CN214609892U

CN214609892U - Propelling movement equipment and AGV vehicle

Info

Publication number: CN214609892U
Application number: CN202120347748.4U
Authority: CN
Inventors: 周俊; 魏双全; 翟志余
Original assignee: Sichuan Guoruan Technology Group Co Ltd
Current assignee: Sichuan Guoruan Technology Group Co Ltd
Priority date: 2021-02-07
Filing date: 2021-02-07
Publication date: 2021-11-05
Anticipated expiration: 2031-02-07

Abstract

The utility model relates to a propelling movement equipment and AGV vehicle, including power portion, folding mechanism and two propelling movement portions that are used for contacting the thing that is pushed, folding mechanism includes linear motion portion and transmission portion, transmission portion includes rotatable part and driving medium, and the rotatable part is provided with the connector, and two propelling movement portions are respectively symmetrically installed in the both sides of rotatable part, and rotatable part rotatable installs in the support, and the both ends of driving medium articulate in connector and linear motion portion respectively; the power part is used for driving the linear motion part to linearly move so as to synchronously drive the two pushing parts to rotate from the set first position to the set second position or rotate from the second position to the first position; this propelling movement equipment, compact structure, reasonable in design can realize the multiple spot contact, not only can increase area of contact, prevents that propelling movement portion from being crushed, and the propelling movement power can more even effect by the propelling movement thing moreover, can prevent the condition of eccentric propelling movement from appearing.

Description

Propelling movement equipment and AGV vehicle

Technical Field

The utility model relates to a in AGV vehicle technical field, concretely relates to propelling movement equipment and AGV vehicle.

Background

An automatic Guided Vehicle (AGV Vehicle for short) is one of mobile robots, is an important device in a logistics system of a modern manufacturing enterprise, is mainly used for storing and transporting various materials, provides important guarantee for flexibility, integration and high-efficiency operation of the system, usually takes a storage battery as power, is provided with a non-contact guiding device, and can accurately reach a destination under the assistance of computer control and the guiding device.

AGV vehicles for pushing objects disclosed in the prior art, such as AGV vehicles for pushing rail equipment (e.g. pushing wheel pairs) in the rail transportation field, AGV vehicles for pushing goods in the logistics field, AGV vehicles for pushing materials in modern manufacturing enterprises, etc., are generally provided with a set of pushing equipment, the pushing equipment generally comprises a pushing part for realizing pushing and a power part (e.g. a motor) for driving the pushing part to act, a transmission mechanism (also called as a folding mechanism) is generally arranged between the motor and the pushing part, and plays a role of not only transmitting power but also folding the pushing part, during the actual operation process, the AGV vehicles can move to one side or below the object to be pushed under the control of a controller, the motor drives the pushing part to act through the transmission mechanism, so that the pushing part can rotate from a horizontal position to a vertical position, the object to be pushed is driven to move forward by the pushing part, so that the purposes of automatic transfer and transportation are achieved; after the propelling movement finishes, the motor can drive the propelling movement portion to move in the reverse direction through the transmission mechanism, so that the propelling movement portion can rotate to the horizontal direction from the vertical direction, and the purpose of folding and containing the propelling movement portion is achieved.

However, the pushing device in the prior art is usually provided with only one pushing portion, and in the pushing process, only single-point contact with the pushed object can be achieved, on one hand, the contact area between the pushing portion and the pushed object is small, so that the pushing portion is easily damaged, and especially the pushing portion is easily damaged by the instant impact force at the moment of pushing; on the other hand, since a single pushing portion is used to contact the object to be pushed, there is a high demand for the positional relationship between the pushing portion and the object to be pushed, and the object to be pushed is likely to be deviated from the center of the object to be pushed, so that an eccentric pushing force is likely to be generated, and the object to be pushed is likely to be deviated from the pushing trajectory or the predetermined pushing trajectory.

SUMMERY OF THE UTILITY MODEL

For improving the not enough that exists among the prior art, the utility model provides a propelling movement equipment can realize the multiple spot contact, not only can increase area of contact, prevents that propelling movement portion from being crushed, and propelling movement power can more even effect in moreover by the propelling movement thing, can prevent the condition of eccentric propelling movement from appearing.

The utility model adopts the technical proposal that:

in order to solve the problems that a pushing arm in the existing pushing equipment is easy to damage and eccentric pushing is easy to occur, the pushing equipment comprises a power part, a folding mechanism and two pushing parts used for contacting with an object to be pushed, wherein the folding mechanism comprises a linear motion part and a transmission part,

the transmission part comprises a rotating part and a transmission part, the rotating part is provided with a connector, the two pushing parts are respectively and symmetrically arranged on two sides of the rotating part, the rotating part is rotatably arranged on the bracket, and two ends of the transmission part are respectively hinged to the connector and the linear motion part;

the power part is used for driving the linear motion part to linearly move so as to synchronously drive the two pushing parts to rotate from the set first position to the set second position or rotate from the second position to the first position. In the scheme, the linear motion part and the power part are arranged, so that the power part can drive the linear motion part to do linear motion and synchronously drive the transmission part to act, and further drive the rotating part to rotate, so that the pushing part can be folded to a first position and can be rotated to a second position from the first position, and a pushed object can be pushed; because including the propelling movement portion that two symmetries set up in this scheme, just two propelling movement portions can rotate under rotatable parts's drive in step, so that at the propelling movement in-process, utilize two propelling movement portions to exert the propelling movement power to being pushed thing respectively, both can increase the area of contact between propelling movement portion and being pushed thing among the propelling movement process, prevent the damage of propelling movement portion, can follow two positions again and exert the propelling movement power for being pushed thing, the propelling movement power distributes more evenly, the condition of eccentric propelling movement is difficult to appear, neither produce eccentric propelling movement power easily, thereby more stable propelling movement is pushed thing, can prevent again by the skew propelling movement track of propelling movement thing or predetermined propelling movement orbit.

For improving the atress condition of rotatable parts for rotatable parts's atress is more even, and is preferred, rotatable parts is the pivot, the pivot is fixed in through two bearing frames respectively the support, the connector set up in the intermediate position department of pivot. The two bearing seats are utilized to support the rotating shaft, and the connector is arranged in the middle of the rotating shaft, so that the stress distribution of the rotating component is more uniform, and the improvement of the stress condition of the rotating component is facilitated.

In order to improve the bearing capacity, preferably, the pushing part is a supporting plate or a supporting frame;

and/or the connector is of a rod-shaped structure or a block-shaped structure, one end of the connector is fixed on the rotating part, and the other end of the connector is provided with a hinge hole or a hinge column for hinge joint;

and/or the transmission piece is of a rod-shaped structure or a plate-shaped structure.

In order to solve the problem of locking the pushing part at the second position, preferably, the power part is a servo motor with a self-locking function. So that the linear motion part is locked by the servo motor with the self-locking function, and the transmission part connected with the servo motor is locked, the purpose of locking the pushing part is achieved, and the pushing part is prevented from rotating in the pushing process.

In order to solve the problems that the conventional pushing equipment only utilizes the power part to lock the pushing part, the power part is easy to damage, the transmission mechanism is large in constraint, and the pushing part is easy to rotate or even reset due to extrusion of a pushed object, preferably, when the pushing part is located at the second position, the pressure angle of the connecting head to the transmission part is equal to 90 degrees. In the scheme, because the pressure angle of the connector to the transmission piece is exactly equal to 90 degrees at the second position, the hinge mechanism formed by the connector, the transmission piece and the linear motion part is exactly at the dead point position, so that the reaction force of the pushed object to the pushing part can be transmitted to the rotating part through the pushing part and acts on the transmission piece through the connector, because the pressure angle is equal to 90 degrees, the action moment of the connector to the transmission piece is zero, the transmission piece can not be reversely driven to rotate, the transmission piece only bears the action force (pressure or pulling force) of the connector to the transmission piece, and the force is borne by the transmission piece, thereby achieving the purpose of locking the folding mechanism, locking the pushing part in the pushing process, preventing the pushing part from reversely rotating under the action of the reaction force so as to stably push the pushed object, and also being capable of pushing in the pushing process, bear the weight of the reaction force by the propelling movement thing, avoid this reaction force to act on power portion, cause the damage of power portion to can effectively solve the not enough of prior art existence.

In order to facilitate a convenient determination of the dead-centre position during assembly, it is preferred that in the second position the connecting head is perpendicular to the transmission element and the transmission element is perpendicular to the linear movement portion. In this scheme, when connector and driving medium mutually perpendicular, just in time be located the second and deal with the department, the articulated position of connector and driving medium all is in intermediate position department promptly, there is not eccentric problem, thereby can be when the assembly convenient definite dead point position, make at the propelling movement in-process, the driving medium can not rotate under the drive of connector, and the connector can the vertical action in rectilinear motion portion to the effort of driving medium, the load that rectilinear motion portion can be stable, and can not remove under the effect of this effort, reach the purpose of locking propelling movement portion.

To achieve the folding and unfolding functions, it is preferred that in the second position the transmission and the pushing portion are elsewhere in a vertical orientation;

the first supporting part and the second supporting part rotate by more than or equal to 90 degrees from the second position to the first position. That is, in this scheme, the contained angle between the first position and the second position is greater than or equal to 90 degrees, and when being equal to 90 degrees, in the first position, first supporting component and second supporting component are in horizontal orientation respectively to it is more convenient to accomodate first supporting component and second supporting component and fold in the AGV vehicle, and in the second position, first supporting component and second supporting component are in vertical orientation respectively, so that contact with the quilt propelling movement in vertical orientation, for exerting the propelling movement force along the horizontal direction by the quilt propelling movement thing.

In order to realize the linear movement, preferably, the linear movement part comprises a screw rod and a nut, the nut is sleeved on the screw rod and forms a screw transmission mechanism with the screw rod, the power part is used for driving the screw rod to rotate,

the folding mechanism further comprises a guide part and a constraint piece, the nut is connected with the guide part through the constraint piece, the guide part is used for limiting the rotation of the nut, and the transmission piece is hinged to the constraint piece. In the scheme, the screw transmission mechanism is constructed, so that the power part can drive the nut to linearly move along the screw rod, the transmission part can be driven to act, and the rotating part can be driven to rotate; and the guide part not only can play the role of guiding and limiting the nut to rotate, so that the nut can only move along the length direction of the screw rod, but also can play the role of bearing in the pushing process, so that the acting force of the connector on the transmission part can be directly acted on the guide part below the restraint part and the restraint part, thereby effectively improving the stress condition of the nut and the screw rod in the pushing process and achieving the purpose of protecting the nut and the screw rod.

In order to solve the problem of strict linear movement, preferably, the guide part comprises a slide block and a slide rail, the slide block is arranged on the slide rail and forms a moving pair with the slide rail, and the slide block is connected with the constraint part;

or the guide part comprises a guide rod, a guide block is sleeved on the guide rod and connected with the restraint piece,

or, the guide part comprises a guide rod, the restraint part is provided with a guide hole, and the guide rod passes through the guide hole and forms a moving pair with the restraint part.

For convenience of installation or integration, the linear motion part and the power part are further fixed on the mounting frame;

and/or, the bracket is fixed to the bracket. When the installation, the mounting bracket can be installed in the frame of AGV vehicle to make things convenient for whole propelling movement equipment's integration and installation.

In order to drive the screw rod to rotate, preferably, the power part is a motor, the motor is connected with the input end of the speed reducer, and the output end of the speed reducer is connected with the screw rod through a transmission mechanism;

the transmission mechanism is one or a combination of a shaft coupling, a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism and a worm mechanism. Not only be convenient for the rotation of lead screw, be convenient for moreover according to actual demand confirm the mounted position of motor.

The AGV vehicle comprises the pushing equipment and a vehicle frame, wherein the pushing equipment is fixed on the vehicle frame.

Furthermore, the pushing device is arranged in the shell, an opening is formed in the position, corresponding to the pushing portion, of the shell, and the pushing portion rotates to the outside of the shell through the opening and rotates to the inside of the shell through the opening.

Compared with the prior art, use the utility model provides a pair of propelling movement equipment and AGV vehicle, compact structure, reasonable in design can realize the multiple spot contact, not only can increase area of contact, prevents that propelling movement portion from being crushed, and propelling movement power can more even act on by the propelling movement thing moreover, can prevent the condition of eccentric propelling movement from appearing.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, 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 invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a push apparatus provided in this embodiment 1.

Fig. 2 is a front view of fig. 1.

Fig. 3 is a left side view of fig. 1, the pusher being in a second position.

Fig. 4 is a left side view of fig. 1, the pusher being in a first position.

Fig. 5 is a top view of fig. 1.

FIG. 6 is a view A-A of FIG. 5, in which the solid line with arrows represents the force applied by the connecting head to the driving member.

Description of the drawings

Motor 101, reducer 102, driving wheel 103, driving belt 104, driven wheel 105, bearing seat 106, screw rod 107, nut 108, restraint piece 109, hinge seat 110, pin 111, transmission piece 112, connecting head 113, rotating part 114, bracket 115, pushing part 116, buffer layer 117

Slide rail 201 and slide block 202

A mounting frame 300.

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 only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

As shown in fig. 1 to 6, the present embodiment provides a pushing apparatus including a power part, a folding mechanism and two pushing parts 116 for contacting an object to be pushed, wherein the folding mechanism includes a linear motion part and a transmission part, specifically,

in the present embodiment, the transmission part includes a rotating component 114 and a transmission component 112, the rotating component 114 is rotatably mounted on a bracket 115, preferably, the rotating component 114 may be a rotating shaft, such as a stepped shaft, and the rotating component 114 may be mounted on the bracket 115 through a bearing and/or a bearing seat 106, so as to achieve the constraint on the rotating component 114; for example, as shown in fig. 1, the rotating shafts are respectively fixed to the bracket 115 by two bearing blocks 106;

as shown in fig. 1, 5 and 6, in the present embodiment, two pushing portions 116 are respectively and symmetrically installed at two sides of the rotating member 114, and the rotating member 114 is used to drive the pushing portions 116 to rotate, preferably, the pushing portions 116 may be a supporting plate (e.g., a steel plate) or a supporting frame (e.g., a steel frame) so as to improve a bearing capacity; in order to prevent rigid collision, a buffer layer 117 is further disposed on one side or both sides of the pushing part 116, and the buffer layer 117 may be a rubber layer to avoid rigid collision between the pushing part 116 and the object to be pushed;

in this embodiment, in order to connect the transmission member 112, the rotating member 114 is provided with a connecting head 113, as shown in fig. 1, 5 and 6, the connecting head 113 may be a rod-shaped structure or a block-shaped structure, and in order to improve the stress condition of the rotating member 114 and make the stress of the rotating member 114 more uniform, the connecting head 113 may be disposed at a middle position of the rotating member 114; in order to facilitate the hinge, one end of the connecting head 113 is fixed to the rotating part 114, for example, may be welded to the rotating part 114, or may be fixed to the rotating part 114 through a key connection, so that the connecting head 113 may be driven by the rotating part 114 to rotate, and the other end of the connecting head 113 is configured with a hinge hole or a hinge pillar for hinge joint, as shown in fig. 1 to 6, so as to facilitate the hinge joint;

as shown in fig. 1 to 6, in the present embodiment, both ends of the transmission member 112 are respectively hinged to the connecting head 113 and the linear motion part, and preferably, the transmission member 112 may have a rod-shaped structure or a plate-shaped structure, and for the purpose of realizing the hinge, both ends of the transmission member 112 may respectively be configured with a hinge hole or a hinge column for the hinge, so as to realize the hinge by using a hinge column, a pin 111, or the like; for example, as shown in fig. 1 to 6, in the present embodiment, one end of the connecting head 113 and two ends of the transmission member 112 are respectively configured with hinge holes, and the hinge of the connecting head 113 and the transmission member 112 can be realized by using a hinge column or a pin 111;

in this embodiment, the power portion is used to drive the linear motion portion to perform linear motion, the linear motion portion is rotated by the linear motion rotating component 114, so as to drive the pushing portion 116 to rotate from the set first position to the set second position or from the second position to the first position, the first position and the second position may be determined according to actual requirements, and preferably, in the second position, the transmission member 112 and the pushing portion 116 may be respectively in a vertical orientation, as shown in fig. 1 to 6; when the pushing part 116 rotates from the second position to the first position, the rotation angles of the first supporting part and the second supporting part are respectively greater than or equal to 90 degrees; that is, the included angle between the first position and the second position may be greater than or equal to 90 degrees, for example, in the embodiment, the included angle between the first position and the second position is equal to 90 degrees, so that in the first position, the first support member and the second support member are respectively in a horizontal orientation, thereby facilitating the first support member and the second support member to be stored and folded into the AGV vehicle, and in the second position, the first support member and the second support member are respectively in a vertical orientation, so as to be in contact with the pushed object in the vertical orientation, so as to apply the pushing force along the horizontal direction to the pushed object.

In order to lock the pushing part 116, so that in the second position, the pushing part 116 and the folding mechanism can be kept still to prevent actions during pushing, there are various embodiments, as a first preferred embodiment, as shown in fig. 1-6, when the pushing part 116 is in the second position, the pressure angle of the connecting head 113 to the transmission member 112 is equal to 90 degrees, the pressure angle refers to the acute angle between the force receiving direction and the moving direction without calculating the friction force, and is a common term in the mechanical field, specifically, in the second position, the force of the connecting head 113 to the transmission member 112 is exactly perpendicular to the rotating direction of the transmission member 112 (i.e., the force of the connecting head 113 to the transmission member 112 is exactly passed through the hinge center of the transmission member 112, as shown in fig. 6), so that the connecting head 113 and the transmission member 112 are exactly in the dead center position, from the force analysis, it can be known that: in the pushing process, the reaction force of the pushed object to the pushing portion 116 is transmitted to the rotating part 114 through the pushing portion 116, and acts on the transmission member 112 through the connecting head 113, as the pressure angle is equal to 90 degrees, as shown in fig. 6, the action torque of the connecting head 113 to the transmission member 112 is zero, and the transmission member 112 cannot be driven to rotate in the reverse direction, so as to achieve the purpose of locking, and the transmission member 112 only bears the action force (pressure or pulling force) of the connecting head 113 to the transmission member 112, so as to achieve the purpose of bearing force, so that the pushing device can lock the rotating part 114 in the reverse direction in the pushing process, prevent the pushing portion 116 from rotating in the reverse direction under the action of the reaction force, so as to stably push the pushed object, and can bear the reaction force of the pushed object in the pushing process, so as to prevent the reaction force from directly acting on the power portion and causing damage to the power portion.

In order to conveniently determine the dead point position during assembly, it is preferable that the connecting head 113 is perpendicular to the transmission member 112 and the transmission member 112 is perpendicular to the linear motion portion when the pushing portion 116 is at the second position, as shown in fig. 1-6, and for this purpose, the hinge position of the connecting head 113 and the transmission member 112 needs to be at an intermediate position, without eccentricity, so that during assembly, the connecting head 113 and the transmission member 112 are perpendicular to each other and can be at a dead point position, so that during pushing, the transmission member 112 cannot rotate under the driving of the connecting head 113, the acting force of the connecting head 113 on the transmission member 112 can vertically act on the linear motion portion, and the linear motion portion can stably bear a force and cannot move under the acting force, thereby achieving the purpose of locking the pushing portion 116.

The linear motion part is used for realizing linear motion and has various embodiments, preferably, the linear motion part comprises a screw 107 and a nut 108, as shown in fig. 1-6, the nut 108 is sleeved on the screw 107 and forms a screw transmission mechanism with the screw 107, and the power part is used for driving the screw 107 to rotate so as to drive the nut 108 to linearly move; preferably, the power portion has various embodiments, and for example, the power portion may be a motor 101, the motor 101 may be a general motor 101, or may be a servo motor 101 having a self-locking function, in order to connect the motor 101 and the lead screw 107, in one embodiment, the motor 101 may be connected to an input end of the speed reducer 102, the motor 101 may be fixed to the speed reducer 102, and an output end of the speed reducer 102 may be connected to the lead screw 107 through a transmission mechanism; the transmission mechanism can adopt a commonly used transmission mechanism in the prior art, and preferably can be one or a combination of a coupler, a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism and a worm mechanism, so that the rotation of the screw rod 107 is facilitated, and the installation position of the motor 101 is conveniently determined according to actual requirements; by way of example, in the present embodiment, the transmission mechanism is a belt transmission mechanism, as shown in fig. 1 to fig. 6, the belt transmission mechanism includes a driving wheel 103, a driven wheel 105, and a transmission belt 104, the driving wheel 103 is fixed to the output end of the speed reducer 102, the driven wheel 105 is fixed to the screw rod 107, and the transmission belt 104 is tensioned between the driving wheel 103 and the driven wheel 105, so as to realize belt transmission.

In this embodiment, the folding mechanism further comprises a guiding portion and a restraining member 109, as shown in fig. 1 to 6, the nut 108 is connected to the guiding portion through the restraining member 109, the guiding portion is used for limiting the rotation of the nut 108, and the transmission member 112 is hinged to the restraining member 109; through constructing the screw transmission mechanism, make motor 101 can drive nut 108 along lead screw 107 rectilinear movement, the guide part not only can play the effect of direction and restriction nut 108 pivoted, make nut 108 can only move along the length direction of lead screw 107, and can play the effect of bearing in the propelling movement in-process, make connector 113 can direct action on restraint piece 109 and the guide part below restraint piece 109 to the effort of transmission piece 112, thereby can effectively improve the nut 108 in the propelling movement process, the atress condition of lead screw 107, reach the purpose of protection nut 108, lead screw 107.

For the purpose of guiding, the guiding part has various embodiments, and as a preferred embodiment, the guiding part includes a sliding block 202 and a sliding rail 201, the sliding block 202 is disposed on the sliding rail 201 and forms a moving pair with the sliding rail 201, the sliding rail 201 is fixed to the mounting frame 300, and the sliding block 202 is connected to the restraining member 109; for example, as shown in fig. 1 and 5, the two slide rails 201 include two slide rails 201, the two slide rails 201 are respectively sleeved with a slide block 202, the nut 108 is sleeved on the restraining element 109, and two ends of the restraining element 109 are respectively fixed to the two slide blocks 202, as shown in fig. 1 and 5, in order to connect the transmission element 112, the restraining element 109 is provided with a hinge base 110, the transmission element 112 may be hinged to the hinge base 110 through a hinge column or a pin 111, and when in the second position, the transmission element 112 is perpendicular to the hinge base 110 and perpendicular to the restraining element 109 and the slide block 202, so as to bear an acting force (a pressure force or a pulling force) distributed in a vertical direction.

It is understood that the guide part has other embodiments, and as another embodiment, the guide part may include a guide rod, the guide rod is sleeved with a guide block, and the guide block is connected with the constraining member 109, so as to achieve the purpose of guiding, so that the nut 108 can move along the screw rod 107 under the constraining action of the guide block under the driving action of the motor 101;

as a further embodiment, the guiding portion may further include a guiding rod, the constraining member 109 is configured with a guiding hole, the guiding rod passes through the guiding hole and forms a moving pair with the constraining member 109, that is, the guiding hole may be configured directly on the constraining member 109, so that the constraining member 109 can form a moving pair with the guiding rod, and the purpose of constraining the nut 108 and bearing force is achieved.

As shown in fig. 1 to 6, in a further embodiment, the AGV further comprises a mounting bracket 300, the linear motion part and the power part may be respectively fixed to the mounting bracket 300, the bracket 115 may be fixed to the mounting bracket 300, the bracket 115 and the mounting bracket 300 may be integrally formed, and the bracket 115 and the mounting bracket 300 may be separate components, and when being mounted, the bracket 115 and the mounting bracket 300 may be respectively fixed to a frame of the AGV; specifically, in the present embodiment, the screw 107 may be mounted to the mounting bracket 300 through a bearing seat 106, and the guide portion may be mounted to the mounting bracket 300; by way of example, the mounting bracket 300 may preferably have a plate-like structure, and as shown in fig. 1 to 6, through holes for mounting may be formed in the bracket 115 and/or the mounting bracket 300 so as to be mounted and fixed by bolts.

Example 2

The main difference between the present embodiment 2 and the above embodiment 1 is that the pushing portion 116 is locked, specifically, in the pushing apparatus provided in the present embodiment, the power portion may be a servo motor 101 having a self-locking function, so that the linear motion portion is locked by the servo motor 101 having the self-locking function, and then the transmission portion connected to the linear motion portion is locked, thereby achieving the purpose of locking the pushing portion 116, and preventing the pushing portion 116 from rotating during the pushing process.

For example, in this embodiment, an output shaft of the power portion is connected to an input end of the speed reducer 102, an output end of the speed reducer 102 may be connected to the lead screw 107 through a coupler, and other structures are the same as those in embodiment 1, which is not described herein again, because the power portion has a self-locking function, the speed reducer 102, the coupler, the lead screw 107, and the nut 108 connected to the power portion may be locked and cannot move by itself during the pushing process, and further, the constraining member 109, the slider 202, the transmission member 112, the rotating member 114, and the pushing portion 116 connected to the nut 108 may be locked synchronously, thereby avoiding the movement during the pushing process.

Example 3

This embodiment provides an AGV vehicle comprising a pushing device as described in embodiment 1 or embodiment 2 and further comprising a frame for bearing a force, the pushing device being securable to the frame, the frame being a frame commonly used in the art, by way of example, the mounting bracket 300 and/or bracket 115 may be part of the frame, or the mounting bracket 300 and/or bracket 115 may be mounted to the frame by bolts or rivets, respectively.

In a more perfect scheme, the pushing device further comprises a casing arranged on the frame, the pushing device can be arranged in the casing, an opening is formed in the casing at a position corresponding to the pushing portion 116, so that the pushing portion 116 can rotate to the outside of the casing through the opening to facilitate pushing, and can also rotate to the inside of the casing through the opening to facilitate folding and storage.

In a more perfect scheme, the AGV further comprises a traveling wheel, a power assembly, a controller and the like, wherein the power assembly is connected with the traveling wheel and electrically connected with the controller, and the power assembly is used for driving the traveling wheel to rotate under the control of the controller; the power assembly can adopt a power assembly commonly used in the existing AGV, and is not illustrated, and the vehicle body is further provided with a storage battery pack which is connected with the power assembly and used for supplying power.

Since the present embodiment provides an AGV vehicle without manual control, preferably, the frame is further provided with a guiding device for the existing AGV vehicle, the guiding device is connected to the controller, and the controller controls the AGV vehicle to travel along the set route through the guiding device.

In a more sophisticated scheme, the controller may be a controller commonly used in the existing AGV, such as a single chip, a PLC or an ARM chip.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention.

Claims

1. The pushing equipment is characterized by comprising a power part, a folding mechanism and two pushing parts for contacting an object to be pushed, wherein the folding mechanism comprises a linear motion part and a transmission part,

the power part is used for driving the linear motion part to linearly move so as to synchronously drive the two pushing parts to rotate from the set first position to the set second position or rotate from the second position to the first position.

2. The pushing device as claimed in claim 1, wherein the rotating member is a rotating shaft, the rotating shaft is fixed to the bracket through two bearing seats, and the connector is disposed at a middle position of the rotating shaft.

3. The pushing device of claim 1, wherein the pushing portion is a support plate or a support frame;

and/or the transmission piece is of a rod-shaped structure or a plate-shaped structure, and two ends of the transmission piece are respectively provided with a hinge hole or a hinge column for hinge joint.

4. The pushing device of any one of claims 1-3, wherein the power portion is a servo motor with a self-locking function;

and/or when the pushing part is located at the second position, the pressure angle of the connecting head to the transmission piece is equal to 90 degrees.

5. Pushing apparatus according to claim 4, wherein in the second position the connecting head is perpendicular to the transmission member and the transmission member is perpendicular to the linear movement portion.

6. The pushing apparatus of claim 4, wherein in the second position, the drive and pushing portion are elsewhere in a vertical orientation;

the first supporting part and the second supporting part rotate by more than or equal to 90 degrees from the second position to the first position.

7. The pushing device as claimed in claim 4, wherein the linear motion part comprises a lead screw and a nut, the nut is sleeved on the lead screw and forms a screw transmission mechanism with the lead screw, the power part is used for driving the lead screw to rotate,

the folding mechanism further comprises a guide part and a restraint piece, the nut is connected with the guide part through the restraint piece, the guide part is used for limiting the rotation of the nut, and the transmission piece is hinged to the restraint piece;

the guide part comprises a slide block and a slide rail, the slide block is arranged on the slide rail and forms a moving pair with the slide rail, and the slide block is connected with the constraint part;

8. The pushing device as claimed in claim 7, wherein the power part is a motor, the motor is connected with an input end of a speed reducer, and an output end of the speed reducer is connected with the screw rod through a transmission mechanism;

the transmission mechanism is one or a combination of a shaft coupling, a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism and a worm mechanism.

9. The pushing device of claim 4, further comprising a mounting bracket to which the linear motion portion and the power portion are respectively fixed;

and/or, the bracket is fixed to the bracket.

10. An AGV vehicle comprising the presenter device of any one of claims 1-9 and a frame to which the presenter device is secured.