CN216611409U - Balance mechanism and AGV car - Google Patents

Abstract

The utility model provides a balance mechanism and an AGV. The balance mechanism includes: the swing beam, a pair of swing beam pin shafts, a connecting support, a fixed connecting piece and a limiting piece. The pair of swing beam pin shafts are respectively arranged on two sides of the swing beam. The inner end parts of the pair of swing beam pin shafts are rotatably connected with the swing beam. The outer end part of each swing beam pin shaft is fixedly connected with the connecting support through a fixed connecting piece. The connecting support is used for being connected with an AGV body. And a limiting part for limiting the swing angle of the swing beam is arranged between the swing beam and the connecting support. The two sides of the swing beam are respectively connected with a swing beam pin shaft, one of the swing beam pin shafts can be independently maintained or replaced, and maintenance and replacement costs are saved. The balance mechanism is connected with the AGV body through the connecting support, a connecting hole does not need to be formed in the swing beam pin shaft independently, and the strength of the swing beam pin shaft is enhanced. Set up the locating part between connection support and swing beam, limit the swing angle of swing beam, greatly promoted the travelling balance nature and the stability of AGV automobile body.

Description

Balance mechanism and AGV car

Technical Field

The utility model relates to the technical field of AGV transportation, in particular to a balance mechanism and an AGV.

Background

An Automated Guided Vehicle (AGV), which is an Automated Guided Vehicle, is an unmanned Vehicle equipped with an electromagnetic or optical automatic guide device, can travel along a predetermined guide path, and has safety protection and various carrying functions, and belongs to the category of a "wheeled mobile robot".

At present, most of balance mechanisms connected with AGV bodies are not provided with a limiting device, and the swing amplitude of the AGV bodies cannot be limited. Simultaneously, set up the through-hole with AGV automobile body fixed connection usually in the pivot, greatly weakened the intensity of pivot. In addition, the rotating shaft in the balance mechanism is generally an integrated through shaft, when the rotating shaft breaks down, the rotating shaft needs to be integrally replaced, and the maintenance cost is high.

SUMMERY OF THE UTILITY MODEL

The utility model provides a balance mechanism and an AGV (automatic guided vehicle), which are used for solving the problems that the existing balance mechanism cannot limit the swing amplitude of a vehicle body, the strength of a rotating shaft in the balance mechanism is poor, and the later maintenance cost is high.

In a first aspect of the present invention, there is provided a balancing mechanism comprising: the swing beam, a pair of swing beam pin shafts, a connecting support, a fixed connecting piece and a limiting piece.

The pair of swing beam pin shafts are respectively arranged on two sides of the swing beam. The inner end parts of the pair of swing beam pin shafts are rotatably connected with the swing beam. The outer end part of each swing beam pin shaft is fixedly connected with the connecting support through the fixed connecting piece. The connecting support is used for being connected with an AGV body. And the limiting part used for limiting the swinging angle of the swinging beam is arranged between the swinging beam and the connecting support.

According to the balance mechanism provided by the utility model, the fixed connecting piece comprises a fixed plate.

The outer end part of the swing beam pin shaft penetrates through the outer side of the connecting support from the inner side of the connecting support. And a fixed groove is formed at the outer end part of the swing beam pin shaft. The fixing plate is clamped in the fixing groove and connected to the outer side of the connecting support, so that the swing beam pin shaft is fixedly connected with the connecting support.

According to the balance mechanism provided by the utility model, the fixed connecting piece comprises a connecting end cover.

The outer end part of the swing beam pin shaft penetrates through the outer side of the connecting support from the inner side of the connecting support. The connecting end cover is arranged on the outer side of the connecting support and is connected with the connecting support and the swing beam pin shaft, so that the swing beam pin shaft is fixedly connected with the connecting support.

According to the balance mechanism provided by the utility model, the swing beam is provided with the mounting hole. And the mounting hole is internally welded with a mounting hole reinforcing sleeve. And the inner end part of the swing beam pin shaft is arranged in the mounting hole reinforcing sleeve in a clearance fit manner. And an anti-abrasion protection device is arranged between the swing beam pin shaft and the mounting hole reinforcing sleeve.

According to the balance mechanism provided by the utility model, the anti-abrasion protection device comprises a protection bushing, wherein a lubricating oil groove is formed in the protection bushing;

alternatively, the wear protection comprises a rolling bearing.

According to the balance mechanism provided by the utility model, the connecting support is provided with the connecting hole and the positioning pin hole, and the connecting support is fixedly connected with the AGV body through the connecting hole, the connecting bolt, the positioning pin hole and the positioning pin.

According to the balance mechanism provided by the utility model, the limiting piece comprises a trapezoidal limiting plate. The trapezoidal limiting plate comprises a mounting plane, a first limiting slope surface, a second limiting slope surface and a connecting plane.

The mounting plane is attached to and fixedly connected with the connecting support. And a gap is arranged between the connecting plane and the connecting support. The first limiting slope surface and the second limiting slope surface are respectively positioned on two sides of the connecting plane. The swing beam can swing within a swing range formed by the first limit slope surface and the second limit slope surface.

According to the balance mechanism provided by the utility model, the swing beam is provided with the first mounting plate and the second mounting plate. And the first mounting plate and the second mounting plate are respectively provided with a limiting lug for limiting the rotation angle range of the steering wheel.

According to the balance mechanism provided by the utility model, the swing beam is provided with the reinforcing rib plate for reinforcing the strength of the swing beam and the wire clamp for facilitating the routing arrangement of the swing beam.

According to a second aspect of the present invention there is provided an AGV vehicle comprising a steering wheel and a balancing mechanism as described above.

Wherein, be provided with first mounting panel and second mounting panel on the pendulum beam. And the first mounting plate and the second mounting plate are respectively provided with a limiting lug for limiting the rotation angle range of the steering wheel. And the steering collision block matched with the limit bump is arranged on the steering wheel.

And an angle encoder assembly for measuring the rotation angle of the steering wheel is arranged on the steering wheel.

In the balance mechanism provided by the utility model, a pair of swing beam pin shafts are respectively arranged on two sides of the swing beam. The inner end parts of the pair of swing beam pin shafts are rotatably connected with the swing beam. The outer end part of each swing beam pin shaft is fixedly connected with the connecting support through the fixed connecting piece. The connecting support is used for being connected with an AGV body. And the limiting part used for limiting the swing angle of the swing beam is arranged between the swing beam and the connecting support.

Through the structure, two sides of the swing beam are respectively connected with a swing beam pin shaft. Therefore, one of the swing beam pin shafts can be independently maintained or replaced, and the maintenance and replacement cost is saved. Meanwhile, the balance mechanism is connected with the AGV body through the connecting support, and a connecting hole does not need to be formed in the swing beam pin shaft independently. Therefore, the strength of the swing beam pin shaft is greatly enhanced. In addition, a limiting part is arranged between the connecting support and the swing beam, so that the swing angle of the swing beam can be limited, and the running balance and stability of the AGV body are greatly improved.

Further, in the AGV provided by the present invention, since the AGV includes the balancing mechanism as described above, it also has the advantages as described above.

Drawings

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

FIG. 1 is a schematic bottom perspective view of a counterbalance mechanism provided in accordance with the present invention;

FIG. 2 is a top perspective view of the counterbalance mechanism provided in accordance with the present invention;

FIG. 3 is a top plan view of the counterbalance mechanism provided by the present invention;

FIG. 4 is a sectional view showing the internal structure of the balancing mechanism according to the present invention;

FIG. 5 is a schematic structural view of a rocker pin of the balance mechanism provided in the present invention

Reference numerals are as follows:

100: swinging the beam; 101: mounting a hole reinforcing sleeve;

102: an anti-abrasion protective sleeve; 103: a first mounting plate;

104: a second mounting plate; 105: reinforcing rib plates;

106: wire clamps; 200: a swing beam pin shaft;

300: connecting a support; 301: connecting holes;

302: a positioning pin hole; 400: fixing the connecting piece;

401: a fixing plate; 402: fixing the groove;

501: a trapezoidal limiting plate; 502: a first limit slope surface;

503: a second limit slope surface; 504: a connection plane.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the utility model but are not intended to limit the scope of the utility model.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the utility model, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification to make the purpose, technical solution, and advantages of the embodiments of the present invention more clear, and the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are a part of embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

A balancing mechanism and an AGV according to an embodiment of the present invention will be described with reference to fig. 1 to 5. It should be understood that the following description is only exemplary embodiments of the present invention and does not constitute any particular limitation of the present invention.

Embodiments of the first aspect of the present invention provide a balancing mechanism, as shown in fig. 1 to 3, comprising: the swing beam comprises a swing beam 100, a pair of swing beam pin shafts 200, a connecting support 300, a fixed connecting piece 400 and a limiting piece.

Wherein, a pair of swing beam pin shafts 200 are respectively arranged at two sides of the swing beam 100. The inner ends of the pair of swing beam pin shafts 200 are rotatably connected with the swing beam 100. The outer end of each swing beam pin shaft 200 is fixedly connected with the connecting support 300 through a fixed connection 400. The attachment bracket 300 is used to attach to the AGV body. A limiting member for limiting a swing angle of the swing beam 100 is installed between the swing beam 100 and the connecting bracket 300.

With this arrangement, the swing beam 100 is connected to two swing beam pins 200 at two sides thereof. Therefore, one swing beam pin shaft 200 can be independently maintained or replaced, and the maintenance and replacement cost is saved. Meanwhile, the balance mechanism is connected with the AGV body through the connecting support 300, the swing beam pin shaft 200 is two solid pin shafts, the strength of the swing beam pin shaft 200 is greatly enhanced, and the cost of the swing beam pin shaft 200 is reduced. In addition, a limiting piece is arranged between the connecting support 300 and the swing beam 100, so that the swing angle of the swing beam 100 can be limited, and the driving balance and stability of the AGV body are greatly improved.

In one embodiment of the present invention, the fixed link 400 includes a fixing plate 401.

Wherein, the outer end of the swing beam pin shaft 200 is inserted from the inner side of the connecting support 300 to the outer side of the connecting support 300. The outer end of the rocker pin 200 forms a mounting groove 402. The fixing plate 401 is clamped in the fixing groove 402 and connected to the outer side of the connecting support 300, so that the swing beam pin shaft 200 is fixedly connected with the connecting support 300.

For example, as shown in fig. 1, 2, 4 and 5, the outer end of the rocker pin 200 is formed with a securing groove 402. The width of the fixing groove 402 is matched with the thickness of the fixing plate 401, so that the fixing plate 401 can be clamped in the fixing groove 402. The inner end of the swing beam pin 200 is rotatably connected with the swing beam 100. The outer end of the rocker pin 200 passes through the connecting support 300. The fixing plate 401 is located outside the connecting support 300, and is clamped in the fixing groove 402 and fixedly connected with the connecting support 300. For example, the fixing plate 401 may be coupled to the outer side surface of the connection bracket 300 by bolts. The connecting support 300 is stationary relative to the swing beam pin 200, and the swing beam 100 can rotate relative to the swing beam pin 200. When the wheels of the AGV run to an uneven road surface, the wheels vibrate up and down to finally drive the swing beam 100 to swing. Under the action of the limiting piece, the swing beam 100 can only swing within a certain range, so that the running stability, safety and balance of the AGV are improved.

It should be noted that the above-mentioned embodiment is only an illustrative embodiment of the present invention, and does not constitute any limitation to the present invention. That is, the fixing connector 400 includes, but is not limited to, a fixing plate 401 and a fixing groove 402.

For example, in yet another embodiment of the present invention, the fixed connector 400 includes a connection end cap.

Wherein, the outer end of the swing beam pin shaft 200 is inserted from the inner side of the connecting support 300 to the outer side of the connecting support 300. The connecting end cap is disposed at the outer side of the connecting support 300 and connected to the connecting support 300 and the swing beam pin 200, so that the swing beam pin 200 is fixedly connected to the connecting support 300.

In this embodiment, the connecting bracket 300 is fixedly connected with the swing beam pin 200 through the connecting end cap.

In one embodiment of the present invention, the swing beam 100 is formed with mounting holes. The mounting hole reinforcing sleeve 101 is welded in the mounting hole. The inner end part of the rocker pin shaft 200 is arranged in the mounting hole reinforcing sleeve 101 in a clearance fit mode. An anti-abrasion protection device 102 is arranged between the swing beam pin shaft 200 and the mounting hole reinforcing sleeve 101.

As shown in fig. 4, the mounting hole reinforcing sleeve 101 is fitted into and welded to the mounting hole of the swing beam 100, thereby enhancing the strength of the mounting hole. The inner end of the swing beam pin shaft 200 is inserted into the central through hole of the mounting hole reinforcing sleeve 101. And the swing beam pin shaft 200 and the mounting hole reinforcing sleeve 101 are in clearance fit, so that the swing beam 100 and the mounting hole reinforcing sleeve 101 can rotate relative to the swing beam pin shaft 200. An anti-abrasion protection device 102 is arranged between the swing beam pin shaft 200 and the mounting hole reinforcing sleeve 101. The abrasion-proof protection device 102 can reduce abrasion to the swing beam pin shaft 200 and the mounting hole reinforcing sleeve 101, can reduce vibration and noise generated when the swing beam 100 swings, further effectively protects the swing beam pin shaft 200 and the swing beam 100, and prolongs the service life of the balance mechanism.

It should be noted here that the present invention is not limited in any way to a specific type of structure of the wear protection device 102. For example, in one embodiment of the utility model, the wear protection 102 includes a protective sleeve. The protective bush is provided with a lubricating oil groove. More specifically, the wear protection sleeve 102 may also be a copper protection sleeve. In yet another embodiment of the present invention, the wear protection device 102 may also include a rolling bearing. The rolling bearing has the advantages of strong bearing capacity, low cost and convenient installation and maintenance.

In one embodiment of the present invention, the connection holder 300 is formed with a connection hole 301 and a dowel hole 302. The connecting support 300 is fixedly connected with the AGV body through a connecting hole 301, a connecting bolt, a positioning pin hole 302 and a positioning pin.

For example, as shown in fig. 3, it is assumed that the connection holder 303 has a structure in which both shoulder sides are inclined downward, and a plurality of connection holes 301 and a positioning pin hole 302 are formed in each shoulder. The vehicle body is fixedly coupled and positioned with the coupling bracket 300 through the coupling hole 301 and the positioning pin hole 302 provided in the coupling bracket 300.

In one embodiment of the present invention, the limiting member comprises a trapezoidal limiting plate 501. The trapezoidal limiting plate 501 comprises a mounting plane, a first limiting slope 502, a second limiting slope 503 and a connecting plane 504.

Wherein, the mounting plane is attached and fixedly connected with the connection support 300. A gap is provided between the connection plane 504 and the connection holder 300. The first limit slope 502 and the second limit slope 503 are respectively located at both sides of the connection plane 504. The rocker beam 100 is able to rock within the range of rocking formed by the first limit ramp 502 and the second limit ramp 503.

For example, fig. 1 is a schematic view showing the bottom structure of the balancing mechanism. A limit edge is formed on the swing beam 100. The limit edge is matched with the limit piece to realize the swing limit of the swing beam 100. The limiting member includes a trapezoidal limiting plate 501. The installation plane of the trapezoidal limiting plate 501 is attached to the connecting support 300 and is fixedly connected with the connecting support by screws. The connection plane 504 is a plane parallel to the mounting plane. A first limit slope surface 502 and a second limit slope surface 503 are respectively connected to two sides of the connecting plane 504. A gap is provided between the connection plane 504 and the connection holder 300. When the swing beam 100 rotates, the limit edge on the swing beam 100 can be attached to the first limit slope surface 502 or the second limit slope surface 503. Thereby, the swing beam 100 can swing within a swing range formed by the first limit slope surface 502 and the second limit slope surface 503. And a limiting device is not required to be additionally arranged on the AGV body.

In one embodiment of the present invention, the swing beam 100 is provided with a first mounting plate 103 and a second mounting plate 104. The first mounting plate 103 and the second mounting plate 104 are respectively provided with a limiting bump for limiting the rotation angle range of the steering wheel.

Meanwhile, a steering bump matched with the limit bump is arranged on a steering wheel of the AGV. When the steering wheel oversteers, the steering bump arranged on the steering wheel contacts the limit bump on the first mounting plate 103 or the second mounting plate 104 to stop steering.

In one embodiment of the present invention, as shown in fig. 1, the swing beam 100 is provided with a reinforcing rib plate 105 for reinforcing the strength of the swing beam and a wire clamp 106 for facilitating the routing of the swing beam 100.

It should be understood herein that the present invention is not limited in any particular way as to the number and arrangement of the reinforcing webs 105. For example, in one embodiment of the present invention, a plurality of stiffeners 105 may be provided, with the plurality of stiffeners 105 arranged in a criss-cross pattern.

An embodiment of a second aspect of the present invention provides an AGV vehicle including a steering wheel and a balancing mechanism as described above.

Wherein, the swing beam 100 is provided with a first mounting plate 103 and a second mounting plate 104. The first mounting plate 103 and the second mounting plate 104 are respectively provided with a limiting bump for limiting the rotation angle range of the steering wheel. The steering bump block matched with the limit bump is arranged on the steering wheel.

An angle encoder assembly for measuring the rotation angle of the steering wheel is arranged on the steering wheel. Use angle encoder subassembly, limit switch and stroke touch panel etc. to carry out the accurate measurement of helm turned angle, belong to prior art, this application is no longer repeated.

Further, because the AGV includes a balancing mechanism as described above, it also has the advantages as described above.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A counterbalance mechanism, comprising: a swing beam, a pair of swing beam pin shafts, a connecting support, a fixed connecting piece and a limiting piece,

the swing beam hinge pin is arranged on two sides of the swing beam respectively, the inner end portions of the swing beam hinge pin are connected with the swing beam in a rotatable mode, the outer end portions of the swing beam hinge pin are connected with the connecting support fixedly through the fixed connecting piece, the connecting support is used for being connected with an AGV body, and the limiting pieces used for limiting the swing angle of the swing beam are installed between the swing beam and the connecting support.

2. The balance mechanism of claim 1, wherein the fixed connection comprises a fixed plate,

the outer end part of the swing beam pin shaft penetrates through the outer side of the connecting support from the inner side of the connecting support, a fixing groove is formed in the outer end part of the swing beam pin shaft, and the fixing plate is clamped in the fixing groove and connected to the outer side of the connecting support so that the swing beam pin shaft is fixedly connected with the connecting support.

3. The balance mechanism of claim 1, wherein the fixed connection comprises a connection end cap,

the outer end part of the swing beam pin shaft penetrates through the outer side of the connecting support from the inner side of the connecting support, and the connecting end cover is arranged on the outer side of the connecting support and is connected with the connecting support and the swing beam pin shaft, so that the swing beam pin shaft is fixedly connected with the connecting support.

4. The balance mechanism of claim 2, wherein the swing beam is formed with a mounting hole, a mounting hole reinforcing sleeve is welded in the mounting hole, the inner end of the swing beam pin shaft is installed in the mounting hole reinforcing sleeve in a clearance fit manner, and an anti-abrasion protection device is installed between the swing beam pin shaft and the mounting hole reinforcing sleeve.

5. The balance mechanism of claim 4, wherein the wear protection device comprises a protection bushing, the protection bushing having a lubrication groove,

alternatively, the wear protection comprises a rolling bearing.

6. The balance mechanism of any one of claims 1 to 5, wherein the connecting support is formed with a connecting hole and a positioning pin hole, and the connecting support is fixedly connected with the AGV body through the connecting hole, a connecting bolt, the positioning pin hole and a positioning pin.

7. The balance mechanism of any one of claims 1 to 5, wherein the limit stop comprises a trapezoidal limit plate comprising a mounting plane, a first limit ramp, a second limit ramp, and a connection plane,

the mounting plane is attached to and fixedly connected with the connecting support, a gap is formed between the connecting plane and the connecting support, the first limiting slope surface and the second limiting slope surface are respectively located on two sides of the connecting plane, and the swing beam can swing within a swing range formed by the first limiting slope surface and the second limiting slope surface.

8. The balance mechanism according to any one of claims 1 to 5, wherein the swing beam is provided with a first mounting plate and a second mounting plate, and the first mounting plate and the second mounting plate are respectively provided with a limit lug for limiting the rotation angle range of the steering wheel.

9. The balance mechanism according to any one of claims 1 to 5, wherein the swing beam is provided with a reinforcing rib plate for reinforcing the strength of the swing beam and a wire clamp for facilitating the routing arrangement of the swing beam.

10. AGV vehicle, characterized in that it comprises a steering wheel and a balancing mechanism according to any of the claims 1-9,

wherein the swing beam is provided with a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are respectively provided with a limit lug for limiting the rotation angle range of the steering wheel, the steering wheel is provided with a steering collision block matched with the limit lug,

and an angle encoder assembly for measuring the rotation angle of the steering wheel is arranged on the steering wheel.

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