CN212125299U - Ground self-adaptation device of AGV actuating mechanism - Google Patents

Abstract

The utility model relates to a AGV actuating mechanism's ground self-adaptation device comprises frame, the frame of hanging and the fulcrum of hanging the frame, hangs the frame and is connected to the frame through hanging the frame fulcrum, hangs the frame fulcrum and divide into two, firstly leans on the fulcrum that frame center one side comprises revolving axle, copper sheathing, baffle, and the opposite side is by the fulcrum that round pin axle, gyration piece, gyration backing plate, bolt type roller bearing constitute. The utility model discloses in, two bogies are adorned on the suspension frame, do when the removal task appears in uneven ground when the bogie drive wheel removes, the drive wheel of both sides is received the influence and is made the bogie drive wheel atress uneven, under the action of gravity, the suspension frame can produce the deflection, around pivot and round pin axle, thereby the drive wheel that makes two bogies can both land and the atress is even, the automatic adjustment of this seesaw form structure has under the condition of the requirement of leveling in AGV own road surface, can improve the protection of the load condition to carrying the thing, steady movement, do not rock.

Description

Ground self-adaptation device of AGV actuating mechanism

Technical Field

The utility model relates to an automatic guide transport vechicle, in particular to AGV actuating mechanism's ground self-adaptation device.

Background

AGVs are (Automated Guided vehicles) acronyms, i.e., "Automated Guided vehicles" or "Automated Guided vehicles," which refer to vehicles equipped with electromagnetic or optical automatic guidance devices, which can travel along a prescribed guidance path, and which have safety protection and various transfer functions. The AGV has wide application, can be applied to the fields of industry, military, transportation, electronics and the like, and has good environment adaptability, strong anti-interference capability and strong target identification capability.

AGV actuating mechanism, the majority that uses at present is double round differential structure, and in the use, the signal through navigation sensor changes the different signals of different drive wheels of giving to drive different drive wheel output different speeds, makes AGV follow fixed orbit walking. In the process of AGV walking, the phenomenon that one wheel of a double-wheel differential structure cannot land or the pressure stress is uneven due to uneven ground cannot occur inevitably, so that the speed output of a driving wheel cannot be transmitted to the ground, the speed deviation is formed, and the AGV track is out of control.

The patent name is a Chinese novel patent of an adaptive mechanism in a transport vehicle driving unit, and discloses the adaptive mechanism in the transport vehicle driving unit, which comprises a driving upper support and a driving lower support, wherein the driving upper support is used for connecting a transport vehicle frame, the driving lower support is used for connecting a transport vehicle driving wheel, and the driving lower support is rotatably connected below the driving upper support; the technical scheme has a complex structure, so that the whole mechanism is relatively overstaffed, sometimes has an unbalanced phenomenon, is not stable in movement, and enables the trolley to deviate from a track.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects, the utility model aims to provide a ground self-adaptive device for an AGV driving mechanism, which is suitable for ground with strong ground capability, stable operation and compact structure.

The technical proposal of the utility model for solving the technical problem is that: a ground self-adaptive device of an AGV driving mechanism comprises a frame, a suspension frame and suspension frame fulcrums, wherein the suspension frame is connected to the frame through the suspension frame fulcrums, the suspension frame fulcrums are divided into two parts, namely, one part is a fulcrum which is formed by a rotating shaft, a copper sleeve and a baffle plate and close to one side of the center of the frame, and the other part is a fulcrum which is formed by a pin shaft, a rotating support block, a rotating base plate and a bolt type roller bearing; the copper sleeve is used as a shaft sleeve to wrap the rotating shaft, the copper sleeve and the baffle are provided with through holes, the through holes are fixed by a fixing piece together, the rotating shaft is not connected with the copper sleeve and the baffle, and the suspension frame can rotate around the axis of the rotating shaft; the rotary backing plate is fixed on the suspension frame by a fixing part, the rotary support block is fixed on the frame by a fixing part, the rotary support block is arranged above the rotary backing plate and contacts but is not fixed with each other, the pin shaft is inserted in the center of the rotary support block, the bolt type roller bearing is fixed by the fixing part, the frame is a frame of the whole AGV, the AGV is provided with four steering frames, two steering frames of a front wheel are ground self-adaptive devices, the two steering frames are fixed in the suspension frame, the suspension frame can rotate at a certain angle like a seesaw by taking the center as a fulcrum, the fulcrum of the seesaw is taken as a rotating shaft on one side of the center of the frame, the other side of the suspension frame is provided with three fulcrums, the fulcrum of the center is composed of the rotary support block, the rotary backing plate and the pin shaft, when the suspension frame deviates due to the unevenness of the ground, the rotary backing plate deviates along with the suspension frame, but, the rotary backing plate and the rotary support block deflect at a certain angle, the rotary support block can only rotate at a certain angle to play a role in preventing the rotation angle of the suspension frame from being too large, the two bolt-type cylindrical roller bearings are distributed at two ends of the suspension frame by taking the rotary support block as the center, and the bolt-type cylindrical roller bearings also have the range of up-and-down movement to limit the rotation angle of the suspension frame; the utility model discloses in, when the ground of injustice removed, it can rotate around gyration axle and round pin axle to hang the frame, alleviates decurrent pressure to the power that makes the drive wheel of both sides bear reduces, makes the drive wheel at both ends use revolving axle and round pin axle as the fulcrum, forms a seesaw form structure, and this structure can be under the effect of power, and automatic adaptation adjustment makes the power on the drive wheel contact ground of both sides reach a balance, thereby makes the utility model discloses steady removal does not rock.

The utility model discloses in, two bogies are adorned on the suspension frame, do when the removal task appears in uneven ground when the bogie drive wheel removes, the drive wheel of both sides is received the influence and is made the bogie drive wheel atress uneven, under the action of gravity, the suspension frame can produce the deflection, around pivot and round pin axle, thereby the drive wheel that makes two bogies can both land and the atress is even, the automatic adjustment of this seesaw form structure has under the condition of the requirement of leveling in AGV own road surface, can improve the protection of the load condition to carrying the thing, steady movement, do not rock. The utility model discloses be fit for that ground ability is strong, operate steadily, compact structure.

Drawings

For ease of illustration, the drawings of the present invention are described in detail.

FIG. 1 is a three-dimensional perspective view;

FIG. 2 is an overall view of the frame;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;

FIG. 4 is a cross-sectional view taken along line B-B of FIG. 2;

FIG. 5 is an enlarged view of a portion C shown in FIG. 4

Reference numerals in the drawings:

the device comprises a frame 1, a suspension frame 2, a copper sleeve 3, a return axle 4, a baffle 5, a rotary support 6, a rotary backing plate 7, a pin shaft 8, a nut 9, a bolt cylindrical roller bearing 10 and a locking gasket 11.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

The attached drawings show a ground self-adaptive device of an AGV driving mechanism of the utility model.

The utility model discloses use AGV frame 1's front wheel as shown in fig. 1 to give first place to, hang frame 2 and be the frame as ground adaptation device, be the board of "seesaw", gyration backing plate 7 is fixed in and hangs the frame.

In the utility model, as shown in fig. 3, the rotary support block 6 is at the center of a-a and fixed on the frame, and the bolt type cylindrical roller bearings 10 are distributed at the center of the two halves after being divided into two halves by the center of a-a.

In the utility model, as shown in fig. 4, the revolving axle 4 is located the left side of B-B angle suspension frame to the revolving axle has the picture to be seen longer, has increased AGV bogie weight itself and the bearing capacity of suspension frame when loading, and the C part is the partial supporting structure in suspension frame left side of enlargeing 1 times, and round pin axle 8 is located the terminal frame that is fixed in suspension frame right side bottom.

In the utility model, as shown in fig. 5, which is an enlarged view of part C1: 2 in fig. 4, the copper bush 3 wraps the rotating shaft 4, the baffle 5, the locking washer 11 and the nut 9 are sleeved on the end of the rotating shaft, and the baffle is tightly pressed after the nut 9 is tightened, so that the axis of the rotating shaft 4 is fixed.

The utility model discloses in, for the rotation angle of restriction suspension frame 2, not make it too big influence carry the thing, gyration prop up piece 6, gyration backing plate 7 have fixed rotation angle, and bolt type cylindrical roller bearing 10 roller home range is also restricted in addition, and two parts have restricted the rotation angle that hangs frame 2 together.

The utility model discloses in, the bearing is given first place to the supporting structure who hangs 2 left sides of frame and use revolving axle 4, copper sheathing 3, baffle 5, nut 9 and lock washer 11 to constitute, and hangs 2 right sides of frame and use the supporting structure and the bolt type cylindrical roller bearing 11 of gyration a piece 6, gyration backing plate 7, round pin axle 8 constitution to be in order to restrict and hang 2 rotation angles of frame and give first place to.

The utility model discloses in, AGV removes, when uneven ground removes, when the ground of the contact of the bogie drive wheel of both sides is uneven at ordinary times or when the pressure atress is uneven, hang frame 2 can wind the left side fulcrum that uses the revolving axle to be main and use gyration prop block 6, gyration backing plate 7 and round pin axle 8 rotate as the right side fulcrum of giving first place to, alleviate decurrent pressure, thereby the power that makes the drive wheel of both sides bear reduces, the drive wheel that makes both ends uses revolving axle and round pin axle as the fulcrum, form a seesaw form structure, this structure can be under the effect of power, automatic adaptation adjustment, make the power on the drive wheel contact ground of both sides reach a balance, thereby make the utility model discloses steady movement does not rock.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (4)

1. The utility model provides a AGV actuating mechanism's ground self-adaptation device, ground self-adaptation device comprises frame, suspension frame and the fulcrum of suspension frame, its characterized in that, includes the frame, uses the left side fulcrum of revolving axle as the main and uses the right side fulcrum of round pin axle as the main, frame front wheel framework hang the frame promptly, hang the frame through controlling two fulcrum and connected with the frame, the left side fulcrum comprises copper sheathing, revolving axle, baffle, nut and lock washer, the right side fulcrum comprises gyration fulcrum piece, gyration backing plate, round pin axle and bolt type cylindrical roller gyro wheel bearing.

2. The AGV drive of claim 1 wherein said pivot shaft is secured at one end to the frame by fasteners and at the other end by a copper sleeve, a stop, a lock washer and a nut.

3. The ground self-adaption device of the AGV driving mechanism according to claim 1, wherein the rotary base plate is fixed to the hanging frame by a fixing member, and the rotary support block and the pin shaft are fixed to the frame by a fixing member.

4. The ground adaptive feature of an AGV drive according to claim 2 or 3, wherein said mount is a screw.

Images