CN212267677U

CN212267677U - Roller formula AGV

Info

Publication number: CN212267677U
Application number: CN202020744014.5U
Authority: CN
Inventors: 袁志勇; 郭俊逸
Original assignee: Jiangsu Chizhong Intelligent Equipment Manufacturing Co ltd
Current assignee: Jiangsu Chizhong Intelligent Equipment Manufacturing Co ltd
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2021-01-01
Anticipated expiration: 2030-05-08

Abstract

The utility model relates to a roller AGV, which comprises a vehicle body and a driving wheel component arranged at the bottom of the vehicle body, wherein the driving wheel component comprises a hinge plate and a driving wheel arranged below the hinge plate, a load spring is arranged between the hinge plate and a component mounting plate, and the load spring is symmetrically arranged at two sides of the hinge plate through a spring mounting plate; the spring mounting plate is lower than the speed reducer mounting plate on the hinge plate. The embodiment of the utility model provides an advantage lies in, has improved the structure of current hinge plate, arranges load spring in the low position of a bit in both sides, and automobile body height not only reduces like this, the overdraft increase of spring moreover. Meanwhile, a cavity is formed below the hinge plate and used for mounting a high-power driving motor. The structure can effectively absorb shock and ensure that the vehicle body can effectively bear weight, and can even bear 4000 kilograms to 6 tons of materials. Compared with the existing AGV of the same type, the AGV has the advantages that the capacity of heavy object transportation is greatly increased, the size of the vehicle body is smaller, and the AGV is more suitable for being used in a limited indoor space.

Description

Roller formula AGV

Technical Field

The utility model relates to the technical field of machinery, especially, relate to a roller formula AGV.

Background

Roller-bed AGVs (AGVs are english abbreviations of Automated Guided vehicles, which are equipped with electromagnetic or optical automatic guidance devices, can travel along a specified guidance path, have safety protection and various transfer functions, belong to the category of wheeled mobile robots, and are unmanned vehicles), not only can autonomously transport materials to a target position, but also can automatically load and unload goods by butting roller beds on a Vehicle body with roller beds of a workbench, and are better in automation, and are more and more favored by modern factories. However, the existing roller-way type AGV cannot bear 4-6 tons of materials, and can only bear materials below 3000 kilograms, so that the use scene of the roller-way type AGV in heavy object transportation is greatly limited. The reason for this is mainly that the spring in the conventional hard differential roller AGV driving wheel assembly cannot provide a large downward pressure within a limited vehicle body size (the conventional driving wheel assembly is structured as shown in fig. 1, and the conventional driving wheel assembly is structured as shown in fig. 2). Once the technical problem is solved, a roller type AGV capable of bearing heavy objects with a lower vehicle body can be provided.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the utility model is to provide a roller formula AGV, this embodiment has improved this roller formula AGV drive assembly's current hinge plate structure, make the subassembly not only can dispose more powerful driving motor, the hinge plate that its spring provided through this embodiment provides great holding down force in addition, the stability and the reliability of subassembly structure have still been guaranteed like this in the time of reducing the automobile body height, so that roller formula AGV can bear the weight of 4 tons-6 tons of material, greatly increased this type AGV's ability in heavy object transportation.

In order to achieve the purpose of the above embodiment, an embodiment of the present invention provides a roller AGV, which includes a vehicle body and a driving wheel assembly installed at the bottom of the vehicle body, wherein the driving wheel assembly includes a hinge plate and a driving wheel installed below the hinge plate, a load spring is disposed between the hinge plate and an assembly mounting plate, and the load spring is symmetrically disposed at two sides of the hinge plate through spring mounting plates; the spring mounting plate is lower than the speed reducer mounting plate on the hinge plate.

For effective load carrying and damping, the load springs are 4, 2 on each side.

In order to further effectively increase the damping stroke, the assembly further comprises a damping rotating shaft, a groove matched with the tail of the speed reducer mounting plate in shape is formed in the damping rotating shaft, and the damping rotating shaft is fixed with the speed reducer mounting plate through the groove.

In order to strengthen the strength of the hinge plate, the hinge plate is provided with a reinforcing rib.

In order to further strengthen the strength of the spring mounting plate, the bottom of the spring mounting plate is provided with a reinforcing rib.

In order effectual unloading and guarantee the safety of unloading on the AGV, the goods skids when preventing to transport and conveying to bear the weight of the goods, and this automobile body includes roller way assembly, and this roller way assembly includes several drive shaft subassembly, and every drive shaft subassembly includes the transmission shaft and fixes the several friction pulley at this transmission shaft.

In order to effectively drive each transmission shaft to rotate, the roller way assembly also comprises a support beam, wherein the support beam is fixedly provided with a bearing with a seat at equal intervals, and each bearing with a seat is connected with the end of a chain wheel of the transmission shaft; chain wheels on adjacent transmission shafts are connected through chains; one of the transmission shafts is provided with three chain wheels, and one of the chain wheels is used for being connected with a driving chain wheel of a transmission motor on the roller way assembly through a chain.

In order to stabilize the roller way assembly on the vehicle body, the roller way assembly further comprises 2 bottom supporting assemblies, and the 2 bottom supporting assemblies are respectively arranged at two ends of the roller way assembly.

In order to prevent the bearing objects from sliding off during transportation, a pair of corresponding blocking components are respectively arranged on each bottom supporting component.

For accurate parking, guarantee that AGV is better with other platform butt joints, the automobile body lower extreme both sides still install the direction flange.

The embodiment of the utility model provides an advantage lies in, has improved the structure of current hinge plate, arranges load spring in the low position of a bit in both sides, and automobile body height not only reduces like this, the overdraft increase of spring moreover. Meanwhile, a cavity is formed below the hinge plate and used for mounting a high-power driving motor. The structure can effectively absorb shock and ensure that the vehicle body can effectively bear weight, and can even bear 4000 kilograms to 6 tons of materials. Compare not only greatly increased the ability in the heavy object transportation with current AGV of the same type, automobile body size is littleer moreover, more is fit for using in limited interior space such as mill, warehouse.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic diagram of a driving wheel assembly for a conventional roller AGV;

FIG. 2 is a schematic diagram of a hinge plate structure of a drive wheel assembly for a conventional roller AGV;

fig. 3 is a schematic structural diagram of a roller AGV according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a driving wheel assembly for a roller AGV according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the drive wheel assembly for the roller AGV of FIG. 4 with the assembly mounting plate removed;

FIG. 6 is a schematic view of the hinge plate of FIG. 5;

FIG. 7 is a front view of the hinge plate of FIG. 5;

FIG. 8 is a schematic structural view of the shock-absorbing shaft of FIG. 5;

FIG. 9 is a schematic structural view of the roller way assembly of FIG. 3;

FIG. 10 is a schematic structural view of the driveshaft assembly of FIG. 9;

FIG. 11 is a drive connection of the driveshaft assembly of FIG. 9;

figure 12 is a block diagram of the bottom support assembly of figure 9.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

An embodiment of the utility model provides a roller formula AGV, as shown in FIG. 3, automobile body V1 is the lower cuboid type of height. The upper part of the roller way assembly is provided with a roller way assembly 7 which is used for bearing materials 8 and realizing the transportation and the unloading of the materials. And guide flanges 9 are also arranged on two sides of the lower end of the vehicle body V1, and the guide flanges 9 are mainly used for accurately stopping the AGV and ensuring that the AGV is better butted with other platforms. A drive wheel assembly is mounted below the vehicle body V1. As shown in fig. 4 and 5, the assembly mounting plate 1 is used to fix the entire drive wheel assembly to the vehicle body. The damping device is mainly fixedly connected with the damping rotating shaft 6 and the hinge plate 3 through two square bearing seats 32 and two self-lubricating copper plates 31 (as shown in fig. 5), and the square bearing seats 32 and the self-lubricating copper plates 31 have the same functions as those of the prior art and are not described herein again. The driving wheel 2 is arranged below the hinge plate 3 and is connected with a driving motor assembly 5. Wherein 3 both sides of hinge plate have 2 load spring 4 that have pressure respectively, with 1 elastic connection of subassembly mounting panel to provide downward pressure for the drive wheel of installing in hinge plate 3 below, guarantee that the drive wheel normally works.

In the embodiment, the number of the load springs 4 is 4, and each 2 of the load springs 4 are symmetrically arranged on two sides of the hinge plate 3 through the spring mounting plate 33. And the spring mounting plate 33 is positioned lower than the reducer mounting plate 34 on the hinge plate 3. To explain the structure of the hinge plate 3 in detail, as shown in fig. 6, the main plate portion of the hinge plate 3 is a reducer mounting plate 34 for mounting a reducer, and two reinforcing ribs 35 are provided thereon, mainly for reinforcing the structural strength of the upper portion of the hinge plate. A pair of connecting plates 36 are fixed to both side surfaces of the speed reducer mounting plate 34, and the spring mounting plate 33 is fixed to the lower surface of each connecting plate 36, so that the spring mounting plate 33 is positioned lower than the speed reducer mounting plate 34. Two spring bushings 38 are provided on each spring mounting plate 33 for securing the respective load spring 4. A guide plate 37 is fixed on the outer side of each spring mounting plate 33, and the guide plate 37 is mainly used for fixedly connecting the self-lubricating copper plate 31. As shown in fig. 7, a reinforcing rib 39 is further provided at the bottom of each spring mounting plate 33 for reinforcing the structural strength of the periphery of the spring mounting plate 33. It can be seen that a cavity is formed below the hinge plate 3, so that a high-power motor can be installed in the cavity. Meanwhile, the cavity mainly increases the elastic force of the spring to ensure that the hinge plate 3 has enough downward pressure. The AGV can be guaranteed to walk stably only by enough downward pressure. More importantly, the structure not only ensures the strength of the vehicle body when bearing heavy objects, so that the integral structure of the hinge plate is reliable, but also the operation of the high-power motor is more stable, and the damping effect of the driving wheel assembly can be better ensured.

As shown in fig. 8, the damping rotating shaft 6 is provided with a groove 61 which is matched with the tail of the reducer mounting plate 34 in shape, and when the screw hole on the reducer mounting plate 34 corresponds to the screw hole on the groove 61, the damping rotating shaft 6 and the reducer mounting plate 34 are fixed together through a screw. The connecting shafts 62 at both ends of the damping rotating shaft 6 are used for connecting with the two square bearing seats 32. Therefore, the hinge plate 3 can rotate in a certain range through the damping rotating shaft 6, and the damping stroke is effectively increased.

As shown in fig. 9, the roller assembly 7 includes a plurality of driving shaft assemblies 71, and both ends of each driving shaft assembly 71 are connected to the pedestal bearings 27 on the supporting beams 72. As shown in fig. 10, fig. 10 is a schematic structural view of the driveshaft assembly 71. The transmission shaft 17 of the transmission shaft body is cylindrical, and one end of the transmission shaft body is fixed with a double-row driven chain wheel 18 which is used for connecting a belt seat bearing 27 on a support beam 72. In order to increase the friction force of the transmission shafts 17, a plurality of friction wheels 19 are screwed to each of the transmission shafts 17. As shown in fig. 11, the sprockets 18 of adjacent drive shafts are connected by a chain, while one of the drive shafts 17 has three sprockets, two of which are used to connect adjacent sprockets by a chain, and the third sprocket is used to connect a drive sprocket 37 of a drive motor 73 of the roller bed assembly 7 by a chain. Thus when the motor 73 is operated, the drive sprocket 37 rotates to drive the drive shaft connected thereto to rotate, and since the drive shaft is connected to each drive shaft by a chain, the other drive shafts are driven to rotate. The roller way assembly 7 further comprises 2 bottom support assemblies 74 respectively arranged at the front end and the rear end of the roller way assembly and mainly used for fixing the roller way assembly 7 on a vehicle body V1. As shown in fig. 12, 2 fixing legs 47 are fixed under the bottom support assembly 74 support plate, and the fixing legs 47 are used for fixing the roller bed assembly 7 on the vehicle body V1. Meanwhile, a pair of blocking components 741 is further mounted on the supporting plate, the blocking components 741 mainly comprise a rocker arm motor 741a and an anti-collision block 741b, and the anti-collision block 741b is fixedly connected with a motor shaft of the rocker arm motor 741 a. When the rocker motor 741a works, the motor shaft drives the anti-collision block 741b to rotate, so that the anti-collision block 741b tilts by a certain angle, thereby realizing a blocking function.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a roller formula AGV, includes the automobile body and installs the drive wheel subassembly in the automobile body bottom, drive wheel subassembly includes the hinge plate and installs the drive wheel of hinge plate below, be provided with load spring, its characterized in that between hinge plate and the subassembly mounting panel:

the load springs are symmetrically arranged on two sides of the hinge plate through spring mounting plates;

the spring mounting plate is lower than the speed reducer mounting plate on the hinge plate.

2. Roller AGV according to claim 1, characterized in that: the load springs are 4, 2 on each side.

3. Roller AGV according to claim 2, characterized in that: the assembly further comprises a damping rotating shaft, a groove matched with the tail of the speed reducer mounting plate in shape is formed in the damping rotating shaft, and the damping rotating shaft passes through the groove and is fixed to the speed reducer mounting plate.

4. Roller AGV according to claim 3, characterized in that: and the hinge plate is provided with a reinforcing rib.

5. Roller AGV according to claim 4, characterized in that: and the bottom of the spring mounting plate is provided with a reinforcing rib.

6. Roller AGV according to claim 5, characterized in that: the automobile body includes roller way assembly, roller way assembly includes several drive shaft subassembly, and every drive shaft subassembly includes the transmission shaft and fixes epaxial several friction pulley of transmission.

7. Roller AGV according to claim 6, characterized in that:

the roller way assembly also comprises a support beam, wherein the support beam is fixedly provided with a bearing with a seat at equal intervals, and each bearing with a seat is connected with the end of the chain wheel of the transmission shaft;

chain wheels on adjacent transmission shafts are connected through chains;

one of the transmission shafts is provided with three chain wheels, and one of the chain wheels is used for being connected with a driving chain wheel of a transmission motor on the roller way assembly through a chain.

8. Roller AGV according to claim 7, characterized in that: the roller way assembly further comprises 2 bottom supporting assemblies, wherein the 2 bottom supporting assemblies are respectively arranged at two ends of the roller way assembly and used for fixing the roller way assembly on the vehicle body.

9. Roller AGV according to claim 8, characterized in that: each bottom support assembly is provided with a pair of corresponding blocking assemblies.