CN210819630U - A jump barrier shock attenuation frame for AGV carries vehicle robot - Google Patents
A jump barrier shock attenuation frame for AGV carries vehicle robot Download PDFInfo
- Publication number
- CN210819630U CN210819630U CN201921747882.2U CN201921747882U CN210819630U CN 210819630 U CN210819630 U CN 210819630U CN 201921747882 U CN201921747882 U CN 201921747882U CN 210819630 U CN210819630 U CN 210819630U
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- China
- Prior art keywords
- electric push
- push rod
- groove
- rod
- frame body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/02—Understructures, i.e. chassis frame on which a vehicle body may be mounted comprising longitudinally or transversely arranged frame members
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
Abstract
The utility model belongs to the technical field of AGV garage carries car equipment manufacturing, a jump barrier shock attenuation frame that is used for AGV to carry car robot is related to, including having frame body, electric push rod and the support body of rod that is used for the bearing and loads the mobile unit, the major structure of frame body includes: the utility model provides a car robot is minimum, power supply groove, the internal fixation hole, attitude control module groove, the shaft through-hole, attitude control module groove intermediate lever, the base connecting hole, support rod body connecting hole and electric push rod groove, the frame body is square frame rack structure, two square power supply grooves that hold the battery that distribute around the department is provided with in the centre, be provided with attitude control module groove intermediate lever between two attitude control module grooves placed around, its major structure is simple, the design concept is ingenious, the practicality is good, can install in AGV carries minimum automobile body space of car robot, be suitable for industrial production, application environment is friendly, market prospect is wide.
Description
The technical field is as follows:
the utility model belongs to the technical field of AGV garage carries car equipment manufacturing, a jump barrier shock attenuation frame that is used for AGV to carry car robot is related to, make AGV carry car robot also can accomplish smoothly on uneven road surface and carry the car operation.
Background art:
since birth of the AGV, the AGV is increasingly popularized due to the advantages of full automation, labor and cost saving, high efficiency and the like, and the shadow of the AGV can be seen from factory production to automatic transportation in a goods yard. However, because the threshold of the system layout is relatively high, the primary key of the whole system set is to level the working ground, in recent years, products adopting balance control become more mature (such as single-wheel or double-wheel electric balance cars, multi-shaft aircrafts and aircrafts), and attitude controllers commonly used in multi-shaft aircrafts are combined with the conventional AGVs and assisted by related mechanical structures and electronic components, so that the self-balancing active obstacle crossing backpack AGVs are created. In the traditional AGV car loading robot, the car body adopts various necessary mechanical structures arranged on the basis of a whole outer frame, for example, various devices are arranged on each surface and the inner surface of a box, a very simple shock absorption structure is not arranged or arranged between wheels and the car body, the vibration of the AGV operation is mainly absorbed by the wheels, the car body adopts a group or a plurality of groups of electric and hydraulic lifting platforms or directly bears goods, the wheels adopt a plurality of electric driving universal single wheel assemblies, and a plurality of unpowered universal wheels jointly bear the car body. Or a plurality of omnidirectional wheels with power mechanisms are adopted to jointly bear the vehicle body, the AGV vehicle-carrying robot has very high requirements on the flatness, the roughness and the cleanliness of the ground, and the traditional AGV has a passive shock-absorbing design, has a very small shock-absorbing stroke amount and is sensitive to the bumping of the road surface, so that the traditional AGV cannot normally work when the road surface protrudes or dents about 1cm in the traveling route direction; simultaneously the lift platform that traditional AGV adopted carries cargo structure, this structure is highly promoted greatly to the focus of whole car, when bearing big end area goods, lift platform and the contact of goods face are less, at accelerating speed and slowing down of high-speed travel, or when ground has not produce jolting unevenly, its whole car security, stability is relatively poor, and simultaneously, traditional AGV can't guarantee holistic safety on the road surface that has the certain slope, perhaps can't move at all, consequently, relate to a jump barrier shock attenuation frame that is used for AGV to carry car robot.
The utility model has the following contents:
an object of the utility model is to overcome the shortcoming that prior art exists, seek one kind and be used for AGV to carry car robot jump and hinder shock attenuation frame, can overcome current AGV and carry car robot and can only carry out the operation on very level and smooth road surface and can't jump the defect of hindering, can realize automatic jumping and hinder and the shock attenuation when the road surface of unevenness carries the operation.
In order to achieve the above object, the utility model relates to a major structure that is used for AGV to carry car robot to jump barrier shock attenuation frame is including the frame body, the electric putter and the support rod body that are used for the bearing and load the mobile unit, the major structure of frame body includes: the motorcycle frame comprises a power supply groove intermediate rod, a power supply groove, an internal fixing hole, a posture control module groove, a wheel axle through hole, a posture control module groove intermediate rod, a base connecting hole, a support rod body connecting hole and an electric push rod groove, wherein the frame body is of a square frame type structure, two square power supply grooves for containing batteries are arranged in the middle of the frame body in a front-back distribution mode, the power supply groove intermediate rod for spacing and fixing a power supply is arranged in the middle of the power supply groove so as to prevent the power supply from contacting and colliding, the safety is improved, two posture control module grooves which are arranged in the front-back mode are respectively arranged on the left side and the right side of the power supply groove so as to place and adjust and control a posture control module in the advancing direction of a wheel, the posture control module groove intermediate rod is arranged between the two posture control module grooves which are; an inner fixing hole for installing and fixing the attitude control module is formed in one end, close to the power supply groove, of the groove body of the attitude control module groove, a forehead wheel shaft through hole for installing a wheel shaft is formed in the groove body on the outer side of the attitude control module groove, electric push rod grooves for installing an electric push rod and a support rod body are respectively formed in the outer sides of the four attitude control module grooves, and the electric push rod grooves are respectively located at the front edge and the rear edge of the frame body and are respectively located at the two ends of the front edge and the rear edge; a base connecting hole for connecting the electric push rod is formed in the outer edge of the electric push rod groove, the base connecting hole is located at one end, close to the power supply groove, of the electric push rod groove, and a supporting rod body is arranged at the inclined lower end of the base connecting hole; the support rod body for connecting the wheel axle and the electric push rod is positioned in the electric push rod groove and close to the attitude control module groove, and the main structure of the support rod body comprises: the left side of the rod head is of a smooth section structure or an arc-shaped structure protruding towards the front side so as to flexibly rotate in the electric push rod groove and avoid being contacted with a frame body, the middle of the front side of the rod head is provided with a rod head through hole for being fixedly connected with a wheel shaft in a penetrating way, the rod tail is arranged at the left end of the support rod body and is integrally connected with the rod body part in the middle of the support rod body, the right side of the rod tail is of a polygonal structure or an arc-shaped structure with the number of edges protruding towards the rear side being more than 5 so as to flexibly rotate in the electric push rod groove and avoid being contacted with the electric push rod groove, the middle of the front side of the rod tail is provided with a rod tail through hole for being connected with the electric push rod groove rotating shaft in a penetrating way, and the rod tail through hole is connected with the support rod body rotating shaft, when the levelness of the frame body is adjusted, the support rod body can rotate around a rotating shaft of the through hole at the tail of the connecting rod, an electric push rod for actively pushing the frame body and adjusting the levelness of the frame body is further arranged in the electric push rod groove, the electric push rod is positioned on the outer side of the support rod body, a driving motor is connected with the rear side of the right end of the electric push rod in a rotating shaft mode, the other end of the driving motor which is horizontally arranged is fixedly connected with the frame body, when the electric push rod is in telescopic operation, the driving motor provides power for the electric push rod and further drives the frame body to move up and down to adjust the levelness of the frame body, a pair of connecting bases is fixedly arranged on the right end of the electric push rod, the connecting bases are connected with the rotating shaft at the edge of the electric push rod groove, when the right end of the electric push rod is in telescopic operation and rotates, the connecting bases can rotate around, the left end of the fixed end is provided with a front end rotating shaft through hole for connecting a front end rotating shaft, the left end of the front end rotating shaft is fixedly connected with the outer side of the supporting rod body, and the front end of the front end rotating shaft is in rotating shaft type connection with the front end rotating shaft through hole so as to enable the electric push rod to rotate around the front end rotating shaft; be provided with on the electric putter and be used for measuring frame body terrain clearance's induction system (not shown in the drawing), start-stop and flexible stroke for measuring whether the frame body is in horizontal position and control electric putter, AGV carries vehicle robot when the operation of non-smooth road surface, the induction system of the electric push rod near arbitrary wheel is sensing the frame body and taking place the slope, when terrain clearance changes, induction system in time control corresponding electric push rod stretches out and draws back, adjust distance and height between wheel and the frame body, in order to guarantee that the frame body is in horizontal position all the time, in order to prevent to take place to jolt, guarantee that AGV carries vehicle robot also can remain the level all the time and steadily move ahead when non-smooth road surface.
Wherein the sensing device is a commercially available laser range finder.
Further, the four corners department of frame body all be provided with plane or cambered surface structure's corner cut to overcome the defect that the closed angle structure easily caused the damage.
Further, be close to frame body of corner cut department on be provided with square or circular shape through-hole structure's upper cover fixed orifices for installation and fixed AGV carry the upper cover of car robot.
Further, electric push rod select for use L shape electric push rod on the market.
Further, the electric push rod is placed in a manner that the left end and the right end are inclined upwards, and the inclination angle is 8-20 degrees so as to facilitate the pushing of the frame body to move upwards by the rear end.
Further, power supply groove intermediate lever can set up 0 or 1 or many according to the shape and the quantity of power, when adopting an integral structure's power, then set up 0 power supply groove intermediate lever.
Compared with the prior art, the utility model, what set up on the frame body
Adopt the support body of rod to realize the connection of electric push rod and frame, the regulation to the frame levelness in real time of frame through the electric push rod has improved the AGV and has carried the ability that the car robot adapted to the road surface, when the operation is carried out on the non-smooth road surface, can make the frame remain the level all the time through induction system and electric push rod's cooperation, its major structure is simple, the design concept is ingenious, the practicality is good, can install in the AGV carries the minimum automobile body space of car robot, be suitable for industrial production, application environment is friendly, market prospect is wide.
Description of the drawings:
fig. 1 is a schematic diagram of the main structure principle of the present invention.
Fig. 2 is a schematic view of the main structure of the support rod and the electric push rod according to the present invention.
The specific implementation mode is as follows:
the present invention will be further explained with reference to the drawings and examples.
Example 1:
the main structure of the obstacle-jumping damping frame for the AGV car loading robot comprises a frame body 1 for bearing and loading vehicle-mounted equipment, an electric push rod 2 and a support rod body 14, wherein the main structure of the frame body 1 comprises: the vehicle frame comprises a power supply groove intermediate rod 3, a power supply groove 4, an internal fixing hole 5, a posture control module groove 6, a wheel axle through hole 7, a posture control module groove intermediate rod 8, a base connecting hole 11, a support rod body connecting hole 12 and an electric push rod groove 13, wherein the vehicle frame body 1 is of a square frame type structure, the middle part of the vehicle frame body is provided with two square power supply grooves 4 which are distributed front and back and are used for containing batteries, the middle part of the power supply groove is provided with the power supply groove intermediate rod 3 which is used for spacing and fixing power supplies so as to prevent the power supplies from contacting and colliding, the safety is improved, the left side and the right side of the power supply groove 4 are respectively provided with two posture control module grooves 6 which are placed front and back and are used for placing posture control modules for adjusting and controlling the traveling direction of the vehicle wheels, the posture control module groove, so as to be convenient for disassembly and assembly and avoid the disorder of the line; an inner fixing hole 5 for mounting and fixing the attitude control module is formed in one end, close to the power supply groove 4, of the groove body of the attitude control module groove 6, a forehead wheel shaft through hole 7 for mounting a wheel shaft is formed in the groove body on the outer side of the attitude control module groove 6, electric push rod grooves 13 for mounting an electric push rod 2 and a support rod body 14 are respectively formed in the outer sides of the four attitude control module grooves 6, and the electric push rod grooves 13 are respectively located at the front edge and the rear edge of the frame body 1 and are respectively located at two ends of the front edge and the rear edge; a base connecting hole 11 for connecting an electric push rod is formed in the outer edge of the electric push rod groove 13, the base connecting hole 11 is located at one end, close to the power supply groove 4, of the electric push rod groove 13, and a support rod body 14 for mounting is arranged at the lower inclined end of the base connecting hole 11; the support rod 14 for connecting the wheel axle and the electric push rod 2 is located in the electric push rod groove 13 and close to the attitude control module groove 6, and the main structure thereof comprises: a head through hole 15, a head 16, a tail 17 and a tail through hole 18, wherein the head 16 is located at the left end of the support rod 14 and is integrally connected with the middle rod body part of the support rod 14, the left side of the head 16 is of a smooth cross-section structure or a circular arc-shaped structure protruding to the front side so as to flexibly rotate in the electric push rod groove 13 and avoid being touched with the frame body 1, the head through hole 15 for fixedly connecting with a wheel axle is penetratingly formed at the middle of the front side of the head 16, the tail 17 is located at the left end of the support rod 14 and is integrally connected with the middle rod body part of the support rod 14, the right side of the tail 17 is of a polygonal structure or a circular arc-shaped structure with the number of edges protruding to the rear side being more than 5 so as to flexibly rotate in the electric push rod groove 13 and avoid being touched with the electric push rod groove 13, the tail through hole 18 for rotatably connecting with the electric push rod groove 13 is penetratingly formed at the middle of the front side of the tail 17, the rod tail through hole 18 is connected with the support rod body connecting hole 12 in a rotating shaft manner, when the levelness of the frame body 1 is adjusted, the support rod body 14 can rotate around the rotating shaft of the connection rod tail through hole 18, the electric push rod groove 13 is also internally provided with an electric push rod 2 which is used for actively pushing the frame body 1 and adjusting the levelness of the frame body 1, the electric push rod 2 is positioned at the outer side of the support rod body 14, the rear side of the right end of the electric push rod 2 is connected with a driving motor 19 in a rotating shaft manner, the other end of the driving motor 19 which is horizontally arranged is fixedly connected with the frame body 1, when the electric push rod 2 is in telescopic operation, the driving motor 19 provides power for the electric push rod and further drives the frame body 1 to move up and down to adjust the levelness of the frame body 1, the right end of the electric push rod 2 is fixedly provided with a pair of connection bases 20, and the connection, when the right end of the electric push rod 2 is in telescopic operation and rotates, the electric push rod can rotate around a rotating shaft connected with the connecting base 20, a cylindrical fixed end 22 is fixedly arranged at the left end of the electric push rod 2, a front-end rotating shaft through hole 23 used for being connected with a front-end rotating shaft 24 is formed in the left end of the fixed end 22, the left end of the front-end rotating shaft 24 is fixedly connected with the outer side of the supporting rod body 14, and the front end of the front-end rotating shaft 24 is in rotating shaft connection with the front-end rotating shaft through hole 23 so that the electric push rod 2 can rotate around the front-end rotating shaft 24; be provided with on electric putter 2 and be used for measuring the induction system (not shown in the drawing) of frame body 1 terrain clearance for measure whether frame body 1 is in horizontal position and control electric putter's start-stop and flexible stroke, AGV carries car robot when the operation of non-smooth road surface, induction system when being close to electric putter 2 of arbitrary wheel is sensing frame body 1 and taking place the slope, when terrain clearance changes, induction system in time control corresponds electric putter 2 and stretches out and draws back, adjust distance and height between wheel and the frame body 1, with guarantee that frame body 1 is in horizontal position all the time, in order to prevent jolting, guarantee to carry that car robot also can remain the level all the time and steadily move ahead when non-smooth road surface.
Further, the four corners of the frame body 1 of the present embodiment are provided with the chamfers 10 of a planar or arc structure, so as to overcome the defect that a sharp corner structure is easy to damage.
Further, the frame body 1 near the corner cut 10 is provided with an upper cover fixing hole 9 of a square or round through hole structure for installing and fixing an upper cover of the AGV vehicle loading robot.
Further, the electric push rod 2 described in this embodiment is a commercially available L-shaped electric push rod.
Further, in this embodiment, the electric push rod 2 is disposed to incline upward from the left end to the right end, and the inclination angle is 8-20 degrees so as to push the frame body 1 to move upward from the rear end.
Further, the power supply slot middle rods 3 of the present embodiment can be provided with 0 or 1 or more power supply slots according to the shape and number of power supplies, and when a power supply with an integral structure is adopted, 0 power supply slot middle rods 3 are provided.
Claims (5)
1. The utility model provides a jump barrier shock attenuation frame for AGV carries vehicle robot, its characterized in that its major structure includes frame body, electric putter and the support rod body for the bearing and load the mobile unit, and the major structure of frame body includes: the frame body is of a square frame type structure, two square power supply grooves for containing batteries are arranged in the middle of the frame body, a power supply groove middle rod for spacing and fixing a power supply is arranged in the middle of the power supply groove, two posture control module grooves which are arranged in the front and back of the power supply groove are respectively arranged on the left side and the right side of the power supply groove, and a posture control module groove middle rod is arranged between the two posture control module grooves which are arranged in the front and back of the power supply groove; an inner fixing hole for installing and fixing the attitude control module is arranged at one end, close to the power supply groove, of the groove body of the attitude control module groove, a forehead wheel shaft through hole for installing a wheel shaft is formed in the groove body on the outer side of the attitude control module groove, electric push rod grooves for installing an electric push rod and a support rod body are respectively arranged at the outer sides of the four attitude control module grooves, and the electric push rod grooves are respectively positioned at the front edge and the rear edge of the frame body and are respectively positioned at the two ends of the front edge and the rear edge; a base connecting hole for connecting the electric push rod is arranged at the outer edge of the electric push rod groove, the base connecting hole is positioned at one end, close to the power supply groove, of the electric push rod groove, and a support rod body is arranged at the inclined lower end of the base connecting hole; the support rod body for connecting the wheel axle and the electric push rod is positioned in the electric push rod groove and close to the attitude control module groove, and the main structure of the support rod body comprises: the left side of the rod head is of a smooth section structure or a circular arc-shaped structure protruding towards the front side, the middle of the front side of the rod head is provided with a rod head through hole for fixedly connecting with a wheel axle in a penetrating way, the rod tail is arranged at the left end of the supporting rod body and is connected with the rod body part in the middle of the supporting rod body in an integrated way, the right side of the rod tail is of a polygonal structure or a circular arc-shaped structure with the number of edges protruding towards the rear side being more than 5, the middle of the front side of the rod tail is provided with a rod tail through hole for connecting with a groove rotating shaft of an electric push rod in a penetrating way, the rod tail through hole is connected with a connecting hole rotating shaft of the supporting rod body in a rotating way, an electric push rod for actively pushing the frame body and adjusting the levelness of the frame body is further arranged in an electric push rod groove, and the electric push rod is arranged at the outer side of the supporting rod body, the rear side of the right end of the electric push rod is connected with a driving motor in a rotating shaft mode, the other end of the driving motor which is horizontally placed is fixedly connected with the frame body, the right end of the electric push rod is fixedly provided with a pair of connecting bases, the connecting bases are connected with the rotating shaft mode at the edge of the groove of the electric push rod, the left end of the electric push rod is fixedly provided with a cylindrical fixing end head, the left end of the fixing end head is provided with a front end rotating shaft through hole used for connecting a front end rotating shaft, the left end of the front end rotating shaft is fixedly connected with the outer side of the supporting rod body, and the front end of the front end rotating; the electric push rod is provided with a sensing device for measuring the height of the frame body above the ground.
2. The obstacle jump damping frame for the AGV car loading robot according to claim 1, wherein the four corners of the frame body are provided with cut corners of a plane or cambered surface structure.
3. The obstacle-jumping damping frame for the AGV car-loading robot as claimed in claim 1, wherein the frame body near the corner is provided with an upper cover fixing hole of a square or round through hole structure.
4. The obstacle jump damping frame for the AGV car carrying robot as claimed in claim 1, wherein the electric push rod is a commercially available L-shaped electric push rod.
5. The obstacle-jumping damping frame for the AGV car-loading robot as claimed in claim 1, wherein the electric push rod is disposed to be inclined upward from the left end to the right end, and the inclination angle is 8-20 degrees.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018222462853 | 2018-12-29 | ||
| CN201822246285 | 2018-12-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210819630U true CN210819630U (en) | 2020-06-23 |
Family
ID=69269272
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910990834.4A Withdrawn CN110733058A (en) | 2018-12-29 | 2019-10-18 | obstacle-jumping shock-absorbing frame for AGV vehicle-carrying robot |
| CN201921747882.2U Active CN210819630U (en) | 2018-12-29 | 2019-10-18 | A jump barrier shock attenuation frame for AGV carries vehicle robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910990834.4A Withdrawn CN110733058A (en) | 2018-12-29 | 2019-10-18 | obstacle-jumping shock-absorbing frame for AGV vehicle-carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN110733058A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210154007A (en) * | 2020-06-11 | 2021-12-20 | 현대자동차주식회사 | Movable Object |
-
2019
- 2019-10-18 CN CN201910990834.4A patent/CN110733058A/en not_active Withdrawn
- 2019-10-18 CN CN201921747882.2U patent/CN210819630U/en active Active
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| CN110733058A (en) | 2020-01-31 |
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