CN214648670U

CN214648670U - AGV dolly

Info

Publication number: CN214648670U
Application number: CN202120368567.XU
Authority: CN
Inventors: 叶锐汉; 王力展; 黄振兴
Original assignee: Guangdong Tianniang Intelligent Equipment Co ltd
Current assignee: Guangdong Tianniang Intelligent Equipment Co ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-11-09
Anticipated expiration: 2031-02-08

Abstract

The utility model relates to an automatic guide material transport vehicle technical field discloses a AGV, it includes the frame, hang the mechanism, drive wheel and auxiliary wheel, hang the mechanism and establish to a pair of, hang the mechanism and set up along the horizontal central axis of frame, hang the mechanism and include guide bar, locating part, first elastic component and fixing base, the top and the bottom of guide bar are all installed on the frame, the locating part is installed on the guide bar, the fixing base is connected on the guide bar in a sliding manner, first elastic component cover is located on the guide bar, and the top and the bottom of first elastic component respectively with the top butt of locating part and fixing base; the driving wheels are arranged in at least one pair, the number of the driving wheels is equal to that of the suspension mechanisms, the driving wheels are arranged in a one-to-one correspondence mode, the driving wheels are connected with the fixed seat, and the driving wheels are connected with a driving device for driving the driving wheels to rotate; the auxiliary wheel is set to be at least two, and the bottom of frame is located to two at least auxiliary wheels. The utility model provides an AGV dolly to reach the drive wheel of AGV dolly can be all the time with the purpose of ground contact.

Description

AGV dolly

Technical Field

The utility model relates to an automatic guide material transport vechicle technical field especially relates to a AGV dolly.

Background

An AGV cart is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. Because the AGV dolly has advantages such as intelligent degree height, transport speed are fast and save space, its range of application is wider and wider.

The trailing end connection of AGV dolly has the material trailer, and the material trailer probably loads and has the batch product, and from this, the AGV dolly must keep steady at the removal in-process to avoid the product upset that the material trailer loaded. In order to guarantee the even running of AGV dolly, generally be provided with in the AGV dolly and hang the mechanism, hang the mechanism and locate between drive wheel and the frame, hang the mechanism and can make a plurality of wheels of AGV dolly land jointly to adapt to the unevenness on road surface, strengthen the automobile body stability of AGV dolly. However, some suspension mechanisms are hard-connected, and when the AGV passes through a ground with low flatness, the driving wheels of the suspension mechanisms often cannot be attached to the ground, so that the adhesion between the AGV and the ground is not enough to drive the AGV to move.

SUMMERY OF THE UTILITY MODEL

The utility model aims at: the utility model provides an AGV dolly to reach the drive wheel of AGV dolly can be all the time with the purpose of ground contact.

In order to achieve the above object, the utility model provides a AGV dolly, it includes:

a frame;

the suspension mechanisms are arranged in a pair, the suspension mechanisms are arranged along the transverse central axis of the frame, each suspension mechanism comprises a guide rod, a limiting piece, a first elastic piece and a fixed seat, the top end and the bottom end of each guide rod are both mounted on the frame, the limiting pieces are mounted on the guide rods, the fixed seats are connected to the guide rods in a sliding mode, the first elastic pieces are sleeved on the guide rods, and the top ends and the bottom ends of the first elastic pieces are respectively abutted to the limiting pieces and the top ends of the fixed seats;

the driving wheels are arranged in at least one pair, the number of the driving wheels is equal to that of the suspension mechanisms, the driving wheels are arranged in a one-to-one correspondence mode, the driving wheels are connected with the fixed seat, and the driving wheels are connected with a driving device for driving the driving wheels to rotate;

the auxiliary wheel, the auxiliary wheel is established to at least two, at least two the auxiliary wheel is located the bottom of frame.

In some embodiments of the present application, each suspension mechanism's the guide bar is established to two, the drive wheel passes through first connecting block and two the fixing base is connected, drive arrangement is located two between the guide bar, drive arrangement's power take off end passes first connecting block with the drive wheel is connected.

In some embodiments of the present application, the limiting member is an adjusting nut, and the adjusting nut is screwed on the guide rod.

In some embodiments of the present application, the AGV cart further includes an electromagnetic adsorption mechanism, which is located on the front side or the rear side of the frame.

In some embodiments of the present application, the electromagnetic adsorption mechanism comprises:

the second connecting block is arranged on the front side or the rear side of the frame;

the electromagnetic chuck is used for adsorbing the material trailer;

the telescopic device comprises a first connecting plate, a second connecting plate, a connecting chain and a second elastic piece, wherein the first connecting plate is connected with the second connecting plate, the second connecting plate is connected with the electromagnetic chuck, two ends of the connecting chain are respectively connected with the first connecting plate and the second connecting plate, two ends of the second elastic piece are respectively connected with the second connecting plate and the electromagnetic chuck, and the second elastic piece is sleeved outside the connecting chain.

In some embodiments of the present application, the electromagnetic adsorption mechanism further comprises a swinging device, the swinging device comprising:

The universal ball is arranged on the first connecting plate;

the cushion block is arranged on the second connecting plate and provided with a rotating hole for the universal ball to rotate.

In some embodiments of the present application, the number of the telescopic devices is two, and the swing device is disposed between the two telescopic devices.

In some embodiments of the present application, a bumper strip is provided on a lower portion of a side wall of the frame.

In some embodiments of the present application, the auxiliary wheels are provided in two pairs, and the driving wheel is located between the two pairs of the auxiliary wheels.

In some embodiments of the present application, the driving device is a servo motor.

The embodiment of the utility model provides a AGV dolly, it compares with prior art, and its beneficial effect lies in:

(1) when the AGV encounters a pit, the first elastic piece is in an extending state, the first elastic piece drives the fixed seat to move downwards along the guide rod, the fixed seat drives the driving wheel to move downwards, the driving wheel is always in contact with the ground, the adhesive force between the driving wheel and the ground is ensured, and the driving wheel is prevented from being suspended; when the AGV encounters a raised road surface, the first elastic piece is in a compressed state, the driving wheel moves upwards, and the driving wheel drives the fixed seat to move upwards along the guide rod, so that the friction force between the driving wheel and the ground is adjusted; therefore, the AGV trolley is provided with the suspension mechanism, and the suspension mechanism ensures that the driving wheel can always contact with the ground when passing through an uneven road surface, so that the AGV trolley is ensured to run stably;

(2) Compared with the mode that a pair of driving wheels is arranged on the front side and the rear side of the frame respectively, the hanging mechanism and the driving wheels are arranged along the transverse central axis of the frame, when the AGV trolley needs to steer, the two driving wheels move oppositely, the occupied space of the AGV trolley in the steering process is smaller, and therefore the AGV trolley can also steer in a narrow space;

(3) the AGV dolly still includes electromagnetic adsorption mechanism, electromagnetic adsorption mechanism locates the front side or the rear side of frame, therefore, electromagnetic adsorption mechanism is suitable for with the direct magnetism of the carbon steel sheet of material trailer and is connected, not only the installation is dismantled conveniently, can not damage the carbon steel sheet of material trailer, alleviate staff's work load, the carbon steel sheet of automatic adsorption material trailer moreover, and with the adsorption affinity propelling movement that is enough big or pull the material trailer, automatic and material trailer automatic connection and automatic purpose of getting in touch have been reached.

Drawings

FIG. 1 is a schematic diagram of an AGV of an embodiment of the present invention.

FIG. 2 is a bottom view of an AGV of an embodiment of the present invention.

Fig. 3 is a schematic view of a connection structure between the suspension mechanism and the driving wheel according to the embodiment of the present invention.

Fig. 4 is a first schematic structural diagram of an electromagnetic adsorption mechanism according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of an electromagnetic adsorption mechanism according to an embodiment of the present invention.

In the figure, 1, a frame; 2. a suspension mechanism; 21. a guide bar; 22. a limiting member; 23. a first elastic member; 24. a fixed seat; 3. a drive wheel; 4. a first connection block; 5. a drive device; 6. An auxiliary wheel; 7. an electromagnetic adsorption mechanism; 71. a second connecting block; 72. an electromagnetic chuck; 73. a telescoping device; 731. a first connecting plate; 732. a second connecting plate; 733. a connecting chain; 734. a second elastic member; 74. a swing device; 741. a universal ball; 742. cushion blocks; 8. an anti-collision strip; 9. A power source; 10. an electrical control box; 11. a carbon steel sheet.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

As shown in fig. 1-5, an embodiment of the present invention provides an AGV cart, which includes a frame 1, a suspension mechanism 2, a driving wheel 3 and an auxiliary wheel 6, wherein the suspension mechanism 2 is a pair, the suspension mechanism 2 is disposed along a transverse central axis of the frame 1, the suspension mechanism 2 includes a guide rod 21, a limiting member 22, a first elastic member 23 and a fixing seat 24, a bottom end of the guide rod 21 is mounted on the frame 1, the limiting member 22 is mounted on the guide rod 21, the fixing seat 24 is slidably connected to the guide rod 21, the first elastic member 23 is sleeved on the guide rod 21, and a top end and a bottom end of the first elastic member 23 are respectively abutted to top ends of the limiting member 22 and the fixing seat 24; the driving wheels 3 are at least one pair, the number of the driving wheels 3 is equal to that of the suspension mechanisms 2, the driving wheels 3 are arranged in a one-to-one correspondence mode, the driving wheels 3 are connected with the fixed seat 24, and the driving wheels 3 are connected with a driving device 5 for driving the driving wheels to rotate; the auxiliary wheel 6 is set to be at least two, and the bottom of frame 1 is located to at least two auxiliary wheels 6.

Based on the setting, the utility model discloses AGV dolly has following advantage:

(1) when the AGV encounters a pit, the first elastic piece 23 is in an extending state, the first elastic piece 23 drives the fixed seat 24 to move downwards along the guide rod 21, the fixed seat 24 drives the driving wheel 3 to move downwards, the driving wheel 3 is always in contact with the ground, the adhesive force between the driving wheel 3 and the ground is ensured, and the driving wheel 3 is prevented from being suspended; when the AGV encounters a raised road surface, the first elastic piece 23 is in a compressed state, the driving wheel 3 moves upwards, and the driving wheel 3 drives the fixed seat 24 to move upwards along the guide rod 21, so that the friction force between the driving wheel 3 and the ground is adjusted;

Therefore, the AGV trolley is provided with the suspension mechanism 2, and the suspension mechanism 2 ensures that the driving wheel 3 can always contact with the ground when the driving wheel 3 passes through an uneven road surface, so that the stable running of the AGV trolley is ensured;

(2) compare in the front side and the rear side at frame 1 and set up a pair of drive wheel 3 respectively, the utility model discloses hang mechanism 2 and drive wheel 3 along frame 1's horizontal the central axis setting, when the AGV dolly need turn to, two drive wheels 3 move in opposite directions respectively, and the AGV dolly is less turning to shared space in-process to make the AGV dolly also can turn to in narrow and small space.

In some embodiments, as shown in fig. 1 to 3, alternatively, two guide rods 21 are provided for each suspension mechanism 2, the driving wheel 3 is connected with two fixing seats 24 through the first connecting block 4, the driving device 5 is located between the two guide rods 21, and the power output end of the driving device 5 is connected with the driving wheel 3 through the first connecting block 4. Tests show that compared with the situation that only one guide rod 21 is arranged for each suspension mechanism 2, the two guide rods 21 can increase the friction force between the driving wheel 3 and the ground while the fixed seat 24 can move up and down, so that the driving wheel 3 is more stable in the up-and-down moving process; compared with the number of the guide rods 21 of each suspension mechanism 2 exceeding two, the two guide rods 21 enable the fixed seat 24 to move more flexibly, the suspension mechanisms 2 are less restricted, and the cost is lower;

In addition, by providing the first connecting block 4, the first connecting block 4 makes the settings of the fixing base 24 and the driving device 5 independent from each other, without interfering with each other, thereby making the structure of the suspension mechanism 2 simpler.

In some embodiments, optionally, as shown in fig. 3, the limiting member 22 is an adjusting nut, and the adjusting nut is screwed on the guide rod 21, in other words, the limiting member 22 not only limits the first elastic member 23 to prevent the top end of the first elastic member 23 from separating from the guide rod 21, but also can control the initial compression amount of the first elastic member 23 to adjust the tightness of the first elastic member 23, thereby adjusting the damping effect of the suspension mechanism 2.

In some embodiments, optionally, as shown in fig. 3, the first elastic member 23 is a spring, and it should be noted that the length of the first elastic member 23 herein needs to be adapted to the stroke of the driving wheel 3 moving up and down, so as to make the moving range of the driving wheel 3 in the vertical direction larger; preferably, the first elastic member 23 is a spring having a large elastic coefficient, so that the up-and-down movement of the driving wheel 3 is more reliable.

The connection mode between the conventional AGV trolley and the material trailer mainly comprises the following two modes, wherein the first mode is hook connection, but the hooking process and the unhooking process are troublesome; the second mode is that the automatic unhooking mechanism that hangs of mechanical type, though the automatic unhooking mechanism that hangs of mechanical type has automatic advantage, but its structure is comparatively complicated, manufacturing cost and maintenance cost are higher, in order to solve above-mentioned technical problem, as shown in fig. 1, 2, 4 and 5, this AGV dolly still includes electromagnetic adsorption mechanism 7, electromagnetic adsorption mechanism 7 locates the front side or the rear side of frame 1, in other words, electromagnetic adsorption mechanism 7 is suitable for the direct magnetic connection with material trailer's carbon steel plate 11, not only the installation is dismantled conveniently, can not damage material trailer's carbon steel plate 11, alleviate staff's work load, and the automatic carbon steel plate 11 who adsorbs material trailer, and with the adsorption affinity propelling movement that is big enough or pull material trailer, the purpose of automatic and material trailer automatic connection and automatic couple has been reached.

In some embodiments, optionally, as shown in fig. 4 and 5, the electromagnetic adsorption mechanism 7 includes a second connection block 71, an electromagnetic chuck 72 and a telescopic device 73, the second connection block 71 is disposed on the front side or the rear side of the frame 1; the electromagnetic chuck 72 is used for adsorbing the material trailer; the telescopic device 73 includes a first connecting plate 731, a second connecting plate 732, a connecting chain 733 and a second elastic member 734, the first connecting plate 731 is connected to the second connecting plate 71, the second connecting plate 732 is connected to the electromagnetic chuck 72, two ends of the connecting chain 733 are respectively connected to the first connecting plate 731 and the second connecting plate 732, two ends of the second elastic member 734 are respectively connected to the second connecting plate 71 and the electromagnetic chuck 72, and the second elastic member 734 is sleeved outside the connecting chain, wherein the second elastic member 734 is a spring. Thus, by providing the connection chain 733, the connection chain 733 connects the first connection plate 731 and the second connection plate 732 together, thereby connecting the electromagnetic suction cup 72 and the second connection plate 71 together; through setting up second elastic component 734, second elastic component 734 has elasticity, can play buffering electromagnet 72 to the impact force of second connecting block 71, for example in the moment that electromagnet 72 adsorbs carbon steel plate 11 to the material trailer, carbon steel plate 11 of material trailer has certain impact force to electromagnet 72, second elastic component 734 plays the effect of buffering to the impact of carbon steel plate 11 of material trailer, therefore, make the connection between electromagnet 72 and the second connecting block 71 more reliable.

In some embodiments, optionally, as shown in fig. 4 and 5, the electromagnetic adsorption mechanism 7 further includes a swinging device 74, the swinging device 74 includes a universal ball 741 and a cushion block 742, and the universal ball 741 is disposed on the first connection plate 731; the spacer 742 is disposed on the second coupling plate 732, and the spacer 742 has a rotation hole through which the universal ball 741 rotates. From this, when this AGV dolly is when turning, the material trailer also turns along with the AGV dolly, and at this moment, universal ball 741 rotates and connects in the rotation hole of cushion 742 to make material trailer and AGV dolly keep unanimous travel state.

In some embodiments, optionally, as shown in fig. 4 and 5, two telescoping devices 73 are provided, and the swinging device 74 is provided between the two telescoping devices 73. Thereby, the two expansion devices 73 further improve the connection stability between the second connection block 71 and the electromagnetic chuck 72, compared to one expansion device 73.

In some embodiments, optionally, as shown in fig. 1, the lower portion of the side wall of the frame 1 is provided with a bumper strip 8. Therefore, the AGV trolley can encounter obstacles in the walking process, and the collision-proof strip 8 protects the frame 1, so that the service life of the frame 1 is prolonged; in addition, when the bumper strip 8 collides with an obstacle, the AGV car will automatically stop.

In some embodiments, optionally, as shown in FIG. 2, the auxiliary wheels 6 are provided in two pairs and the drive wheel 3 is positioned between the two pairs of auxiliary wheels 6, so that the AGV car takes up less space when turning.

In some embodiments, the drive 5 is optionally a servo motor, as shown in FIG. 3, in other words, since the servo motor can control the speed, the AGV car can rotate and turn in place and pass over narrow lanes when there is a difference between the rotational speeds of the two servo motors.

In some embodiments, optionally, as shown in fig. 1, the AGV cart further includes an electrical control box 10, the electrical control box 10 is disposed at the top end of the frame 1 through a connection column, and a control mechanism is disposed in the electrical control box and electrically connected to the electromagnetic adsorption mechanism 7 and the driving device 5, in other words, the control mechanism controls the electromagnetic adsorption mechanism 7 and the driving device 5, so that the AGV cart is in a normal motion state.

In some embodiments, optionally, as shown in fig. 1, the AGV cart further includes two power supplies 9, the two power supplies 9 are disposed opposite to each other on the cart frame 1, and the power supply 9 is electrically connected to the control mechanism, the electromagnetic adsorption mechanism 7 and the driving device 5, in other words, the power supply 9 supplies power to the control mechanism, the electromagnetic adsorption mechanism 7 and the driving device 5.

To sum up, this AGV dolly hangs mechanism 2 through setting up, hangs mechanism 2 and guarantees that drive wheel 3 is when passing through unevenness's road surface, and drive wheel 3 can contact with ground all the time to guarantee the even running of this AGV dolly.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims

1. An AGV cart, comprising:

a frame;

The number of the driving wheels is equal to that of the suspension mechanisms, the driving wheels are arranged in a one-to-one correspondence mode, the driving wheels are connected with the fixed seat, and the driving wheels are connected with a driving device for driving the driving wheels to rotate;

2. The AGV trolley according to claim 1, wherein there are two guide bars for each suspension mechanism, the drive wheel is connected to the two mounting brackets by a first connecting block, the drive mechanism is located between the two guide bars, and a power output end of the drive mechanism is connected to the drive wheel through the first connecting block.

3. The AGV of claim 1, wherein the stop is an adjustment nut that is threaded onto the guide bar.

4. The AGV cart of claim 1, further comprising an electromagnetic adsorption mechanism disposed on either the front or rear side of the frame.

5. The AGV of claim 4, wherein said electromagnetic attraction mechanism comprises:

the electromagnetic chuck is used for adsorbing the material trailer;

6. The AGV of claim 5, wherein said electromagnetic attraction mechanism further comprises a swing, said swing comprising:

the universal ball is arranged on the first connecting plate;

7. The AGV of claim 6, wherein said telescoping devices are provided in two, and said swing mechanism is provided between said two telescoping devices.

8. The AGV cart of claim 1, wherein the lower portion of the side walls of the frame are provided with bumper strips.

9. The AGV cart of claim 1, wherein said auxiliary wheels are provided in two pairs, said drive wheels being located between said two pairs of auxiliary wheels.

10. The AGV cart of claim 1, wherein said drive is a servo motor.