions of the bottom of the frame part in a diagonal manner, the corresponding angular positions of the other diagonal line of the bottom of the frame part are respectively and fixedly provided with corresponding bearing wheels, and a lifting part is arranged in an inner cavity of a central main body part of the frame part; each set of steering wheel all includes steering wheel mounting panel, steering wheel walking part, steering wheel steering part, steering wheel shock-absorbing structure's upper portion rigid coupling steering wheel mounting panel, steering wheel shock-absorbing structure's lower part rigid coupling steering wheel turns to the up end of part, steering wheel steering part with steering wheel walking part's connection is through slewing bearing connection.
Description
Technical Field
The utility model relates to a technical field of AGV dolly structure specifically is an AGV dolly with accurate shock attenuation steering wheel.
Background
An AGV (automated Guided vehicle) automatic Guided vehicle is a key device of an automated logistics transportation system and a flexible manufacturing system. With the rapid development of science and technology in China, a great deal of AGV has been applied to industries such as machining, automobile manufacturing, electronic product assembly, logistics and the like.
The existing AGV trolley is mostly provided with a steering wheel as a power source, even in some application occasions with relatively high requirements, the AGV trolley with the power source provided with a plurality of steering wheels can be occasionally seen, but the damping structure is a spring vertical telescopic structure, the running stability of the AGV trolley is poor, and in practical application, the applicability of the AGV trolley is also relatively poor and the running requirements can not be met.
Disclosure of Invention
To the problem, the utility model provides a AGV dolly with accurate shock attenuation steering wheel, its operates steadily, compact structure, trafficability characteristic is strong, degree of automation is high.
The utility model provides a AGV dolly with accurate shock attenuation steering wheel which characterized in that: the steering wheel assembly comprises a frame part, wherein corresponding wheels are respectively arranged at four corners of the bottom of the frame part, the wheels comprise two sets of steering wheels and two bearing wheels, the two sets of steering wheels are fixedly arranged at corresponding angular positions of the bottom of the frame part in a diagonal manner, the corresponding angular positions of the other diagonal line of the bottom of the frame part are respectively and fixedly provided with corresponding bearing wheels, and a lifting part is arranged in an inner cavity of a central main body part of the frame part; each set of steering wheel all includes steering wheel mounting panel, steering wheel walking part, steering wheel steering part, steering wheel shock-absorbing structure's upper portion rigid coupling steering wheel mounting panel, steering wheel shock-absorbing structure's lower part rigid coupling steering wheel turns to the up end of part, steering wheel steering part with steering wheel walking part's connection is through slewing bearing connection.
It is further characterized in that:
the center positions of the front end and the rear end of the bottom of the frame part are respectively provided with a guide structure, the guide structures comprise a robot vision system, and the guide structures are used for guiding the running of a vehicle body;
auxiliary universal wheels are fixedly arranged at the edge positions of one corner of the front end and the rear end of the bottom of the frame part respectively, and the two auxiliary universal wheels are distributed in a diagonal manner;
the driving end of the steering wheel running part is connected with a running motor, the mounting part of the steering wheel running part is positioned on the positioning structure of the steering wheel supporting mechanism, the lowest end of the wheel of the steering wheel running part is lower than the lowest position of the steering wheel supporting mechanism, the bottom support of the wheel is arranged on the running surface, the upper end surface of the steering wheel supporting mechanism is provided with a direction adjusting gear disc, the outer gear ring of the direction adjusting gear disc is meshed with a direction adjusting input gear ring, the direction adjusting input gear ring is externally connected with a direction adjusting motor, the direction adjusting gear disc is a slewing bearing outer ring, the inner ring of the slewing bearing outer ring is provided with a slewing bearing inner ring, the slewing bearing outer ring and the slewing bearing inner ring are combined to form a slewing bearing, the lower end surface of the slewing bearing inner ring is fixedly connected with the upper end surface of the steering wheel supporting mechanism, and the connection fixing plate is fixedly sleeved on the slewing, the upper end surface of the direction adjusting gear disc is fixedly connected with a rotary connecting ring, the lower part of the steering wheel damping structure is fixedly connected with the upper end surface of the rotary connecting ring, and the steering wheel damping structure adjusts the height distance between a wheel and a steering wheel mounting plate, properly buffers and ensures the stability of a vehicle body;
each steering wheel damping structure comprises three groups of linear arrangement damping mechanisms which are arranged in a triangular edge manner, each linear arrangement damping mechanism specifically comprises a pair of damping spring limiting plates fixedly arranged on a steering wheel mounting plate, opposite end faces of the two damping spring limiting plates are fixedly connected with corresponding ends of corresponding damping springs respectively, the other ends of the damping springs are fixedly connected with one ends of linear slider seats at corresponding positions respectively, linear sliders are arranged on the upper end faces of the linear slider seats, the upper end faces of the two linear sliders are clamped on corresponding positions of a linear guide rail in the length direction, a movable interval is reserved between the two linear sliders, the upper end of the linear guide rail is fixedly connected with the lower end face of the steering wheel mounting plate, the bottom of each linear slider seat is pivoted with one end of a corresponding damping connecting rod, and the other end of the damping connecting rod is pivoted with a damping connecting rod fixing seat, the damping connecting rod fixing seat is fixedly arranged on the upper end surface of the rotary connecting ring;
the connecting piece of the pivoting part is a fixed pin structure;
the whole steering wheel part is connected to the steering wheel mounting plate, the steering wheel mounting plate is integrally fixed to the frame part, when the AGV passes through an uneven road surface, the whole steering wheel part receives certain impact force, the damping spring stretches, the linear sliding block moves on the linear guide rail, the damping connecting rod can rotate by a corresponding angle along the pin joint structures at the two ends of the damping connecting rod, and the height from the wheel center of the steering wheel to the frame part can be slightly adjusted, so that the damping effect is achieved;
the lifting part drives the bottom plate of the cavity to lift or descend through an electric cylinder or a hydraulic cylinder.
After the structure of the utility model is adopted, the car is driven by two sets of steering wheels, the car can go straight along any direction, has good trafficability characteristic and can pass in a narrow space, which is not possessed by the AGV car controlled by the traditional differential mode; the double-rudder wheel drive has the obvious advantage that even if the road surface is uneven to a large extent, at least one rudder wheel is in contact with the ground, and the whole vehicle body cannot lose power completely; the steering wheel is provided with a damping device, so that proper buffering can be realized when the steering wheel passes through uneven road surfaces, the stability of a vehicle body is ensured, and loaded goods are prevented from falling; and the AGV dolly has the lift part, and this device has the significance in whole logistics system, has improved logistics system's degree of automation.
Drawings
Fig. 1 is a schematic structural view of a perspective view of the present invention;
fig. 2 is a schematic structural view of a steering wheel of the present invention;
fig. 3 is a schematic structural view of the steering wheel of the present invention with the mounting plate removed;
fig. 4 is a schematic partial sectional structure view of a front view of a steering wheel (without a shock absorbing structure) according to the present invention;
the names corresponding to the sequence numbers in the figure are as follows:
the steering wheel comprises a frame part 1, a steering wheel 3, a bearing wheel 4, a lifting part 2, a steering wheel mounting plate 31, a steering wheel traveling part 32, a steering wheel supporting structure 321, a traveling motor 322, a wheel 323, a steering wheel steering part 33, a direction adjusting gear disc 331, a direction adjusting input gear ring 332, a connecting fixing plate 333, a rotary bearing inner ring 334, a direction adjusting motor 335, a rotary connecting ring 336, a steering wheel damping structure 34, a damping spring limiting plate 341, a damping spring 342, a linear slider seat 343, a linear slider 344, a linear guide 345, a damping connecting rod 346, a damping connecting rod fixing seat 347, a fixed pin structure 348, an auxiliary universal wheel 5 and a guide structure 6.
Detailed Description
An AGV cart with precision damped steering wheels, see fig. 1-4: the steering wheel type bicycle comprises a frame part 1, wherein corresponding wheels are respectively arranged at four corners of the bottom of the frame part, each wheel comprises two sets of steering wheels 3 and two bearing wheels 4, the two sets of steering wheels 3 are fixedly arranged at corresponding angular positions of the bottom of the frame part 1 in a diagonal manner, the corresponding angular positions of the other diagonal line of the bottom of the frame part 1 are respectively and fixedly provided with the corresponding bearing wheels 4, and an inner cavity of a central main body part of the frame part 1 is provided with a lifting part 2;
each set of steering wheel 3 comprises a steering wheel mounting plate 31, a steering wheel running part 32, a steering wheel turning part 33 and a steering wheel damping structure 34, wherein the upper part of the steering wheel damping structure 34 is fixedly connected with the steering wheel mounting plate 31, the lower part of the steering wheel damping structure 34 is fixedly connected with the upper end surface of the steering wheel turning part 33, and the steering wheel running part 32 is connected with the steering wheel turning part 33 through a slewing bearing.
The central positions of the front end and the rear end of the bottom of the frame part 1 are respectively provided with a guide structure 6, the guide structure 6 comprises a robot vision system, and the guide structure 6 is used for guiding the vehicle body to move;
auxiliary universal wheels 5 are fixedly arranged at the edge positions of one corner of the front end and the rear end of the bottom of the frame part 1 respectively, and the two auxiliary universal wheels are distributed in a diagonal manner;
the driving end of the steering wheel running part 32 is connected with a running motor 322, the mounting part of the steering wheel running part 32 is positioned on the positioning structure of the steering wheel supporting mechanism 321, the lowest end of a wheel 323 of the steering wheel running part 32 is lower than the lowest position of the steering wheel supporting mechanism 321, the bottom of the wheel 323 is supported on the running surface, the upper end surface of the steering wheel supporting mechanism 321 is provided with a direction adjusting gear disc 331, an outer gear ring of the direction adjusting gear disc 331 is meshed with a direction adjusting input gear ring 332, the direction adjusting gear disc 331 is a slewing bearing outer ring, the inner ring of the slewing bearing outer ring is provided with a slewing bearing inner ring 334, the bottom of the slewing bearing inner ring 334 is directly connected with the upper end surface of the steering wheel supporting mechanism 321, the slewing bearing inner ring 334 is fixedly sleeved with a connecting fixing plate 333, the upper end surface of the direction adjusting gear disc 331 is fixedly connected with a slewing connecting ring 336, the direction adjusting, the lower part of the steering wheel damping structure 34 is fixedly connected with the upper end surface of the rotary connecting ring 336, and the steering wheel damping structure 34 adjusts the height distance between the wheel 323 and the steering wheel mounting plate 31, so that proper buffering is realized, and the stability of the vehicle body is ensured;
each steering wheel shock absorption structure 34 comprises three groups of linear arrangement shock absorption mechanisms arranged in a triangular edge manner, each linear arrangement shock absorption mechanism specifically comprises a pair of shock absorption spring limiting plates 341 fixedly mounted on the steering wheel mounting plate, opposite end surfaces of the two shock absorption spring limiting plates 341 are fixedly connected with corresponding ends of corresponding shock absorption springs 342 respectively, the other ends of the shock absorption springs 342 are fixedly connected with one ends of linear slider seats 343 in corresponding positions respectively, the upper end surface of each linear slider seat 343 is provided with a linear slider 344, the upper end surfaces of the two linear sliders 344 are clamped in corresponding positions in the length direction of the linear guide track 345, a movable interval is left between the two linear sliders 344, the upper end of the linear guide track 345 is fixedly connected with the lower end surface of the steering wheel mounting plate 31, the bottom of each linear slider seat 343 is pivoted with one end of the corresponding shock absorption connecting rod 346, the other end of the shock absorption connecting, the damping connecting rod fixing seat 347 is fixedly arranged on the upper end surface of the rotary connecting ring 336;
the connecting piece of the pivoting part is specifically a fixed pin structure 348;
the whole steering wheel part is connected to the steering wheel mounting plate 31, the steering wheel mounting plate 31 is integrally fixed to the frame part 1, when the AGV passes through an uneven road surface, the whole steering wheel part is subjected to certain impact force, the damping spring 342 stretches, the linear slider 344 moves on the linear guide rail 345, the damping connecting rod 346 can rotate by a corresponding angle through a pivoting structure under the driving of the linear slider seat 343, and the height from the center of the wheel 323 of the steering wheel 3 to the frame part 1 can be slightly adjusted, so that the damping effect is achieved;
the lifting part 2 drives the bottom plate of the cavity to lift or descend through an electric cylinder or a hydraulic cylinder.
The beneficial effects are as follows: the vehicle is driven by two sets of steering wheels, can run straight in any direction, has good trafficability and can pass in a narrow space, which is not possessed by the AGV trolley controlled by the traditional differential speed mode; the double-rudder wheel drive has the obvious advantage that even if the road surface is uneven to a large extent, at least one rudder wheel is in contact with the ground, and the whole vehicle body cannot lose power completely; the steering wheel is provided with a damping device, so that proper buffering can be realized when the steering wheel passes through uneven road surfaces, the stability of a vehicle body is ensured, and loaded goods are prevented from falling; and the AGV dolly has the lift part, and this device has the significance in whole logistics system, has improved logistics system's degree of automation.
The detailed description of the embodiments of the present invention has been provided, but the present invention is only the preferred embodiments of the present invention, and should not be considered as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of the present invention shall fall within the scope of the present patent application.
Claims (6)
1. The utility model provides a AGV dolly with accurate shock attenuation steering wheel which characterized in that: the steering wheel assembly comprises a frame part, wherein corresponding wheels are respectively arranged at four corners of the bottom of the frame part, the wheels comprise two sets of steering wheels and two bearing wheels, the two sets of steering wheels are fixedly arranged at corresponding angular positions of the bottom of the frame part in a diagonal manner, the corresponding angular positions of the other diagonal line of the bottom of the frame part are respectively and fixedly provided with corresponding bearing wheels, and a lifting part is arranged in an inner cavity of a central main body part of the frame part; each set of steering wheel all includes steering wheel mounting panel, steering wheel walking part, steering wheel steering part, steering wheel shock-absorbing structure's upper portion rigid coupling steering wheel mounting panel, steering wheel shock-absorbing structure's lower part rigid coupling steering wheel turns to the up end of part, steering wheel steering part with steering wheel walking part's connection is through slewing bearing connection.
2. An AGV cart with precision damped steering wheels according to claim 1, characterised in that: and the central positions of the front end and the rear end of the bottom of the frame part are respectively provided with a guide structure, the guide structures comprise a robot vision system, and the guide structures are used for guiding the running of a vehicle body.
3. An AGV cart with precision damped steering wheels according to claim 1, characterised in that: auxiliary universal wheels are fixedly mounted at the edge positions of one corner of the front end and the rear end of the bottom of the frame part respectively, and the two auxiliary universal wheels are distributed in a diagonal manner.
4. An AGV cart with precision damped steering wheels according to claim 1, characterised in that: the driving end of the steering wheel running part is connected with a running motor, the mounting part of the steering wheel running part is positioned on the positioning structure of the steering wheel supporting mechanism, the lowest end of the wheel of the steering wheel running part is lower than the lowest position of the steering wheel supporting mechanism, the bottom support of the wheel is arranged on the running surface, the upper end surface of the steering wheel supporting mechanism is provided with a direction adjusting gear disc, the outer gear ring of the direction adjusting gear disc is meshed with a direction adjusting input gear ring, the direction adjusting input gear ring is externally connected with a direction adjusting motor, the direction adjusting gear disc is a slewing bearing outer ring, the inner ring of the slewing bearing outer ring is provided with a slewing bearing inner ring, the slewing bearing outer ring and the slewing bearing inner ring are combined to form a slewing bearing, the lower end surface of the slewing bearing inner ring is fixedly connected with the upper end surface of the steering wheel supporting mechanism, and the slewing bearing inner ring is fixedly sleeved with, the upper end face rigid coupling of direction adjustment gear dish has the gyration go-between, steering wheel shock-absorbing structure's lower part rigid coupling the up end of gyration go-between, the high distance between steering wheel shock-absorbing structure adjustment wheel and the steering wheel mounting panel.
5. An AGV with precision damped steering wheel according to claim 4 wherein: each steering wheel damping structure comprises three groups of linear arrangement damping mechanisms which are arranged in a triangular edge manner, each linear arrangement damping mechanism specifically comprises a pair of damping spring limiting plates fixedly arranged on a steering wheel mounting plate, opposite end faces of the two damping spring limiting plates are fixedly connected with corresponding ends of corresponding damping springs respectively, the other ends of the damping springs are fixedly connected with one ends of linear slider seats at corresponding positions respectively, linear sliders are arranged on the upper end faces of the linear slider seats, the upper end faces of the two linear sliders are clamped on corresponding positions of a linear guide rail in the length direction, a movable interval is reserved between the two linear sliders, the upper end of the linear guide rail is fixedly connected with the lower end face of the steering wheel mounting plate, the bottom of each linear slider seat is pivoted with one end of a corresponding damping connecting rod, and the other end of the damping connecting rod is pivoted with a damping connecting rod fixing seat, the shock absorption connecting rod fixing seat is fixedly arranged on the upper end face of the rotary connecting ring.
6. An AGV with precision damped steering wheel according to claim 5 wherein: the connecting piece of the pivoting part is in particular of a fixed pin structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920528671.3U CN210258627U (en) | 2019-04-18 | 2019-04-18 | AGV dolly with accurate shock attenuation steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920528671.3U CN210258627U (en) | 2019-04-18 | 2019-04-18 | AGV dolly with accurate shock attenuation steering wheel |
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| Publication Number | Publication Date |
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| CN210258627U true CN210258627U (en) | 2020-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920528671.3U Active CN210258627U (en) | 2019-04-18 | 2019-04-18 | AGV dolly with accurate shock attenuation steering wheel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878597A (en) * | 2019-04-18 | 2019-06-14 | 浙江大学昆山创新中心 | A kind of AGV trolley with accurate damping steering wheel |
| JP7400775B2 (en) | 2021-05-27 | 2023-12-19 | 村田機械株式会社 | ceiling transport vehicle |
-
2019
- 2019-04-18 CN CN201920528671.3U patent/CN210258627U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878597A (en) * | 2019-04-18 | 2019-06-14 | 浙江大学昆山创新中心 | A kind of AGV trolley with accurate damping steering wheel |
| JP7400775B2 (en) | 2021-05-27 | 2023-12-19 | 村田機械株式会社 | ceiling transport vehicle |
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