CN210942033U

CN210942033U - AGV dolly

Info

Publication number: CN210942033U
Application number: CN201921235732.3U
Authority: CN
Inventors: 史中伟; 史正; 金尧
Original assignee: Hangzhou Zhongya Machinery Co Ltd
Current assignee: Hangzhou Zhongya Machinery Co Ltd
Priority date: 2019-08-01
Filing date: 2019-08-01
Publication date: 2020-07-07
Anticipated expiration: 2029-08-01

Abstract

The utility model discloses a AGV dolly, AGV dolly are equipped with bottom plate, auxiliary wheel and drive arrangement all install on the bottom plate, drive arrangement is including hanging part, servo motor and drive wheel are all installed on hanging the part, and it includes mounting bracket, supporting seat, buffering subassembly to hang the part, the supporting seat is installed on the mounting bracket with the sliding mode, the mounting bracket is fixed on the bottom plate, the buffering subassembly is fixed on the mounting bracket. The AGV trolley driving device has the advantages that the suspension component of the AGV trolley driving device is based on the design idea of bearing requirements, the driving device obtains the characteristics of having a bearing structure, supporting force can be directly provided for the whole AGV after the AGV trolley driving device is used, and then larger downward pressure is obtained for the driving wheel, so that the problem that the driving wheel slips is solved.

Description

AGV dolly

Technical Field

The utility model relates to a drive arrangement on AGV dolly.

Background

AGV carts are equipped with electromagnetic or optical automatic guides, can travel along a predetermined guide path, and are widely used in the modern industrial field as transportation vehicles having safety protection and various transfer functions. The AGV trolley can move based on the structure that the AGV trolley is provided with a complete driving system, and the driving system comprises a bottom plate, auxiliary wheels and a driving device. The bottom of the bottom plate is provided with four auxiliary wheels, the auxiliary wheels are in unpowered drive, and each auxiliary wheel can rotate freely without limitation on direction. The driving device comprises a suspension part, a servo motor and a driving wheel, wherein the suspension part comprises a supporting seat, a swing arm and a support. The support is fixedly installed on the bottom plate, one end of the swing arm is movably installed on the support, and the swing arm can swing in a vertical plane relative to the support, namely the swing arm can swing relative to the bottom plate. The servo motor and the driving wheel are arranged on the supporting seat, the servo motor can drive the driving wheel to rotate, the rotating direction can be changed, and the rotating speed can be adjusted. The supporting seat is fixed at the other end of the swing arm. The AGV comprises a base plate, a driving device, a driving wheel, a driving device and a driving device, wherein the base plate is provided with two driving devices, the two driving devices are respectively arranged at two sides of the AGV and are controlled by the left mark and the right mark, the driving wheels on the two driving devices run at the same speed, the AGV can move forwards and backwards, and when the driving wheels on the two driving devices run at different speeds, the AGV can move leftwards, rightwards and rotate in place. Thus, the drive means not only provides power but also performs the redirecting component.

In the prior art, the functions contributed by the swing arms and the supports on the driving device are buffering functions, the driving wheels naturally make up-and-down motion when the swing arms swing, a good buffering function can be displayed when the driving wheels pass through obstacles, and the buffering function can bring the technical effect of keeping the whole AGV stable for the whole AGV.

The drive contributes very little to the load-bearing function of the AGV cart.

The load bearing of the AGV car benefits from the support provided by the auxiliary wheels. The drive does not have a structure that performs the load-bearing function of the AGV, and the down force required to establish a frictional connection between the drive and the ground comes entirely from the weight of the drive itself, not the weight of other components on the AGV and the weight of the load. The greater the downforce, the more positively influenced the degree of frictional connection that can be established between the drive wheel and the ground, i.e. the greater the downforce, the greater the frictional force that can be obtained, which downforce is generally derived from gravity. No matter other parts except the driving device on the AGV trolley are multiple, and the goods borne by the AGV trolley are multiple, the friction force between the driving device and the ground cannot be changed. Therefore, in the prior art, the driving wheel of the driving device is easy to slip with the ground, especially when the AGV bears a heavy object. In addition, if the swing arm and the bracket are clamped when passing through the obstacle, the driving wheel can be suspended, and the AGV trolley can deflect or stop moving.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is how to avoid drive wheel and ground to skid, obtain an AGV dolly from this.

In order to solve the technical problem, the utility model adopts the following technical scheme: the AGV trolley is provided with a bottom plate, auxiliary wheels and a driving device, the auxiliary wheels and the driving device are arranged on the bottom plate, the driving device comprises a suspension part, a servo motor and a driving wheel, the servo motor and the driving wheel are arranged on the suspension part, the suspension part comprises a mounting frame, a supporting seat and a buffering assembly, the supporting seat is arranged on the mounting frame in a sliding mode, the mounting frame is fixed on the bottom plate, the buffering assembly is fixed on the mounting frame, two guide units are arranged on the mounting frame and symmetrically distributed on the mounting frame, any one guide unit comprises a first guide groove and a second guide groove, the orientation of the first guide groove is vertical to the orientation of the second guide groove, the orientation of the first guide groove of one guide unit is opposite to that of the first guide groove of the other guide unit and the orientation of the first guide grooves of the two guide units, the orientations of the second guide grooves of the two guide units are parallel and the same, the support seat is provided with two guide units, the two guide units are symmetrically distributed on the support seat, any one guide unit comprises a first ball bearing and a second ball bearing, the axial lead of the first ball bearing is perpendicular to the axial lead of the second ball bearing, the extension direction of the axial lead of the first ball bearing of one guide unit is opposite to the extension direction of the axial lead of the first ball bearing of the other guide unit, the axial leads of the first ball bearings of the two guide units are superposed, the extension directions of the axial leads of the second ball bearings of the two guide units are parallel and the same, the first ball bearing is embedded in the first guide groove, the second ball bearing is embedded in the second guide groove, the support seat is positioned between the two guide units, the buffer component comprises a spring, the one end of spring is connected with the middle part of supporting seat, the other end and the mounting bracket of spring are connected, be equipped with on the supporting seat and carry the thing position, it is located between two guided units to carry the thing position, servo motor and drive wheel are installed on carrying the thing position.

The servo motor and the driving wheel are arranged on the carrying part of the supporting seat. Because the suspension part in this technical scheme has bearing capacity, so can directly fix the mounting bracket on the bottom plate of AGV dolly during the use, like this, the drive wheel is born a burden task with the auxiliary wheel is the same. The pressure applied to the mounting frame is transmitted to the supporting seat through the buffer component and finally acts on the driving wheel, so that the pre-pressure is provided for the driving wheel through the suspension component, and the pre-pressure is increased along with the increase of the load. Even under no load conditions, the degree of connection that the drive wheel establishes with the ground is still far greater than the degree of connection that prior art suspension components based on swing arm structures can provide.

The guided unit sets up based on ball bearing, and ball bearing can be at the guiding groove internal rotation, has avoided guided unit and mount to take place the condition of sliding friction in guiding groove department, is favorable to the supporting seat to be linear motion freely on the mounting bracket. In actual work, the supporting seat makes linear reciprocating motion in the vertical direction on the mounting frame. When the driving wheel meets an obstacle, the driving wheel is only subjected to an oblique force on one side of the driving wheel. The direction of the acting force is intersected with the moving direction of the supporting seat on the mounting frame, the ball bearing can rotate, the matching gap inside the ball bearing and the matching gap of the ball bearing and the guide groove can realize that the most front guided unit (taking the advancing direction of the AGV trolley as a reference basis) responds firstly, and then the other guided unit of the supporting seat follows. The guided unit not only can guarantee that the supporting seat slides freely on the mounting bracket based on the ball bearing arrangement, but also can guarantee that the supporting seat can respond smoothly after receiving the effort in the non-vertical direction, and the condition that the supporting seat is blocked with the mounting bracket is avoided.

In order to clamp the supporting seat and the mounting frame, the spring is arranged at a specific position, namely one end of the spring is connected with the middle part of the supporting seat, the other end of the spring is connected with the mounting frame, and the position of the supporting seat, which is acted by the spring, is always located in the middle of the supporting seat instead of two ends of the supporting seat or other positions deviating from the middle part of the supporting seat.

The guide structure formed by the guide unit and the guided unit is functionally independent from the buffer assembly, namely the guide structure is only responsible for the guide function, and the buffer assembly is only responsible for the buffer function. The function is independent and the structure is independent, is favorable to simplifying the structure, improves the stability that hangs the part operation.

The structural features of the ball bearing itself, the fitting clearance inside the ball bearing, and the fitting clearance between the ball bearing and the guide groove, which are rotatable, can play a positive role in the initial stage of response to an obstacle, but it is necessary to suppress the minute amount of play caused by the structural features in the buffer stage after the spring is compressed. For this reason, the buffer assembly further comprises a guide pillar, a sliding sleeve and a connecting frame, the guide pillar is fixedly installed on the supporting seat and provided with an inner cavity, one end of the spring extends into the inner cavity of the guide pillar, the sliding sleeve is fixed on the mounting frame, the guide pillar is in sliding connection with the sliding sleeve, the connecting frame is fixed on the mounting frame, and the other end of the spring is connected with the mounting frame. Buffering stage, the quantity of guide pillar embedding in the sliding sleeve sharply increases, and the guide pillar receives the restriction effect that comes from the sliding sleeve more, from this through the guide pillar with the quantity that the sliding sleeve inlayed mutually restrain the trace and rock.

In order to ensure that the stress of the suspension component is balanced after the suspension component is installed on the bottom plate, connecting ends are arranged on two sides of the installation frame. The connecting end is fixedly connected with the bottom plate during installation.

The utility model adopts the above technical scheme: the AGV trolley driving device has the advantages that the suspension component of the AGV trolley driving device is based on the design idea of bearing requirements, the driving device obtains the characteristics of having a bearing structure, supporting force can be directly provided for the whole AGV after the AGV trolley driving device is used, and then larger downward pressure is obtained for the driving wheel, so that the problem that the driving wheel slips is solved.

Drawings

The present invention will be further described with reference to the accompanying drawings and the following detailed description.

FIG. 1 is an assembly schematic of the suspension components of a AGV drive assembly of the present invention;

FIG. 2 is a schematic structural diagram of a suspension member of a AGV drive apparatus according to the present invention;

fig. 3 is the utility model discloses a drive arrangement's of AGV dolly structural schematic diagram.

Detailed Description

The driving system of the AGV comprises a bottom plate, auxiliary wheels and a driving device. The bottom of the bottom plate is provided with four auxiliary wheels, the auxiliary wheels are in unpowered drive, and each auxiliary wheel can rotate freely without limitation on direction. Two sides of the bottom plate are respectively provided with a driving device, as shown in fig. 3, each driving device comprises a suspension component, a servo motor 1 and a driving wheel 2. The servo motor 1 and the driving wheel 2 are installed on the suspension part, and the servo motor 1 drives the driving wheel 2 to rotate after being electrified. As shown in fig. 1 and 2, the suspension component comprises a mounting frame 3, a supporting seat 4 and a buffering assembly.

The mounting frame 3 is n-shaped as a whole and is formed by combining three straight parts, and the straight parts on two sides are perpendicular to the straight part in the middle. Both sides of the mounting frame 3 are provided with guide units which are of a straight groove structure, and the two guide units are symmetrically distributed on the mounting frame 3. Each guide unit comprises a first guide groove 5 and a second guide groove 6, and the cross sections of the space occupied by the first guide groove and the space occupied by the second guide groove are rectangular; the opening orientation of the first guide groove 5 is vertical to the opening orientation of the second guide groove 6; between the two guide units, the first guide slot 5 of one guide unit and the first guide slot 5 of the other guide unit are in opposite position, the first guide slots 5 of the two guide units are opposite in orientation, and the second guide slots 6 of the two guide units are parallel and same in orientation. A connecting end 7 is arranged on each of the two sides of the mounting frame 3, the two connecting ends 7 are identical in structure and are symmetrically distributed on the mounting frame 3, and the connecting ends 7 are used for being connected with the bottom plate.

The support 4 is mounted in a sliding manner on the mounting frame 3. Two sides of the supporting seat 4 are distributed with a guide unit, and the two guide units are symmetrically distributed on the supporting seat 4. Each guide unit comprises a first ball bearing 8 and a second ball bearing 9, and the first ball bearing 8 and the second ball bearing 9 can freely rotate after being stressed; the axial lead of the first ball bearing 8 is vertical to the axial lead of the second ball bearing 9; between the two guide units, the extending direction of the shaft axis of the first ball bearing 8 of one guide unit is opposite to the extending direction of the shaft axis of the first ball bearing 8 of the other guide unit, the shaft axes of the first ball bearings 8 of the two guide units are overlapped, and the extending directions of the shaft axes of the second ball bearings 9 of the two guide units are parallel and same. When the mounting bracket is mounted, the first ball bearing 8 is embedded in the first guide groove 5, the second ball bearing 9 is embedded in the second guide groove 6, and the support seat 4 is positioned between the two guide units, so that the movable connection relationship is established between the support seat 4 and the mounting bracket 3. The support 4 can reciprocate linearly on the mounting frame 3. The middle part of the supporting seat 4 is provided with a through hole for conveniently installing the servo motor 1 and the driving wheel 2, the through hole is a loading part 10 of the supporting seat 4, and the loading part 10 is positioned between the two guided units.

The buffer assembly comprises a guide post 11, a sliding sleeve 12, a spring 13 and a connecting frame 14. The connecting frame 14 is also n-shaped as a whole and is formed by combining three straight portions, and the straight portions on both sides are perpendicular to the straight portion in the middle. The connecting frame 14 is fixed to the mounting frame 3. The sliding sleeve 12 is fixed on the mounting frame 3 and is located in the middle of the mounting frame 3, and the guide post 11 is installed on the supporting seat 4 and is located in the middle of the silent supporting seat 4. An inner cavity of a blind hole structure is arranged in the guide pillar 11, the inner cavity is cylindrical, and only one opening is formed in the inner cavity; the central line of the inner cavity coincides with the central line of the guide post 11. One end of the spring 13 extends into the cavity of the guide post 11, and the other end of the spring 13 is located outside the guide post 11. When the device is installed, the guide post 11 extends into the sliding sleeve 12, and the other end of the spring 13 contacts the connecting frame 14 and presses the connecting frame 14 to establish a connecting relationship. For a better connection, a bolt is provided in the middle of the connecting frame 14, which bolt projects into the spring 13. The guide post 11 can slide in the sliding sleeve 12, and the sliding direction of the guide post 11 is parallel to the moving direction of the support seat 4 on the mounting frame 3.

During assembly, the servo motor 1 and the driving wheel 2 are arranged on the object carrying part 10 of the supporting seat 4, and the connecting end 7 of the mounting frame 3 is fixed on the bottom plate. The bottom plate distributes the load of the whole vehicle to the driving device, and finally, the load acts on the lower driving wheel 2, and the driving wheel 2 is pressed downwards to be in closer contact with the ground. The suspension member can bear weight and improve the contact of the driving wheel 2 with the ground by bearing weight. The expansion and contraction of the buffer assembly allows the support base 4 to slide linearly on the mounting frame 3, thereby dealing with various obstacles on the road encountered by the driving wheel 2.

Claims

1. The utility model provides a AGV dolly, the AGV dolly is equipped with bottom plate, auxiliary wheel and drive arrangement all install on the bottom plate, drive arrangement is including hanging part, servo motor (1) and drive wheel (2) are all installed on hanging part, its characterized in that: the suspension component comprises a mounting frame (3), a supporting seat (4) and a buffering assembly, the supporting seat (4) is installed on the mounting frame (3) in a sliding mode, the mounting frame (3) is fixed on a bottom plate, the buffering assembly is fixed on the mounting frame (3), two guiding units are arranged on the mounting frame (3), the two guiding units are symmetrically distributed on the mounting frame (3), any one guiding unit comprises a first guiding groove (5) and a second guiding groove (6), the direction of the first guiding groove (5) is perpendicular to the direction of the second guiding groove (6), the first guiding groove (5) of one guiding unit is opposite to the first guiding groove (5) of the other guiding unit, the directions of the first guiding grooves (5) of the two guiding units are opposite, and the directions of the second guiding grooves (6) of the two guiding units are parallel and the same, the guide device is characterized in that two guide units are arranged on the supporting seat (4), the two guide units are symmetrically distributed on the supporting seat (4), any one guide unit comprises a first ball bearing (8) and a second ball bearing (9), the axial lead of the first ball bearing (8) is perpendicular to the axial lead of the second ball bearing (9), the extending direction of the axial lead of the first ball bearing (8) of one guide unit is opposite to the extending direction of the axial lead of the first ball bearing (8) of the other guide unit, the axial leads of the first ball bearings (8) of the two guide units are superposed, the extending directions of the axial leads of the second ball bearings (9) of the two guide units are parallel and the same, the first ball bearings (8) are embedded in the first guide grooves (5), the second ball bearings (9) are embedded in the second guide grooves (6), the supporting seat (4) is located between two guiding units, the buffering assembly comprises a spring (13), one end of the spring (13) is connected with the middle part of the supporting seat (4), the other end of the spring (13) is connected with the mounting frame (3), a loading part (10) is arranged on the supporting seat (4), the loading part (10) is located between the two guiding units, and the servo motor (1) and the driving wheel (2) are installed on the loading part (10).

2. The AGV cart of claim 1, further comprising: the buffer assembly further comprises a guide pillar (11), a sliding sleeve (12) and a connecting frame (14), the guide pillar (11) is fixedly installed on the supporting seat (4), the guide pillar (11) is provided with an inner cavity, one end of the spring (13) extends into the inner cavity of the guide pillar (11), the sliding sleeve (12) is fixed on the mounting frame (3), the guide pillar (11) is in sliding connection with the sliding sleeve (12), the connecting frame (14) is fixed on the mounting frame (3), and the other end of the spring (13) is connected with the mounting frame (3).

3. The AGV cart of claim 1, further comprising: the two sides of the mounting rack (3) are provided with connecting ends (7), and the connecting ends (7) are connected with the bottom plate.