CN213168347U

CN213168347U - Intelligent carrying AGV

Info

Publication number: CN213168347U
Application number: CN202021430742.5U
Authority: CN
Inventors: 宁史朋; 史康杰; 刘波; 袁满; 韩春洪; 梁强
Original assignee: Chongqing Zhouda Robot Technology Co ltd
Current assignee: Chongqing Zhouda Robot Technology Co ltd
Priority date: 2020-07-20
Filing date: 2020-07-20
Publication date: 2021-05-11
Anticipated expiration: 2030-07-20

Abstract

The utility model relates to the field of intelligent robots, in particular to an intelligent transport AGV, which comprises an AGV trolley body, wherein a lifting device is arranged at the upper end of the AGV trolley body, the upper end of the lifting device is connected with a containing part, the lower part of the AGV trolley body is provided with a driving device, the lower part of the AGV trolley body is provided with a plurality of steering wheels, and the driving device comprises a mounting plate, a fixed plate, a support, a driving part and a lifting mechanism; the mounting plate is fixedly connected with the fixing plate, the fixing plate is in sliding fit with the bracket, the bracket is fixedly connected with the driving part, the two driving wheels are respectively positioned at two sides of the bracket and are in rotating fit with the bracket, and the two driving wheels are driven by the driving part to rotate; the lifting mechanism comprises a motor, a cam and a connecting shaft, the cam is driven by the motor to rotate, a cam bearing is arranged at the eccentric position of the cam, the connecting shaft penetrates through the fixing plate and is in sliding fit with the fixing plate, the lower end of the connecting shaft is fixedly connected with the support, a connecting disc is arranged at the upper end of the connecting shaft, and the cam bearing is abutted to the lower end face of the connecting disc. The AGV trolley can be maintained conveniently by adopting the device.

Description

Intelligent carrying AGV

Technical Field

The utility model relates to an intelligent robot field, concretely relates to intelligence transport AGV.

Background

The AGV is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, having safety protection and various transfer functions, and does not require a carrier of a driver in industrial use, and uses a rechargeable battery as a power source. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path can be established by using an electromagnetic rail, which is adhered to the floor, and the automated guided vehicle moves and operates according to the information brought by the electromagnetic rail. Although the AGV trolley can save labor cost, the existing driving device can only drive the AGV trolley to move along the track, and when the AGV trolley needs to be maintained, the AGV trolley is difficult to push to a corresponding position for maintenance.

And because the wrong operation of road or staff, probably make the side of transportation goods shelves setting dolly on the dolly turn over, and then make the goods topple over, destroy the goods, cause the loss of cost.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an intelligence transport AGV adopts the device can conveniently maintain the AGV dolly.

In order to achieve the above purpose, the utility model adopts the following technical scheme: an intelligent transporting AGV comprises an AGV body, wherein a lifting device is arranged at the upper end of the AGV body, the upper end of the lifting device is connected with a containing part, a driving device is arranged at the lower part of the AGV body, a plurality of steering wheels are arranged at the lower part of the AGV body, and the driving device comprises a mounting plate, a fixing plate, a support, a driving part, two driving wheels and a lifting mechanism; the mounting plate is fixedly connected with the fixing plate, the fixing plate is in sliding fit with the bracket, the bracket is fixedly connected with the driving part, the two driving wheels are respectively positioned on two sides of the bracket and are in rotating fit with the bracket, and the two driving wheels are driven by the driving part to rotate; the lifting mechanism comprises a motor, a cam and a connecting shaft, the cam is driven by the motor to rotate, a cam bearing is arranged at the eccentric position of the cam, the connecting shaft penetrates through the fixing plate and is in sliding fit with the fixing plate, the lower end of the connecting shaft is fixedly connected with the support, a connecting disc is arranged at the upper end of the connecting shaft, and the cam bearing is abutted to the lower end face of the connecting disc.

And the two ends of the spring are respectively connected with the upper end of the bracket and the lower end of the fixing plate.

Furthermore, the upper end surface of the lifting device is also provided with a side-turning prevention mechanism.

Further, the anti-rollover mechanism comprises a support and a gravity block, and an accommodating cavity is formed at the front end of the support; inclined sliding grooves are formed in two sides of the upper portion of the support, the gravity block is located in the containing cavity, the upper end of the gravity block is connected with the support in a sliding mode through the sliding grooves, and the lower end of the gravity block is connected with the support in a vertical sliding mode; the gravity block is also connected with a gravity plate, and an elastic connecting piece is arranged between the lower end of the gravity block and the support.

Furthermore, vertical sliding grooves are formed in two sides of the lower portion of the gravity block, and the lower end of the gravity block is connected with the support in a sliding mode through the sliding grooves.

Furthermore, the anti-rollover mechanism further comprises a first connecting shaft and a second connecting shaft, the first connecting shaft penetrates through the upper end of the gravity block, the second connecting shaft penetrates through the lower end of the gravity block, and two ends of the first connecting shaft are respectively positioned in the sliding grooves and are in sliding fit with the sliding grooves; and two ends of the second connecting shaft are respectively positioned in the sliding grooves and are in sliding fit with the sliding grooves.

Further, bearings are arranged at two ends of the first connecting shaft and two ends of the second connecting shaft respectively.

Further, the driving part comprises a brushless motor, the brushless motor is fixedly connected with the support, and the output end of the brushless motor is connected with the driving wheel.

The principle and the beneficial effect of this scheme of adoption lie in: the middle and small vehicle body in the scheme provides support, power and the like for the whole device. In an original state, the driving device is connected with the AG robot through a mounting plate; the driving part drives the driving wheel to rotate so as to drive the AGV robot to move and work. When the AGV robot needs to be maintained, the AGV robot needs to be pushed from the working area to the maintenance area. At this moment, hoist mechanism promotes the support, and hoist mechanism drives the support and upwards slides along the fixed plate promptly, makes the drive wheel break away from ground, and the directive wheel provides the support, then can promote AGV robot to the place that needs through the directive wheel and maintain.

Drawings

FIG. 1 is a perspective view of an intelligent AGV of the present invention;

FIG. 2 is an elevation view of an intelligent handling AGV of the present invention;

FIG. 3 is a cross-sectional view of an AGV driving apparatus according to the present invention;

FIG. 4 is a perspective view of an anti-rollover mechanism of an intelligent AGV according to the present invention;

FIG. 5 is a side view of an anti-rollover mechanism of an intelligent AGV according to the present invention;

fig. 6 is a sectional view taken along line a in fig. 5.

Detailed Description

The following is further detailed by way of specific embodiments:

reference numerals in the drawings of the specification include: the AGV comprises an AGV trolley body 1, a lifting device 2, a containing part 3, a driving wheel 4, a steering wheel 5, a housing 6, a brushless motor 7, an end cover 8, a bearing support ring 9, a first bearing 10, a bearing upper seat 11, a main shaft 12, a spring 13, an installation plate 14, a lifting motor 15, a flat key 16, a cam 17, a cam bearing 19, a nut 20, a deviation correction cam 21, a shaft sleeve 22, a bearing lower seat 23, a bearing shaft 24, a connection column 25, a tension spring 26, a second bearing 27, a check ring 28, a support ring 29, a second connection shaft 30, a gravity plate 31, a support 32, a gravity block 33, a containing cavity 34, a sliding groove 35, a connection hole 36 and a first connection shaft 37.

The embodiment is substantially as shown in figures 1, 2 and 3 of the accompanying drawings: the utility model provides an intelligence transport AGV, includes

AGV dolly body

1, and 1 upper ends of AGV dolly body are equipped with

lifting device

2, and 2 upper ends of lifting device are connected with and hold

portion

3, and 1 lower part of AGV dolly body is equipped with drive arrangement, and 1 lower part of AGV dolly body is equipped with a plurality of directive wheels 5. The driving device comprises two driving wheels 4, a mounting plate 14, a connecting frame, a bracket 32 and a driving part; the mounting plate 14 is fixedly connected with the connecting frame in a welding mode, mounting holes are formed in the mounting plate 14, and bolts penetrate through the mounting holes and fixedly connect the mounting plate 14 with the AGV robot to achieve connection of the driving device and the AGV robot. The connecting frame is in sliding fit with the bracket 32, the bracket 32 is fixedly connected with the driving part, and the connecting mode is bolt or screw connection. The two driving wheels 4 are respectively positioned at two sides of the bracket 32 and are in running fit with the bracket 32, and the two driving wheels 4 are driven by the driving part to rotate. Specifically, the driving portion in this embodiment is a brushless motor 7, and the driving device in this embodiment further includes a driving shaft, and the brushless motor 7 is fixedly connected to the bracket 32 through a bolt. The output shaft of brushless motor 7 passes through the shaft coupling and is connected with drive shaft one end, and the drive shaft other end is connected with drive wheel 4, connects through main shaft 12 between two brushless motor 7. The head of the main shaft 12 is fixed on the upper bearing seat 11 and the lower bearing seat 23 through the first bearings 10, the bearing support ring 9 and the end covers 8 at two ends, and the upper bearing seat 11 and the lower bearing seat 23 are connected together through screws. The bearing 24 is arranged on the shaft sleeve 22 and is fixedly connected with the shaft sleeve 22 through a nut 20, the shaft end of the bearing 24 is fixed through a limiting ring, and the shaft sleeve 22 is fixed on the mounting plate 14 through a screw. The motor housing 6 is further included in the embodiment, and the motor housing 6 irradiates the outside of the brushless motor 7 and is connected with the bracket 32 through a screw to protect the brushless motor 7.

The drive arrangement in this embodiment also includes a lifting mechanism that drives the carriage 32 to slide along the mounting plate 14. The lifting mechanism comprises a lifting motor 15, a speed reducer, a cam 17 and a bearing 24, wherein one end of the speed reducer is connected with an output shaft of the lifting motor 15, the other end of the speed reducer is connected with the cam 17 through a flat key 16, a cam bearing 19 is arranged at the eccentric position of the cam 17, and the cam bearing 19 is rotatably connected with the cam 17. The bearing shaft 24 penetrates through the connecting frame and is in sliding fit with the connecting frame, the lower end of the bearing shaft 24 is fixedly connected with the bracket 32 through a bolt, the upper end of the bearing shaft 24 is provided with a deviation-correcting cam 21, and the cam bearing 19 is abutted against the lower end face of the deviation-correcting cam 21. The embodiment also comprises a spring 13, and two ends of the spring 13 are respectively connected with the upper end of the bracket 32 and the lower end of the connecting frame.

The specific implementation process is as follows: in the original state, the driving device is connected with the AG robot through a mounting plate 14; the driving part drives the driving wheel 4 to rotate so as to drive the AGV robot to move and work. When the AGV robot needs to be maintained, the AGV robot needs to be pushed from the working area to the maintenance area. At this time, the lifting mechanism is started, that is, the lifting motor 15 is started and drives the cam 17 to rotate through the speed reducer, and the cam bearing 19 rotates along the cam 17 because the cam bearing 19 is provided at the eccentric position of the cam 17. And because the lower end surfaces of the cam bearing 19 and the deviation-correcting cam 21 are lowered, when the cam bearing 19 rotates along the axis of the cam 17, the deviation-correcting cam 21 is driven to move upwards and drive the bearing shaft 24 to slide upwards along the connecting frame through the deviation-correcting cam 21, namely, the lifting mechanism drives the bracket 32 to slide upwards along the connecting frame, so that the driving wheel 4 is separated from the ground, at the moment, the spring 13 compresses and stores energy, and the steering wheel 5 provides support for the whole AGV. The AGV robot can then be pushed to the required place by the steering wheel 5. When it is desired to drive the AGV robot again, the lift motor 15 is rotated in reverse, causing the carriage 32 to slide downward under its weight and the action of the spring 13 until the drive wheel 4 comes into contact with the ground. In the whole process, the deviation rectifying cam 21 and the shaft sleeve 22 can play a role in rectifying deviation, and the service life of the driving wheel 4 is prevented from being influenced by radial deviation in the ascending or descending process.

Two sides of the upper end of the lifting device 2 are provided with anti-rollover mechanisms. As shown in fig. 4, 5 and 6, the rollover prevention mechanism includes a support bracket, a weight block 33, a first connecting shaft 37 and a second connecting shaft 30. The two sides of the lower end of the support frame are respectively provided with a connecting hole 36, and the connecting holes 36 are through holes. An accommodating cavity 34 is formed at the front end of the support frame, and the gravity block 33 is positioned in the accommodating cavity 34; inclined sliding grooves are formed in two sides of the upper portion of the supporting frame, vertical sliding grooves 35 are formed in two sides of the lower portion of the gravity block 33, the first connecting shaft 37 penetrates through the upper end of the gravity block 33, the second connecting shaft 30 penetrates through the lower end of the gravity block 33, and two ends of the first connecting shaft 37 are located in the sliding grooves respectively and are in sliding fit with the sliding grooves; the two ends of the second connecting shaft 30 are respectively located in the sliding grooves 35 and are in sliding fit with the sliding grooves 35.

The gravity block 33 is further connected with a gravity plate 31, the gravity plate 31 and the gravity block 33 are integrally formed, and the gravity block 33 is perpendicular to the gravity plate 31. An elastic connecting piece is arranged between the lower end of the gravity block 33 and the supporting frame. Specifically, the elastic connecting members in this embodiment are two tension springs 26, and the two tension springs 26 are respectively connected to two sides of the support frame. Connecting columns 25 are welded at two ends of the support frame, one end of a tension spring 26 is fixedly connected with the connecting columns 25, and the other end of the tension spring is fixedly connected with a second connecting shaft 30. The first connecting shaft 37 and the second connecting shaft 30 are respectively provided with a second bearing 27 at two ends, and the friction between the first connecting shaft 37/the second connecting shaft 30 and the sliding groove or the sliding groove 35 can be reduced through the second bearings 27. The present embodiment further comprises a retainer ring 28 and a support ring 29, and the retainer ring 28 and the support ring 29 are provided at the joint of the second connecting shaft 30 and the second bearing 27.

The rollover prevention mechanism of the present embodiment is connected to the AGV by bolts through the connection holes 36. During use of the AGV cart, when a weight is pressed against the weight plate 31, the weight plate 31 is subjected to the weight of the weight. Because the gravity plate 31 is fixedly connected with the gravity block 33, the gravity block 33 is also under the action of gravity of the heavy object, at the moment, the upper end of the gravity block 33 slides downwards along the chute, the lower end of the gravity block 33 vertically slides downwards along the support frame, namely, the gravity block 33 overturns downwards along the support frame, the gravity plate 31 fixedly connected with the gravity block 33 also overturns downwards along the support frame, at the moment, the heavy object is not contacted with the gravity plate 31 any more, and the AGV trolley is prevented from overturning laterally.

The above description is only an example of the present invention, and the detailed technical solutions and/or characteristics known in the solutions are not described too much here. It should be noted that, for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. The utility model provides an intelligence transport AGV, includes AGV dolly body, AGV dolly body upper end is equipped with lifting device, the lifting device upper end is connected with holds the portion, AGV dolly body lower part is equipped with drive arrangement, AGV dolly body lower part is equipped with a plurality of directive wheels, its characterized in that: the driving device comprises a mounting plate, a fixing plate, a bracket, a driving part, two driving wheels and a lifting mechanism; the mounting plate is fixedly connected with the fixing plate, the fixing plate is in sliding fit with the bracket, the bracket is fixedly connected with the driving part, the two driving wheels are respectively positioned on two sides of the bracket and are in rotating fit with the bracket, and the two driving wheels are driven by the driving part to rotate; the lifting mechanism comprises a motor, a cam and a connecting shaft, the cam is driven by the motor to rotate, a cam bearing is arranged at the eccentric position of the cam, the connecting shaft penetrates through the fixing plate and is in sliding fit with the fixing plate, the lower end of the connecting shaft is fixedly connected with the support, a connecting disc is arranged at the upper end of the connecting shaft, and the cam bearing is abutted to the lower end face of the connecting disc.

2. An AGV according to claim 1, characterised by: the spring is further included, and two ends of the spring are respectively connected with the upper end of the support and the lower end of the fixing plate.

3. An AGV according to claim 2, characterised in that: the upper end surface of the lifting device is also provided with a side-turning prevention mechanism.

4. A smart handling AGV according to claim 3, characterised in that: the rollover prevention mechanism comprises a bracket and a gravity block, and an accommodating cavity is formed at the front end of the bracket; inclined sliding grooves are formed in two sides of the upper portion of the support, the gravity block is located in the containing cavity, the upper end of the gravity block is connected with the support in a sliding mode through the sliding grooves, and the lower end of the gravity block is connected with the support in a vertical sliding mode; the gravity block is also connected with a gravity plate, and an elastic connecting piece is arranged between the lower end of the gravity block and the support.

5. An AGV according to claim 4 wherein: vertical sliding grooves are formed in two sides of the lower portion of the gravity block, and the lower end of the gravity block is connected with the support in a sliding mode through the sliding grooves.

6. An AGV according to claim 5, characterised by: the anti-rollover mechanism further comprises a first connecting shaft and a second connecting shaft, the first connecting shaft penetrates through the upper end of the gravity block, the second connecting shaft penetrates through the lower end of the gravity block, and two ends of the first connecting shaft are respectively positioned in the sliding grooves and are in sliding fit with the sliding grooves; and two ends of the second connecting shaft are respectively positioned in the sliding grooves and are in sliding fit with the sliding grooves.

7. An AGV according to claim 6, characterised by: and bearings are respectively arranged at two ends of the first connecting shaft and the second connecting shaft.

8. An AGV according to claim 7, characterised by: the driving part comprises a brushless motor, the brushless motor is fixedly connected with the bracket, and the output end of the brushless motor is connected with the driving wheel.