CN211364192U - Driving wheel suspension damping mechanism and AGV trolley - Google Patents

Abstract

A driving wheel suspension damping mechanism and an AGV relate to the field of robots. The driving wheel suspension damping mechanism comprises a fixing plate, a wheel support and a first damping unit, wherein the wheel support is used for mounting a driving wheel. The first damping unit comprises a first guide shaft, a first linear bearing matched with the first guide shaft and an elastic piece sleeved on the circumference of the first guide shaft, and two ends of the elastic piece are respectively connected with the wheel bracket and the fixing plate; the first linear bearing is fixedly arranged on the fixing plate, the first guide shaft is provided with a first end and a second end which are opposite, the first end is fixedly connected with the wheel support, the second end penetrates through the fixing plate and the first linear bearing in a sliding mode, and the second end is provided with a limiting part for limiting the first guide shaft to be separated from the linear bearing, so that the wheel support is suspended on the fixing plate. When long-term load operation is guaranteed, rigid friction and abrasion between the driving wheel suspension damping mechanism and the rack are avoided, so that the running route of the AGV trolley is high in precision and long in service life.

Description

Driving wheel suspension damping mechanism and AGV trolley

Technical Field

The application relates to the field of robots, in particular to a driving wheel suspension damping mechanism and an AGV.

Background

In the development of modern industry, high efficiency, rapidness, reliability, and liberation of people from simple work are advocated. The robot gradually replaces people to appear at each work post, the robot has the characteristics of programmability, coordinated operation, sensor control and the like, an Automatic Guided Vehicle (AGV) is one of mobile robots, is important equipment in a modern industrial logistics system, mainly stores and transports various materials, and provides a guarantee important certificate for flexibility, integration and efficient operation of the system.

Although the conventional AGV trolley is provided with a damping structure, in the actual use process, when the AGV trolley runs on an uneven road surface under light load, the phenomena of slipping of a driving wheel and deviation of a track cannot occur, but when the AGV trolley runs under long-time load, the situations of hanging of the driving wheel, slipping, deviation of a running track and the like are easily caused.

SUMMERY OF THE UTILITY MODEL

The application provides a drive wheel hangs damper and AGV dolly to improve above-mentioned problem.

According to the embodiment of the first aspect of the present application, the driving wheel suspension damping mechanism comprises a fixing plate, a wheel bracket for mounting the driving wheel, and a first damping unit.

The first damping unit comprises a first guide shaft, a first linear bearing matched with the first guide shaft and an elastic piece sleeved on the circumferential direction of the first guide shaft; two ends of the elastic piece are respectively connected with or abutted against the wheel bracket and the fixing plate; the first linear bearing is fixedly arranged on the fixing plate, the first guide shaft is provided with a first end and a second end which are opposite, the first end is fixedly connected with the wheel support, the second end penetrates through the fixing plate and the first linear bearing in a sliding mode, and the second end is provided with a limiting part for limiting the first guide shaft to be separated from the linear bearing, so that the wheel support is suspended on the fixing plate.

According to the drive wheel suspension damper of this application embodiment, be suitable for and install in the chassis of AGV dolly, through the setting of first shock attenuation unit, realize that wheel support can float with the fixed plate suspension type and be connected, and then when the road surface unevenness, first guiding axle can slide from top to bottom relative to the fixed plate, effectively carry out the shock attenuation through the setting of spring. And through the setting of first linear bearing, the axis position of having guaranteed first guide post is at the mobility of horizontal direction, and then guarantee long-term load operation, there can not rigid friction and wearing and tearing between drive wheel suspension damper and the fixed plate, even after long-term load operation, meet the road surface and be uneven, jolt under the great condition, under the effect of spring, first guide post produces the position change of vertical direction in first linear bearing all the time, the circumstances such as the skew of drive wheel skid and movement track can not appear, make the operation route precision of AGV dolly high and long service life.

In addition, the driving wheel suspension damping mechanism according to the embodiment of the present application has the following additional technical features:

in combination with the first aspect, in some embodiments shown in the present application, the fixing plate is provided with a step hole, the step hole includes a first step hole and a second step hole which are coaxially communicated, the first step hole is used for being matched with the first guide shaft, the aperture of the second step hole is larger than that of the first step hole, the first linear bearing is partially embedded in the second step hole, and the aperture of the inner ring of the first linear bearing is the same as that of the first step hole.

Through setting up the step hole, can guarantee first linear bearing's installation accuracy on the one hand, on the other hand has certain limiting displacement to first linear bearing, guarantees its stable fixed in fixed plate.

Optionally, the first linear bearing is a flange linear bearing, so as to further prevent the first linear bearing from deviating from the target position in the horizontal direction during long-term operation.

Optionally, the second stepped hole is located on a side of the first stepped hole away from the chassis, and the second end sequentially slides through the fixing plate and the first linear bearing and extends out of the linear bearing.

That is to say, the first linear bearing is located the first step hole and keeps away from one side of chassis, is convenient for accurate installation dismantlement.

In combination with the first aspect, the present application illustrates some embodiments in which the number of the first damping units is at least two, and the at least two first damping units are symmetrically arranged at both ends of the wheel carrier along the driving wheel.

The setting mode of symmetrical arrangement can guarantee that operation in-process wheel support guarantees the level setting, and wheel support atress is even simultaneously, guarantees the stability of drive wheel operation, prevents simultaneously that the drive wheel from hanging to produce rigid friction and wearing and tearing between damper and the fixed plate.

In combination with the first aspect, in some embodiments shown in this application, the driving wheel suspension damping mechanism further includes a second damping unit, the second damping unit includes a second guide shaft and a second linear bearing engaged with the second guide shaft, the second linear bearing is disposed in the wheel support, one end of the second guide shaft is connected to the fixing plate, and the other end of the second guide shaft slides through the second linear bearing and extends out of the wheel support.

The setting of second shock attenuation unit can further improve the stability of AGV dolly operation, improves the shock attenuation effect, reduces the operation in-process, and the wheel support rocks around the direction of advance of drive wheel, leads to the drive wheel to hang and produces rigid friction and wearing and tearing between damper and the fixed plate to and because of the unable fast recovery of spring deformation lead to the drive wheel condition such as skew with the movement track.

It should be noted that, in order to ensure the suspension damping effect, the second guide shaft slides through the second linear bearing and has a gap between the end extending out of the wheel support and the chassis.

Optionally, the number of the second damping units is at least two, and the at least two second damping units are symmetrically arranged at two ends of the wheel bracket along the driving wheel.

Through the setting, the problem that the wheel support rocks from beginning to end along the advancing direction of the driving wheel in the operation process can be further prevented, the damping effect piece is guaranteed, and the driving wheel is prevented from slipping and shifting.

According to the AGV dolly of the embodiment of the second aspect of the application, the AGV comprises a chassis, a driving wheel and a driving wheel suspension damping mechanism which is arranged on the chassis and provided according to the embodiment of the first aspect of the application.

According to AGV dolly of this application embodiment, utilize drive wheel as above to hang damper, even first shock attenuation unit does not have rigid friction and wearing and tearing when long-term load operation, when meetting the road surface unevenness, the circumstances such as the skew that the drive wheel skidded and the movement track can not appear under the great condition of jolting have the operation route precision height, long service life's characteristics.

In combination with the second aspect, in some embodiments shown herein, the chassis is provided with a first milling groove, and the AGV includes a side plate, one end of which is connected to the fixing plate, and the other end of which is embedded in the first milling groove and fixedly connected to the chassis.

Through the setting of first milling flutes, can guarantee the installation accuracy of fixed plate, guarantee that the drive wheel hangs damper's stability, the circumstances such as the skew of the drive wheel skid and movement track appear when preventing long-term load operation.

In combination with the second aspect, in some embodiments shown in the present application, a through hole is formed in the middle of the chassis, a second milling groove is formed in the chassis, the AGV includes a lower camera and a lower camera mounting bracket, the lower camera mounting bracket is partially embedded in the second milling groove and is fixedly connected to the chassis, and the lower camera is mounted on the lower camera mounting bracket and a lens of the lower camera is aligned with the through hole.

Through the setting of second milling flutes, guarantee the precision that lower camera installation accuracy effectively improves AGV dolly orbit.

In combination with the second aspect, in some embodiments shown herein, the AGV includes a screw mechanism, a lift bearing plate, and a third linear bearing; the screw mechanism includes the lead screw along vertical setting, with lead screw thread fit's nut, the jacking bearing plate fixed connection of nut and to drive the axis motion of jacking bearing plate along the lead screw, the chassis is equipped with the third milling flutes, linear bearing's part inlay locate the third milling flutes in and with chassis fixed connection, the lead screw is kept away from the one end of jacking bearing plate and is rotationally passed third linear bearing and stretch out the chassis.

The third milling flutes guarantee the precision of screw mechanism at horizontal position, and then guarantee the installation accuracy of jacking bearing plate, effectively reduce wearing and tearing simultaneously, and then prolong screw mechanism's life.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural view of a first view angle of a driving wheel suspension damping mechanism provided in embodiment 1 of the present application;

fig. 2 is a structural schematic diagram of a second perspective view of a driving wheel suspension damping mechanism provided in embodiment 1 of the present application;

FIG. 3 is a schematic view of a AGV cart according to embodiment 2 of the present application from a first perspective;

FIG. 4 is a schematic diagram of a second perspective view of an AGV cart according to embodiment 2 of the present application;

FIG. 5 is a schematic diagram of a third perspective view of an AGV cart according to embodiment 2 of the present application;

fig. 6 is a schematic structural diagram of a chassis provided in embodiment 2 of the present application;

FIG. 7 is a schematic diagram of a third perspective view of an AGV cart according to embodiment 2 of the present application;

fig. 8 is a schematic mechanism diagram of a drive wheel suspension damping mechanism according to embodiment 2 of the present application.

Icon: 100-a chassis; 101-a first milling groove; 131-a driving wheel; 200-a driving wheel suspension damping mechanism; 201-fixing plate; 203-side plate; 210-a wheel carrier; 211-a drive device; 220-a first damping unit; 221-a first guide shaft; 223-a first linear bearing; 226-an elastic member; 230-a second damping unit; 231-a second guide shaft; 234-guide shaft support; 235-a locking portion; 10-an AGV; 103-second milling groove; 106-third milling groove; 107-notch; 111-a power supply; 112-a WIFI communication module; 120-a housing; 121-a tail lamp belt; 122-a head light strip; 123-power switch; 124-display screen; 125-locomotive emergency stop switch; 126-vehicle tail emergency stop switch; 128-manual charging interface; 129-automatic charging interface; 133-universal wheel; 135-universal wheel support; 137-universal wheel drive; 141-jacking a bearing plate; 143-screw mandrel; 145-a nut; 146-a third linear bearing; 147-a jacking motor; 148-jacking gear; 149-lower slewing bearing; 151-driven gear; 154-a rotary electric machine; 155-upper slewing bearing; 156-a rotary gear; 157-a support plate; 161-lower machine mounting rack; 163-first via; 165-upper camera; 169-a second via; 170-laser obstacle avoidance sensor; 180-controller.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

It should be noted that the terms "first," "second," "third," and the like are used merely to distinguish one description from another, and are not intended to indicate or imply relative importance.

Furthermore, the terms "horizontal", "vertical", and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the practical use process, the applicant finds that when the conventional AGV runs on an uneven road surface under light load, the phenomena of driving wheel slip and track deviation cannot occur. However, when the vehicle is operated under a load for a long time, the main reasons that the driving wheels are suspended, and the situations such as slipping and walking track deviation are easily caused are as follows: when the load is loaded for a long time, rigid friction and abrasion occur between the damping mechanism and the fixed plate 201 to cause the damping mechanism to deflect, and elastic members such as springs cannot recover elasticity in time.

In view of this, the present application is hereby presented.

Example 1

Referring to FIG. 1, the present embodiment provides a drive wheel suspension shock absorbing mechanism 200 adapted to be mounted to the chassis (not shown) of an AGV.

The driving wheel suspension damping mechanism 200 mainly includes a fixing plate 201, a wheel bracket 210, and a first damping unit 220.

The fixing plate 201 is made of metal or hard polymer material, such as aluminum profile in this embodiment, and its weight is light, so as to effectively reduce the load of the AGV.

The projection of the fixing plate 201 on the horizontal plane may be a bar, and in this embodiment, the projection of the fixing plate 201 on the horizontal plane is a rectangle. The direction in which the driving wheel 131 keeps moving linearly is set as a forward direction, and the forward direction is parallel to the longitudinal direction of the projection of the fixed plate 201 on the horizontal plane.

Referring to fig. 1 and fig. 2, the wheel bracket 210 is located below the fixing plate 201, and the wheel bracket 210 is used for mounting the driving wheel 131, wherein the center of gravity of the driving wheel 131 is located on the center line of the wheel bracket 210 in the forward direction.

The wheel carrier 210 extends in the forward direction, and both ends of the wheel carrier 210 in the forward direction are symmetrically arranged along the center of gravity of the driving wheel 131 in order to ensure the smoothness of the wheel carrier 210.

The number of the first damping units 220 is at least two, for example, two, three, four, or five, and the like, wherein the at least two first damping units 220 are symmetrically arranged at two ends of the wheel support 210 along the driving wheel 131, so as to ensure that the two ends of the wheel support 210 in the advancing direction are uniformly stressed, and further ensure that the wheel support 210 is horizontal and prevent rigid friction.

In this embodiment, referring to fig. 1 and fig. 2, the number of the first damping units 220 is two, and the two first damping units 220 are symmetrically arranged at two ends of the wheel bracket 210 along the driving wheel 131, that is, symmetrically arranged at two ends of the wheel bracket 210 in the forward direction with the driving wheel 131 as the center.

Specifically, the first damping unit 220 includes a first guide shaft 221, a first linear bearing 223 engaged with the first guide shaft 221, and an elastic member 226 sleeved on a circumferential direction of the first guide shaft 221.

Wherein, the two ends of the elastic element 226 are respectively connected with or abutted against the wheel bracket 210 and the fixing plate 201, the connection here includes clamping, fixing by bolts, etc., and those skilled in the art can select connection or abutment according to actual requirements. It should be noted that, in addition to the manner that both ends of the elastic element 226 are connected to the wheel bracket 210 and the fixing plate 201, or both ends of the elastic element 226 are abutted against the wheel bracket 210 and the fixing plate 201, in other embodiments, a manner that one end of the elastic element 226 is connected to the wheel bracket 210 and the other end is abutted against the fixing plate 201 may also be adopted.

The first linear bearing 223 is fixedly disposed on the fixing plate 201, the first guide shaft 221 has a first end and a second end opposite to each other, the first end is fixedly connected to the wheel bracket 210, the second end slidably passes through the fixing plate 201 and the first linear bearing 223, and the second end is provided with a limiting portion for limiting the first guide shaft 221 to be separated from the linear bearing, so that the wheel bracket 210 is suspended on the fixing plate 201.

Through the setting of first shock attenuation unit 220, realize that wheel carrier 210 can float with fixed plate 201 suspension type and be connected, and then when the road surface unevenness, first guiding axle 221 can slide from top to bottom relative to fixed plate 201, effectively carries out the shock attenuation through the setting of spring. And through the setting of first linear bearing 223, the axis position of having guaranteed first guide post is at the mobility of horizontal direction, and then guarantee long-term load operation, there is not rigid friction and wearing and tearing between drive wheel suspension damper 200 and fixed plate 201, even after long-term load operation, run into the road surface uneven, jolt under the great condition, under the effect of spring, first guide post produces the position change of vertical direction in first linear bearing 223 all the time, the circumstances such as the skew of drive wheel 131 skid and movement track can not appear, make the operation route precision of AGV dolly high and long service life.

Wherein the elastic member 226 is, for example, a compression spring.

Optionally, the fixing plate 201 is provided with a stepped hole (not shown), the stepped hole includes a first stepped hole and a second stepped hole which are coaxially communicated, wherein the first stepped hole is used for being matched with the first guide shaft 221, the aperture of the second stepped hole is larger than that of the first stepped hole, the first linear bearing 223 is partially embedded in the second stepped hole, and the aperture of the inner ring of the first linear bearing 223 is the same as that of the first stepped hole. Through setting up the step hole, can guarantee the installation accuracy of first linear bearing 223 on the one hand, on the other hand has certain limiting displacement to first linear bearing 223, guarantees its stable fixed in fixed plate 201.

Optionally, the first linear bearing 223 is a flange linear bearing, which further ensures that the first linear bearing 223 is prevented from horizontally shifting during long-term operation.

In this embodiment, the second stepped hole is located on the side of the first stepped hole far away from the chassis, and the second end sequentially slides through the fixing plate 201 and the first linear bearing 223 and extends out of the linear bearing. That is, the first linear bearing 223 is located on the side of the first stepped hole far away from the chassis, so that the first linear bearing can be accurately mounted and dismounted.

In order to further improve the accuracy of operation under heavy load for a long period of time, the driving wheel suspension shock absorbing mechanism 200 further includes a second shock absorbing unit 230.

Wherein the number of the second shock absorbing units 230 is one or at least two, optionally, the number of the second shock absorbing units 230 is at least two, for example, two, three, four, etc., wherein at least two second shock absorbing units 230 are symmetrically arranged at both ends of the wheel bracket 210 along the driving wheel 131, and at least two second shock absorbing units 230 are located between two first shock absorbing units 220.

In this embodiment, the number of the second damping units 230 is two, and the two second damping units 230 are symmetrically disposed at both ends of the wheel bracket 210 along the driving wheel 131.

Specifically, referring to fig. 1 and 2, each second damping unit 230 includes a second guiding shaft 231 and a second linear bearing (not shown) engaged with the second guiding shaft 231, the second linear bearing is disposed in the wheel bracket 210, one end of the second guiding shaft 231 is connected to the fixing plate 201, and the other end thereof slidably penetrates through the second linear bearing and extends out of the wheel bracket 210.

Because the second linear bearing has certain horizontal limiting action, consequently through the cooperation of second guide post and first guide post, can guarantee the stability between the operation in-process wheel, reduce the operation in-process, wheel support 210 rocks around the direction of advance of drive wheel 131, lead to producing rigid friction and wearing and tearing between drive wheel suspension damper 200 and the fixed plate 201, and because of the unable circumstances such as the skew of the drive wheel 131 that resumes deformation and lead to of spring skidding and movement track.

It should be noted that when the driving wheel suspension damping mechanism 200 is mounted on the chassis, a gap is formed between one end of the second guide shaft 231, which is far away from the fixing plate 201, and the chassis. Through the setting in clearance, prevent that second guiding axle 231 support from colliding with the chassis, cause second guiding axle 231 to warp, can't realize vertical motion, and then influence the effect of the timely deformation that resumes of elastic component 226.

Wherein, the second linear bearing is short type linear bearing, and the second linear bearing is vertical to be set up in wheel carrier 210 to guarantee that the second guide post can vertically move in second linear bearing.

Optionally, a guide shaft support 234 is fixedly mounted on one side of the fixing plate 201 close to the chassis, a locking portion 235 is disposed on one side of the guide shaft support 234 close to the ground, the locking portion 235 and the guide shaft support 234 have fixing holes matched with the second guide shaft 231, and the second guide shaft 231 is embedded in the fixing holes and then locked by the locking portion 235. Wherein, the lateral wall of locking portion 235 is equipped with the opening with the fixed orifices intercommunication to in order to make second guiding axle 231 inlay and locate the fixed orifices, the opening part of locking portion 235 is equipped with the bolt, and the effect through the bolt makes locking portion 235 constitute open-ended both edges and closely support each other and lean on, and then makes locking portion 235 lock in second guiding axle 231, and the installation of convenient to detach is convenient for, the follow-up maintenance of being convenient for.

The drive wheel suspension damping mechanism 200 provided by the embodiment is installed on the chassis of the AGV, and in the actual operation process, when the light load operation is performed, the AGV compresses the elastic part 226 under the self weight to enable the whole vehicle body to move downwards, so that the drive wheel 131 is in contact with the ground, and the whole level of the AGV under the no-load condition is ensured.

After the driving wheel suspension damping mechanism 200 is installed on the chassis of the AGV trolley, when a long-time load runs, on uneven road surfaces, the center position of the first guide pillar cannot deviate due to the arrangement of the first linear bearing 223, the hole edge of the first step hole in the first guide pillar and the fixing plate 201 cannot generate rigid friction and abrasion, and then the spring can timely recover the elastic shape, the driving wheel 131 cannot be suspended, and the situations of slipping, walking track deviation and the like cannot be generated.

Example 2

Referring to fig. 3, 4 and 5, the present embodiment provides an AGV cart 10, which mainly includes a chassis 100, a housing 120, a traveling mechanism, a driving wheel suspension damping mechanism 200 provided in embodiment 1, a bearing and lifting structure, an obstacle detection and avoidance system, and a controller 180.

As shown in fig. 6, when the projection of the chassis 100 on the horizontal plane is a rounded rectangle, the car tail and the car head are arranged in the length direction of the rounded rectangle.

Referring to fig. 6, a first milling groove 101, a second milling groove 103 and a third milling groove 106 are formed on a side of the chassis 100 away from the ground, and the chassis 100 is provided with a notch 107 for the driving wheel 131 to extend out of the chassis 100, wherein the notch is matched with the driving wheel 131.

Referring to fig. 7, a power supply 111 (e.g., a lithium battery) is installed on the chassis 100.

The housing 120 covers the side of the chassis 100 away from the ground. An accommodating space for accommodating the travelling mechanism, the driving wheel suspension damping mechanism 200, the bearing jacking structure, the detection obstacle avoidance system, the controller 180, the power supply 111 and the WIFI communication module 112 is formed between the shell 120 and the chassis 100.

Referring to fig. 3 and 4, the housing 120 is provided with a tail light strip 121, a head light strip 122, a power switch 123, a display screen 124, a head emergency stop switch 125, a tail emergency stop switch 126, an antenna (not shown), a manual charging interface 128, an automatic charging interface 129, and the like, which are electrically connected to the power source 111, and details thereof are not described herein.

The fixing plate 201 is provided with a WIFI communication module 112.

Referring to fig. 5 and 8, the fixing plate 201 is fixed above the chassis 100, so that the driving wheel suspension shock absorbing mechanism 200 is suspended above the chassis 100.

Specifically, the AGV cart 10 includes a side plate 203, one end of the side plate 203 is connected to the fixing plate 201, and the other end is embedded in the first milling groove 101 and fixedly connected to the chassis 100. Effectively guarantee the installation accuracy that the damper 200 was hung to the drive wheel through above-mentioned setting, guarantee the stability that damper 200 was hung to the drive wheel, prevent that the circumstances such as the skew of the drive wheel 131 skidding and motion trajectory appear when long-term load operation.

Specifically, first milling flutes 101 and curb plate 203 one-to-one and mutually support, every curb plate 203 keeps away from the one end of fixed plate 201 and inlays and locate in first milling flutes 101, and is fixed in chassis 100 through detachable mode such as screw, bolt, the follow-up maintenance of being convenient for, and spacing assurance installation stability through first milling flutes 101 prevents the slope of long-term heavy load posterior lateral plate 203, simultaneously, forms installation space between mounting panel, curb plate 203 and the chassis 100. In this embodiment, two side plates 203 are vertically arranged to ensure that the fixing plate 201 is in the horizontal direction.

Referring to fig. 4 to 5, the traveling mechanism includes a universal wheel 133, a universal wheel driver 137, a driving wheel 131, and a driving device 211.

The number of the universal wheels 133 may be at least two, for example, four, the four universal wheels 133 are respectively disposed at four corners of the chassis 100, specifically, the four corners of the chassis 100 are respectively provided with a universal wheel support 135, each universal wheel 133 is rotatably disposed at the corresponding universal wheel support 135, and each universal wheel 133 is in transmission connection with the corresponding universal wheel driver 137 to drive the universal wheels 133 to reverse and move, and the like. The universal wheel driver 137 is, for example, a servo motor.

The driving unit 211 is fixed to the wheel bracket 210 and moves in synchronization with the wheel bracket 210. The driving devices 211 correspond to the driving wheels 131 one by one, and an output end of each driving device 211 penetrates through the wheel bracket 210 and is in transmission connection with the corresponding driving wheel 131 to drive the driving wheel 131 to move. Wherein the driving device 211 is located inside the wheel bracket 210, and the driving wheel 131 is located outside the wheel bracket 210, i.e. on the side of the wheel bracket 210 close to the housing. The driving device 211 is, for example, a servo motor.

The number of the driving wheels 131 is at least two, in this embodiment, the number of the driving wheels 131 is two, the two driving wheels 131 are symmetrically distributed at two edges of the chassis 100 in the width direction (here, the width direction of the chassis 100 is the width direction of a rounded rectangle obtained by projecting the chassis 100 on a horizontal plane, which is hereinafter referred to as the width direction of the chassis 100), and the chassis 100 is symmetrically distributed along the axis of the driving wheels 131. The chassis 100 is provided with a notch 107 for the drive wheel 131 to protrude.

The driving wheels 131 correspond to the driving wheel suspension damping mechanisms 200 one to one.

That is, in the present embodiment, there are two driving wheel suspension damping mechanisms 200, wherein the two driving wheel suspension damping mechanisms 200 are respectively disposed on two sides of the chassis 100 in the width direction, the two driving wheel suspension damping mechanisms 200 are located between the two driving wheels 131, and the output end of the driving device 211 in each driving wheel suspension damping mechanism 200 penetrates through the corresponding wheel bracket 210 and is in transmission connection with the corresponding driving wheel 131. At this time, the width direction of the chassis 100 is parallel to the advancing direction of the driving wheel 131. The two symmetrically arranged driving wheels suspend the damping mechanism 200, so that the stability of the AGV trolley 10 in the running process can be ensured, and the damping effect is improved.

The load-bearing jacking structure is arranged in the middle of the chassis 100, namely the load-bearing jacking structure is positioned in a space defined by the universal wheels 133 and the driving wheels 131.

The bearing and jacking structure mainly comprises a jacking bearing plate 141 and a screw rod assembly.

Referring to fig. 4 to 7, the screw assembly includes a screw 143 vertically disposed, a nut 145 threadedly engaged with the screw 143, and a third linear bearing 146, the nut 145 is fixedly connected to the jacking bearing plate 141 to drive the jacking bearing plate 141 to move along the axis of the screw 143, a portion of the linear bearing is embedded in the third milling slot 106 and fixedly connected to the chassis 100, and an end of the screw 143 away from the jacking bearing plate 141 rotatably passes through the third linear bearing 146 and extends out of the chassis 100. Due to the arrangement of the third milling groove 106, the accuracy of the screw rod 143 mechanism in the horizontal position is guaranteed, the installation accuracy of the jacking bearing plate 141 is further guaranteed, meanwhile, the abrasion is effectively reduced, and the service life of the screw rod 143 mechanism is further prolonged.

Optionally, the screw 143 mechanism is a ball screw 143 mechanism, which is more precise.

The jacking bearing plate 141 is, for example, a rounded rectangle, the number of the screw rod assemblies is at least two, for example, three, four, etc., four in this embodiment, and the four screw rod assemblies are respectively disposed at four corners of the jacking bearing plate 141.

Optionally, the load-bearing jacking structure further comprises a jacking motor 147, a jacking gear 148, a lower slewing bearing 149, a driven gear 151 and a jacking gear 148.

The jacking motor 147 is arranged on the chassis 100, the jacking motor 147 is in transmission connection with the jacking gear 148 through a flat key pin, a lower slewing bearing 149 is rotatably arranged on one side of the chassis 100 close to the ground, the jacking gear 148 is meshed with the lower slewing bearing 149, and the jacking gear 148 drives the jacking lower slewing bearing 149 to synchronously rotate. Meanwhile, the number of the driven gears 151 corresponds to the number of the screw rods 143 one to one, the driven gears 151 are installed at one end, away from the jacking bearing plate 141, of each screw rod 143 and extend out of the chassis 100, the driven gears 151 are meshed with the jacking lower slewing bearing 149, and then the driven gears 151 drive the four screw rods 143 to rotate through the rotation of the jacking lower slewing bearing 149, so that the jacking bearing plate 141 is driven to stretch.

The AGV car 10 further includes a rotary support assembly including a rotary motor 154, an upper rotary bearing 155, a rotary gear 156, and a support plate 157.

Wherein, the casing is equipped with the opening with backup pad 157 complex, backup pad 157 is rotatable to be set up in the opening, slewing motor 154 sets up in jacking bearing plate 141, go up slewing bearing 155 and rotationally set up in one side that jacking bearing plate 141 deviates from chassis 100, slewing gear 156 sets up in one side that jacking bearing plate 141 deviates from chassis 100 and is connected through the parallel key round pin transmission with slewing motor 154, slewing gear 156 meshes with last slewing bearing 155, go up slewing bearing 155 and deviate from one side of chassis 100 and be connected with backup pad 157 and drive the backup pad 157 rotation. The detection obstacle avoidance system comprises a lower camera and a lower camera mounting frame 161, a first through hole 163 is arranged in the middle of the chassis 100, the chassis 100 is provided with a second milling groove 103, the lower camera mounting frame 161 is partially embedded in the second milling groove 103 and fixedly connected with the chassis 100, the lower camera is mounted on the lower camera mounting frame 161, and the lens of the lower camera is aligned to the first through hole 163 and passes through the second milling groove 103, so that the mounting accuracy of the lower camera is guaranteed, and the accuracy of the running track of the AGV trolley 10 is effectively improved.

The detection obstacle avoidance system comprises an upper camera 165 and an upper camera mounting frame (not shown), the shell, the jacking bearing plate 141, the middle part of the supporting plate 157 is sequentially provided with a second through hole 169, one side, close to the chassis 100, of the jacking bearing plate 141 is provided with a fourth line milling groove, the upper camera mounting frame is partially embedded in the fourth milling groove and fixedly connected with the jacking bearing plate 141, the upper camera 165 is mounted on the upper camera mounting frame and the lens of the upper camera 165 and is aligned to the second through hole 169, the mounting accuracy of the upper camera 165 is guaranteed through the arrangement of the fourth milling groove, meanwhile, the arrangement of the upper camera 165 and the lower camera is combined, and the accuracy of the moving track of the AGV trolley 10 is effectively improved.

The detection obstacle avoidance system includes a laser obstacle avoidance sensor 170, which is disposed on the vehicle head, and is used to detect whether there is an obstacle on the front end road surface in the forward direction.

The controller 180 is arranged on the chassis 100, the controller 180 is electrically connected with the power supply 111, and the controller 180 is electrically connected/WIFI-connected with electric elements such as a tail lamp strip 121, a head lamp strip 122, a power switch 123, a display screen 124, a head emergency stop switch 125, a tail emergency stop switch 126, a laser obstacle avoidance sensor 170, a universal wheel driver 137, a driving mechanism, a jacking motor 147, a rotary motor 154, an upper phase machine 165 and a lower phase machine respectively, and is used for controlling the actions and states of the electric elements. For specific connection modes and other points that are not improvements of the present application, reference may be made directly to related technologies, which are not described herein in detail. For example, when the vehicle encounters an obstacle, the laser obstacle avoidance sensor 170 will immediately receive a signal and feed it back to the controller 180, and the controller 180 will control the AGV vehicle 10 to stop.

To sum up, the utility model provides a damping mechanism and AGV dolly are hung to drive wheel, through the setting that damping mechanism was hung to the drive wheel, even after long-term load operation, run into the road surface uneven, jolt under the great condition, under the effect of spring, first guide post produces the position change of vertical direction in first linear bearing all the time, the circumstances such as skew of the drive wheel skid and movement track can not appear, make the operation route precision of AGV dolly high and long service life.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A drive wheel suspension damper mechanism, comprising:

a fixing plate;

a wheel bracket for mounting a driving wheel; and

the first damping unit comprises a first guide shaft, a first linear bearing matched with the first guide shaft and an elastic piece sleeved on the circumferential direction of the first guide shaft; two ends of the elastic piece are respectively connected with or abutted against the wheel bracket and the fixing plate; the first linear bearing is fixedly arranged on the fixing plate, the first guide shaft is provided with a first end and a second end which are opposite, the first end is fixedly connected with the wheel bracket, and the second end penetrates through the fixing plate and the first linear bearing in a sliding manner; the second end is provided with a limiting part for limiting the first guide shaft to be separated from the linear bearing, so that the wheel support is hung on the fixing plate.

2. The drive wheel suspension damper mechanism according to claim 1, wherein the fixed plate is provided with a stepped hole, the stepped hole includes a first stepped hole and a second stepped hole which are coaxially communicated, the first stepped hole is adapted to be engaged with the first guide shaft, the second stepped hole has a larger diameter than the first stepped hole, the first linear bearing is partially embedded in the second stepped hole, and the diameter of the inner race of the first linear bearing is the same as the diameter of the first stepped hole.

3. The drive wheel suspension shock absorbing mechanism according to claim 2, wherein said second stepped bore is located on a side of said first stepped bore remote from said chassis, and said second end is slid through said fixed plate and said first linear bearing in turn and extends out of said linear bearing.

4. The drive wheel suspension shock absorbing mechanism according to claim 1, wherein the number of the first shock absorbing units is at least two, and at least two of the first shock absorbing units are symmetrically arranged at both ends of the wheel frame along the drive wheel.

5. The drive wheel suspension shock-absorbing mechanism according to any one of claims 1 to 4, further comprising a second shock-absorbing unit including a second guide shaft and a second linear bearing engaged with the second guide shaft, the second linear bearing being disposed in the wheel frame, one end of the second guide shaft being connected to the fixed plate, and the other end thereof slidably passing through the second linear bearing and protruding out of the wheel frame.

6. The drive wheel suspension shock absorbing mechanism according to claim 5, wherein the number of the second shock absorbing units is at least two, and at least two of the second shock absorbing units are symmetrically arranged at both ends of the wheel frame along the drive wheel.

7. An AGV trolley comprising a chassis, drive wheels and a drive wheel suspension damping mechanism according to any one of claims 1 to 6 provided on said chassis.

8. The AGV of claim 7, wherein said chassis is provided with a first milled slot, said AGV comprising side plates, one end of said side plates being connected to said fixed plate and the other end being embedded in said first milled slot and fixedly connected to said chassis.

9. The AGV car of claim 7, wherein a through hole is formed in the middle of the chassis, a second milling groove is formed in the chassis, the AGV car includes a lower camera and a lower camera mounting bracket, the lower camera mounting bracket is partially embedded in the second milling groove and is fixedly connected to the chassis, and the lower camera is mounted on the lower camera mounting bracket and the lens of the lower camera is aligned to the through hole.

10. The AGV cart of any one of claims 7-9, including a screw assembly and a lift bearing plate;

the screw mechanism include along the lead screw of vertical setting, with lead screw-thread fit's nut and third linear bearing, the nut with jacking bearing plate fixed connection, in order to drive the jacking bearing plate is followed the axis motion of lead screw, the chassis is equipped with the third milling flutes, linear bearing's part inlays to be located in the third milling flutes and with chassis fixed connection, the lead screw is kept away from the one end of jacking bearing plate is rotationally passed third linear bearing stretches out the chassis.

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