CN211811878U - Intelligent AGV (automatic guided vehicle) carrying trolley and spring floating type mechanism thereof - Google Patents
Intelligent AGV (automatic guided vehicle) carrying trolley and spring floating type mechanism thereof Download PDFInfo
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- CN211811878U CN211811878U CN201922262573.2U CN201922262573U CN211811878U CN 211811878 U CN211811878 U CN 211811878U CN 201922262573 U CN201922262573 U CN 201922262573U CN 211811878 U CN211811878 U CN 211811878U
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Abstract
The utility model relates to an intelligent AGV carrying trolley and a spring floating mechanism thereof, wherein the AGV carrying trolley comprises a trolley body, a steering wheel travelling mechanism and a spring floating mechanism; the trolley body comprises a frame and a partition plate; the spring floating type mechanism comprises a floating fixed plate, a floating spring guide rod, a floating spring, a floating slide rail and a floating plate; the floating fixed plate is fixedly arranged at the bottom of the partition plate; a floating spring guide rod vertically penetrates through the floating fixing plate; one end of the floating spring guide rod penetrates out of the upper part of the partition plate, the other end of the floating spring guide rod extends out of the lower part of the floating fixing plate, and the extending end of the floating spring guide rod is sleeved with a floating spring; floating slide rails are symmetrically and vertically fixedly arranged on the top surface of the partition plate; the floating plate is horizontally and fixedly arranged at one end of the floating spring guide rod penetrating out of the upper part of the partition plate; the two opposite side ends of the floating plate are respectively connected with the floating slide rails symmetrically arranged on the top surface of the partition plate in a sliding fit manner. The utility model discloses walking turn nimble easy, unsettled, skid, the scheduling problem can not appear during the walking.
Description
Technical Field
The utility model relates to a AGV transport technical field, concretely relates to intelligence AGV floor truck and spring floating mechanism thereof.
Background
The mode of transport gearbox in the past is for the manual work to push the shallow to gearbox ejection of compact transfer chain body section, places the tray of having placed the gearbox of line body section in the handcart the inside, then the shallow workman pushes the dolly toward gearbox assembly manufacturing line to take out the gearbox and place and supply the production and use on gearbox assembly manufacturing line. In the traditional manual cart, materials are large and heavy, each cart needs to be pushed by two persons, the material demand is large, at least 20 carts are needed to meet production requirements, and the problems that the materials fall down to injure people, the materials are scratched to collide with the materials in the carrying process and the like cannot be avoided; due to factors such as fatigue of people in the cart, mood and the like, the beat cannot be stably controlled, so that the production line often waits for materials and the like, and the efficiency is low.
Especially, the walking wheels 38 of the conventional AGV carrying trolley are directly arranged at the bottom of the trolley body, so that the walking wheels 38 and four surrounding trundles bear the total weight of the AGV, the upper loading materials and the like together, and the walking wheels 38 are large in ground pressure friction and easy to damage, and meanwhile, the walking wheels are large enough in friction force, so that the AGV carrying trolley is difficult to turn and cannot flexibly and easily rush out a preset line track.
Disclosure of Invention
To the problem that exists among the above-mentioned background art, the utility model provides a structural design is simple, reasonable, and the operation is stable, and the walking turns nimble easy, unsettled or the problem of skidding that appears when can effectively avoiding the walking and the floating mechanism of spring thereof of the problem of beating when walking at a high speed.
The utility model discloses a realize through following technical scheme:
the intelligent AGV carrying trolley comprises a trolley body and a steering wheel travelling mechanism which is installed on the bottom side of the trolley body in a matching mode; the AGV carrying trolley also comprises a spring floating type mechanism which is installed on the trolley body in a matched mode; the trolley body comprises a frame and a partition board horizontally arranged on the inner wall of the frame; the spring floating mechanism is arranged on the partition plate in a matching manner and comprises a floating fixed plate, a floating spring guide rod, a floating spring, a floating slide rail and a floating plate; the floating fixing plate is fixedly arranged at the bottom of the partition plate in a matching manner; the floating spring guide rod vertically penetrates through the floating fixing plate; one end of the floating spring guide rod penetrates through the partition plate and penetrates out of the upper part of the partition plate, the other end of the floating spring guide rod penetrates through the partition plate and extends out of the lower part of the floating fixing plate, and the extending end of the floating spring guide rod is sleeved with the floating spring in a matching mode; the top surface of the partition plate is also symmetrically and vertically fixedly provided with the floating slide rails in the peripheral area of the floating spring guide rod; the floating plate is horizontally and fixedly arranged at one end of the floating spring guide rod penetrating out of the upper part of the partition plate; and the opposite two side ends of the floating plate are respectively connected with the floating slide rails symmetrically arranged on the top surface of the partition plate in a sliding fit manner.
Intelligence AGV floor truck, wherein: the plate bodies at the two ends of the partition plate are provided with a pair of mounting holes along the vertical direction; the spring floating mechanisms are provided with two groups and are respectively arranged on the partition plates positioned in the mounting hole areas in a matching manner; one end of the floating spring guide rod penetrates through the mounting hole and penetrates out of the upper portion of the partition plate, and the other end of the floating spring guide rod penetrates through the mounting hole and extends out of the lower portion of the floating fixing plate.
Intelligence AGV floor truck, wherein: a pair of slide rail mounting plates is symmetrically and fixedly arranged on the top surface of the partition plate on two opposite sides of each mounting hole; and the pair of slide rail mounting plates are close to one side surface of the mounting hole, and the floating slide rails are vertically and fixedly arranged on the side surface of the mounting hole.
Intelligence AGV floor truck, wherein: a sliding block fixing plate is arranged on the floating sliding rail in a matching sliding manner; the two opposite side ends of the floating plate are respectively clamped and fixed with the sliding block fixing plate on the floating sliding rail on the two opposite sides of the mounting hole.
Intelligence AGV floor truck, wherein: the AGV carrying trolley also comprises an electric control system and a suspended upper-mounted positioning mechanism which is installed on the upper part of the trolley body in a matching mode; the electric control system adopts a PLC controller; the PLC is electrically connected with the suspension type upper mounting positioning mechanism; the steering wheel travelling mechanism is installed on the bottom side of the floating plate in a matched mode and is electrically connected with the PLC.
The spring floating type mechanism of the intelligent AGV carrying trolley is matched and arranged on a trolley body of the intelligent AGV carrying trolley; the trolley body of the intelligent AGV carrying trolley comprises a frame and a partition board horizontally arranged on the inner wall of the frame; the spring floating mechanism is arranged on the partition plate in a matching manner and comprises a floating fixed plate, a floating spring guide rod, a floating spring, a floating slide rail and a floating plate; the floating fixing plate is fixedly arranged at the bottom of the partition plate in a matching manner; the floating spring guide rod vertically penetrates through the floating fixing plate; one end of the floating spring guide rod penetrates through the partition plate and penetrates out of the upper part of the partition plate, the other end of the floating spring guide rod penetrates through the partition plate and extends out of the lower part of the floating fixing plate, and the extending end of the floating spring guide rod is sleeved with the floating spring in a matching mode; the top surface of the partition plate is also symmetrically and vertically fixedly provided with the floating slide rails in the peripheral area of the floating spring guide rod; the floating plate is horizontally and fixedly arranged at one end of the floating spring guide rod penetrating out of the upper part of the partition plate; and the opposite two side ends of the floating plate are respectively connected with the floating slide rails symmetrically arranged on the top surface of the partition plate in a sliding fit manner.
Intelligent AGV floor truck's spring floating mechanism, wherein: the spring floating type mechanisms are provided with two groups and are symmetrically arranged at two ends of the partition plate respectively in a matching mode.
Intelligent AGV floor truck's spring floating mechanism, wherein: the slide rail is vertically fixed on the top surface of the partition plate through a slide rail mounting plate.
Intelligent AGV floor truck's spring floating mechanism, wherein: a sliding block fixing plate is arranged on the floating sliding rail in a matching sliding manner; the two opposite side ends of the floating plate are respectively clamped and fixed with the sliding block fixing plates symmetrically arranged on the floating sliding rail on the top surface of the partition plate.
Has the advantages that:
the utility model discloses intelligent AGV floor truck and spring floating mechanism structural design is simple, reasonable, and the operation is stable, and the walking is turned in a flexible way easily, can effectively avoid unsettled or the problem of skidding that appears when walking and the problem of beating when walking at a high speed; particularly, the walking wheels of the steering wheel walking mechanism can be installed to adjust the compression distance of the floating springs of the spring floating mechanism according to needs so as to adjust the friction force between the walking wheels and the ground, so that the walking wheels can flexibly swing at will and cannot be separated from a preset track even in the process of high-speed bending; the spring floating mechanism enables the walking wheels to have a certain vertical moving range, so that the walking wheels can change along with the fluctuation of the ground when the ground is uneven, and the walking wheels cannot slip and are not suspended in the air; when the intelligent AGV carrying trolley moves across the ground with screws or small stones quickly, whether the walking wheels can be damaged or not is not needed to worry, and when the walking wheels roll the screws or the small stones, the walking wheels directly move up and down along with the screws or the small stones, so that the ground can still be firmly grasped to walk quickly.
Drawings
FIG. 1 is a schematic structural view of an intelligent AGV handling trolley according to the present invention;
FIG. 2 is a bottom view of the AGV handling cart according to the present invention;
FIG. 3 is a schematic structural view of the AGV carrying cart without the suspension type upper positioning mechanism;
FIG. 4 is an assembly diagram of the spring floating mechanism and the steering wheel traveling mechanism of the AGV transporting trolley according to the present invention;
FIG. 5 is another assembly diagram of the spring floating mechanism and the steering wheel traveling mechanism of the AGV transporting trolley according to the present invention;
fig. 6 is the utility model discloses intelligent AGV floor truck's steering wheel running gear's schematic structure diagram.
Detailed Description
As shown in figures 1 to 6, the utility model discloses intelligence AGV floor truck, including dolly body 1, the floating mechanism 2 of spring, steering wheel running gear 3, floated facial make-up positioning mechanism 4 and electrical system.
The trolley body 1 is a square frame and comprises a frame 11, a partition plate 12, a top plate 13 and universal casters 14. The frame 11 is a square frame structure formed by four rectangular plates. The partition board 12 is a square board structure and is horizontally and fixedly mounted on the inner wall of the middle portion of the frame 11, and a pair of mounting holes 121 are symmetrically formed in the middle regions of the two ends of the partition board. The top plate 13 is composed of two rectangular plate bodies and is horizontally installed at the top frame opening of the frame 11 in a matching manner and completely seals the top frame opening of the frame 11. The universal caster wheels 14 are four and are respectively matched and installed at the four corners of the bottom of the partition board 12.
The spring floating mechanism 2 has two sets of mounting holes 121 respectively matched and mounted on the partition board 12 of the trolley body 1, and includes a floating fixing plate 21, a floating spring guide rod 22, a floating spring 23, a slide rail mounting plate 24, a floating slide rail 25, a slider fixing plate 26 and a floating plate 27.
The floating fixing plates 21 are provided with a pair, and the pair of floating fixing plates 21 are respectively arranged at the bottoms of the two ends of the partition plate 12 of the trolley body 1 in a matching way and correspond to the pair of mounting holes 121 in a matching way; four floating spring guide rods 22 vertically penetrate through four corners of each floating fixing plate 21; one end of each floating spring guide rod 22 penetrates through the mounting hole 121 and penetrates out of the upper part of the partition plate 12, and the other end of each floating spring guide rod penetrates through the mounting hole 121 and extends out of the lower part of the floating fixing plate 21; one end of each floating spring guide rod 22, which penetrates out of the lower part of the floating fixing plate 21, is sleeved with a floating spring 23 in a matching way.
A pair of slide rail mounting plates 24 are symmetrically and fixedly arranged on the top surface of the partition plate 12 of the trolley body 1 at two opposite sides of each mounting hole 121; a pair of floating slide rails 25 are vertically arranged on one side surface close to the mounting holes 121 of the pair of slide rail mounting plates 24 positioned on the two opposite sides of each mounting hole 121; a sliding block fixing plate 26 is arranged on each floating sliding rail 25 in a matching and sliding mode.
The floating plate 27 has a pair of floating spring guide rods 22 horizontally and fixedly installed at the ends of the pair of mounting holes 121, which penetrate out above the partition plate 12; the middle parts of the opposite side ends of each floating plate 27 are also respectively clamped and fixed with the slider fixing plates 26 on the pair of floating slide rails 25 positioned at the opposite sides of each mounting hole 121.
The steering wheel running mechanism 3 is arranged at the bottom side of the partition plate 12 of the trolley body 1 in a matching way and is matched with the spring floating mechanism 2 in position. The steering wheel traveling mechanism 3 includes a steering driven gear 31, a steering motor mounting plate 32, a traveling motor 33, a steering motor 34, an encoder gear 35, a steering angle encoder 36, a traveling angle encoder 37, and traveling wheels 38.
The steering driven gear 31 is fixedly attached to the bottom surface of the floating plate 27 of the floating spring mechanism 2 via a flange 311 at its upper end surface in the axial direction. The upper part of the steering motor mounting plate 32 is connected with the axial lower end surface of the steering driven gear 31 in an assembling way through a bearing.
The walking motors 33 are provided with a pair of walking motors 33 respectively arranged at the bottom sides of the partition plates 12 of the vehicle body frame 1, a walking motor movable plate 331 is mounted on a power output shaft of each walking motor 33 in a matched and hinged mode through a bearing, and the upper portion of the walking motor movable plate 331 is fixed at the lower portion of the steering motor mounting plate 32; the traveling wheel 38 is mounted on the power output shaft of the traveling motor 33 in a matching manner, and one axial end surface of the traveling wheel is fixedly connected with the movable plate 331 of the traveling motor; the tail end of the power output shaft of each walking motor 32 is also provided with a walking angle encoder 37 in a matching way.
The steering motor 34 is arranged on one side of the lower part of the steering motor mounting plate 32 in an inverted matching way, the power output shaft of the steering motor 34 extends out of the upper part of the steering motor mounting plate 32, and the extending end of the power output shaft is provided with a steering driving gear 341 in a matching way; the steering driving gear 341 has a diameter smaller than that of the steering driven gear 31, and one side thereof is in meshing engagement with the side of the steering driven gear 31.
The encoder gear 35 is mounted on one side of the upper part of the steering motor mounting plate 32 in a matching way, and one side of the encoder gear is meshed with the other side of the steering driven gear 31 in a matching way; the gear shaft of the encoder gear 35 extends out of the lower part of the steering motor mounting plate 32, and the extending end is matched with a steering angle encoder 36.
The working principle of the spring floating mechanism 2 is as follows: when the AGV trolley for intelligent transportation of the utility model travels, the weight can be pressed on the trolley body 1 and the gravity is transferred to the travelling wheels 38 of the steering wheel travelling mechanism 3, the travelling wheels 38 of the steering wheel travelling mechanism 3 float upwards after being subjected to the gravity and generate certain pressure with the ground, and the floating plate 27 is driven to float upwards along the track of the floating slide rail 25; the motion of floating board 27 will be transmitted and installed the floating spring guide arm 22 on floating board 27, make floating spring guide arm 22 follow up upwards floating, make the floating spring 23 that overlaps on floating spring guide arm 22 receive the compression and realize that steering motor mounting panel 32 upwards floats, it also lets the walking wheel 38 of helm running gear 3 and ground produce sufficient frictional force to float simultaneously, the walking wheel 38 of helm running gear 3 takes the dolly body 1 to move, when dolly body 1 passes through the uneven road surface, the walking wheel 38 of helm running gear 3 floats from top to bottom under the dual function of gravity and the resilience force of floating spring 23, guarantee dolly body 1 steady operation.
The suspension type upper-mounted positioning mechanism 4 is installed on the upper part of a top plate 13 of the trolley body 1 in a matching mode.
The electric control system adopts a PLC controller, and the PLC controller adopts a Mitsubishi PLC controller with the model number of FX3U-128 MR. The PLC is electrically connected with a traveling motor 33, a steering motor 34, a steering angle encoder 36 and a traveling angle encoder 37 of the steering wheel traveling mechanism 3 to control the traveling motor 33 to operate in cooperation with the steering motor 34, the traveling motor encoder 37 and the steering motor encoder 36 feed back position information and angle information to the PLC in real time, and the PLC can control the steering wheel traveling mechanism 3 to travel according to a preset track in real time after obtaining the position of the traveling motor 33 and the angle information of the steering motor 34. The PLC controller is respectively electrically connected with the suspension type upper mounting positioning mechanism 4 so as to control the upper mounting roller frame of the suspension type upper mounting positioning mechanism 4 to realize operation; meanwhile, when the AGV carrying trolley runs to a preset station, the AGV carrying trolley is braked and positioned, the production equipment can detect the AGV carrying trolley, and the production equipment detects that the AGV carrying trolley immediately controls the accurate positioning of the upper roller barrel frame of the suspension type upper positioning mechanism 4.
The utility model has the advantages of simple and reasonable design, the operation is stable, and the walking is turned nimble easy, unsettled or the problem of skidding that appears when can effectively avoiding the walking and the problem of beating when walking at a high speed.
Claims (8)
1. An intelligent AGV carrying trolley comprises a trolley body and a steering wheel travelling mechanism which is installed on the bottom side of the trolley body in a matching mode; the method is characterized in that: the AGV carrying trolley also comprises a spring floating type mechanism which is installed on the trolley body in a matched mode;
the trolley body comprises a frame and a partition board horizontally arranged on the inner wall of the frame; the spring floating mechanism is arranged on the partition plate in a matching manner and comprises a floating fixed plate, a floating spring guide rod, a floating spring, a floating slide rail and a floating plate;
the floating fixing plate is fixedly arranged at the bottom of the partition plate in a matching manner; the floating spring guide rod vertically penetrates through the floating fixing plate; one end of the floating spring guide rod penetrates through the partition plate and penetrates out of the upper part of the partition plate, the other end of the floating spring guide rod penetrates through the partition plate and extends out of the lower part of the floating fixing plate, and the extending end of the floating spring guide rod is sleeved with the floating spring in a matching mode;
the top surface of the partition plate is also symmetrically and vertically fixedly provided with the floating slide rails in the peripheral area of the floating spring guide rod; the floating plate is horizontally and fixedly arranged at one end of the floating spring guide rod penetrating out of the upper part of the partition plate; and the opposite two side ends of the floating plate are respectively connected with the floating slide rails symmetrically arranged on the top surface of the partition plate in a sliding fit manner.
2. The intelligent AGV transport cart of claim 1, further comprising: the plate bodies at the two ends of the partition plate are provided with a pair of mounting holes along the vertical direction; the spring floating mechanisms are provided with two groups and are respectively arranged on the partition plates positioned in the mounting hole areas in a matching manner; one end of the floating spring guide rod penetrates through the mounting hole and penetrates out of the upper portion of the partition plate, and the other end of the floating spring guide rod penetrates through the mounting hole and extends out of the lower portion of the floating fixing plate.
3. The intelligent AGV transport cart of claim 2, further comprising: a pair of slide rail mounting plates is symmetrically and fixedly arranged on the top surface of the partition plate on two opposite sides of each mounting hole; and the pair of slide rail mounting plates are close to one side surface of the mounting hole, and the floating slide rails are vertically and fixedly arranged on the side surface of the mounting hole.
4. The intelligent AGV transport cart of claim 2, further comprising: a sliding block fixing plate is arranged on the floating sliding rail in a matching sliding manner; the two opposite side ends of the floating plate are respectively clamped and fixed with the sliding block fixing plate on the floating sliding rail on the two opposite sides of the mounting hole.
5. The intelligent AGV transport cart of claim 1, further comprising: the AGV carrying trolley also comprises an electric control system and a suspended upper-mounted positioning mechanism which is installed on the upper part of the trolley body in a matching mode; the electric control system adopts a PLC controller; the PLC is electrically connected with the suspension type upper mounting positioning mechanism; the steering wheel travelling mechanism is installed on the bottom side of the floating plate in a matched mode and is electrically connected with the PLC.
6. A spring floating mechanism for an intelligent AGV according to any one of claims 1 to 5, wherein: the spring floating type mechanism is installed on a trolley body of the intelligent AGV carrying trolley in a matching mode; the trolley body of the intelligent AGV carrying trolley comprises a frame and a partition board horizontally arranged on the inner wall of the frame.
7. The spring floating mechanism for an intelligent AGV handling cart of claim 6, wherein: the spring floating type mechanisms are provided with two groups and are symmetrically arranged at two ends of the partition plate respectively in a matching mode.
8. The spring floating mechanism for an intelligent AGV handling cart of claim 6, wherein: the slide rail is vertically fixed on the top surface of the partition plate through a slide rail mounting plate.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019221722646 | 2019-12-06 | ||
| CN201922172264 | 2019-12-06 |
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| Publication Number | Publication Date |
|---|---|
| CN211811878U true CN211811878U (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922262573.2U Active CN211811878U (en) | 2019-12-06 | 2019-12-17 | Intelligent AGV (automatic guided vehicle) carrying trolley and spring floating type mechanism thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
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2019
- 2019-12-17 CN CN201922262573.2U patent/CN211811878U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
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