CN218021365U - AGV drive arrangement and AGV - Google Patents

Abstract

The utility model discloses a AGV drive arrangement and AGV, this AGV drive arrangement includes: one end of the mounting rack is rotatably connected to the AGV body through a rotating shaft mechanism; the driving assembly is arranged at the bottom of the mounting rack and comprises a driving wheel and a power component suitable for driving the driving wheel to rotate; the elastic floating assembly is arranged, the mounting frame is far away from one end of the rotating shaft mechanism is connected with the AGV body in a floating mode, and the elastic floating assembly is suitable for applying force far away from the AGV body to the mounting frame. The utility model provides a AGV drive arrangement can install on AGV, at the AGV in-process of marcing, the drive wheel when meetting the road surface of unevenness, can drive the mounting bracket and rotate around mounting bracket one end through pivot mechanism, the other end of mounting bracket passes through the elasticity subassembly that floats from top to bottom simultaneously, avoids the AGV automobile body slope or jolts, makes the AGV steady road surface through the unevenness to can improve AGV to the adaptability of the unevenness ground of unevenness.

Description

AGV drive arrangement and AGV

Technical Field

The utility model relates to a drive arrangement technical field, concretely relates to AGV drive arrangement and AGV.

Background

An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having various transfer functions. Because the AGV has the characteristics of high efficiency, rapidness and flexibility, the AGV is widely applied to the storage industry, the automobile manufacturing industry, ports, tobacco, medicines and special dangerous places.

To the whole car assembly of motorcycle, it mainly carries the assembly through the board chain line at present, however board chain line is carried and is needed to carry out destructive transformation to ground, both influence pleasing to the eye, it is difficult to satisfy the requirement of flexible assembly again, therefore, it will be great tendency that engineering machine tool assembly workshop adopts the AGV that can satisfy the requirement of flexible manufacturing to assemble equipment, however, because the road surface of transportation assembly field is difficult to guarantee the roughness requirement, the ground is usually highly uneven, walk or when meetting the obstacle when AGV is on highly uneven road surface, jolt, skid or unsettled phenomenon can appear, consequently, need provide an AGV drive arrangement that can adapt to the requirement on highly uneven road surface.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the AGV among the prior art and can not satisfy defect such as the self-adaptation requirement to the road surface of unevenness.

To achieve the above object, a first aspect of the embodiments of the present invention provides an AGV driving apparatus, including:

one end of the mounting rack is rotatably connected to the AGV body through a rotating shaft mechanism;

the driving assembly is arranged at the bottom of the mounting frame and comprises a driving wheel and a power component suitable for driving the driving wheel to rotate;

the elastic floating assembly is arranged, the mounting rack is far away from one end of the rotating shaft mechanism and the AGV body are connected in a floating mode, and the elastic floating assembly is suitable for applying force far away from the AGV body to the mounting rack.

Optionally, one end of the mounting bracket, which is far away from the rotating shaft mechanism, is provided with a guide hole, and the elastic floating assembly comprises:

one end of the guide rod is rotatably connected to the AGV body, and the other end of the guide rod penetrates through the guide hole and can move up and down along the guide hole;

the limiting piece is arranged on the end part of the other end of the guide rod and used for axially limiting the guide rod;

the floating spring is sleeved outside the guide rod and arranged between the limiting part and the mounting rack in a compression mode.

Optionally, the elastic floating assemblies have multiple groups, and the multiple groups of elastic floating assemblies are arranged on the mounting rack at intervals along the width direction of the mounting rack.

Optionally, the spindle mechanism includes:

one end of the mounting rack is fixedly connected to the rotating shaft;

and the two ends of the rotating shaft are rotatably arranged at the bottom of the vehicle body through the bearing connecting pieces respectively.

In order to achieve the above object, another aspect of the embodiments of the present invention provides an AGV, which includes an AGV body and the above AGV driving device;

AGV drive arrangement has two sets ofly at least, and two sets of AGV drive arrangement sets up in the automobile body bottom along automobile body length direction interval.

Optionally, the vehicle further comprises a lifting mechanism disposed on the top of the vehicle body, the lifting mechanism comprising:

the base is fixedly arranged on the vehicle body;

the supporting unit is arranged above the base in a lifting manner and is suitable for supporting a workpiece to be transported;

the scissor lifting assembly comprises a scissor unit arranged between the supporting unit and the base and a driving unit suitable for driving the scissor unit to extend or furl so as to control the supporting unit to lift.

Optionally, the scissors unit includes a first fork arm and a second fork arm which are arranged in a crossed manner, the middle parts of the first fork arm and the second fork arm are hinged to each other, and two ends of the first fork arm and two ends of the second fork arm are respectively connected between the support unit and the base;

one end of the first fork arm is hinged with the supporting unit, and the other end of the first fork arm is connected with the base in a sliding manner; one end of the second fork arm is connected with the supporting unit in a sliding mode, and the other end of the second fork arm is hinged to the base. Optionally, the scissors units have two groups, and the two groups of scissors units are connected between the supporting unit and the base at intervals in parallel;

the scissor lifting assembly further comprises a connecting rod connected between the two sets of scissor units.

Optionally, the vehicle further comprises a charging mechanism fixed at the bottom of the vehicle body, wherein the charging mechanism comprises:

the mounting cover is mounted at the bottom of the vehicle body and provided with a mounting cavity and a downward opening;

the first floating structure is fixed in the mounting cavity and is suitable for moving up and down in the mounting cavity;

a floating plate disposed on the first floating structure, the first floating structure being adapted to apply downward elastic pressure to the floating plate;

at least two universal wheels are arranged on the bottom wall of the floating plate at intervals along the width direction of the vehicle body;

the charging assembly is arranged on the bottom wall of the floating plate and comprises a charging brush head;

and the second floating structure is arranged on the charging assembly and is suitable for applying elastic pressure far away from the floating plate to a charging brush head of the charging assembly.

Optionally, the first floating structure comprises:

the bearing seat is arranged on the top of the shell of the mounting cover;

the guide shaft is arranged in the bearing seat in a sliding manner and penetrates through the shell of the mounting cover, and one end of the guide shaft is fixedly connected to the floating plate;

and the compression spring is sleeved outside the guide shaft and is positioned between the bearing seat and the floating plate.

The utility model discloses technical scheme has following advantage:

1. the utility model provides a AGV driving device, install this AGV driving device's AGV is at the in-process of advancing, the drive wheel can drive the mounting bracket and rotate around mounting bracket one end through pivot mechanism when meetting uneven road surface, the other end of mounting bracket passes through the elasticity subassembly that floats from top to bottom simultaneously, avoid AGV to take place to jolt or take place to incline by a relatively large margin along length direction, make the smooth road surface through unevenness of AGV, thereby improve the AGV to the self-adaptation ability on uneven ground.

2. By arranging the guide rod, the limiting part and the floating spring, when the driving wheel 41 runs on a rugged road surface, the mounting frame 1 floats and acts on the floating spring 32, and the floating spring 32 axially compresses or extends along the guide rod 31 to absorb the shock of the floating mounting frame 1; when the driving wheel 41 runs over the rough road and runs on a flat road, the floating spring 32 drives the mounting frame 1 to return to the original force balance state under the action of the elastic force thereof, thereby realizing the self-adaptation of the AGV to the rough ground.

3. The utility model discloses a set up the unsteady subassembly of elasticity into the multiunit, can strengthen the shock attenuation effect of the unsteady subassembly of elasticity to the mounting panel, improve the stability and the reliability of mounting panel at unsteady in-process to improve AGV to the adaptability of rugged and uneven ground.

4. The utility model provides an AGV, which can achieve the technical advantages and effects including those achieved by an AGV driving device; additionally, the utility model provides a AGV sets up at least two sets of AGV drive arrangement along automobile body length direction interval, can satisfy the less turning radius's in scene operation requirement.

5. AGV in this application can cut the fork unit through drive unit control and extend or draw in through setting up lifting mechanism at automobile body top, realizes supporting unit's lift to drive the article and lift or descend. The AGV in this embodiment can be applied to the whole car assembly transportation of motorcycle, and when the AGV moved to different installation stations, the height of the motorcycle that the accessible lifting mechanism adjusted and waited to assemble to adaptability satisfies different requirements of different stations to motorcycle assembly height.

6. The first floating structure is fixed in the installation cavity and is suitable for moving up and down, the floating plate is fixed on the first floating structure, and under the action of the first floating structure, the universal wheel below the floating plate can always keep abutting against the ground, and meanwhile, the charging assembly on the floating plate is always kept at the effective chargeable height; simultaneously, set up the second floating structure on the subassembly that charges, exert the elastic biasing force who keeps away from the floating plate and charge the polar plate near ground through the second floating structure to the brush head that charges, make the brush head that charges fully contact with ground charge the polar plate in the charging process, the stability of charging has been guaranteed, the elastic acting force of part first floating structure can be overcome to the second floating structure simultaneously, and form the subtend buffering between the first floating structure, thereby avoided because the ground uplift makes the brush head that charges act on the interference risk that causes on the automobile body of assembling this charging mechanism by reverse jack-up, the requirement to the application environment has been reduced.

Drawings

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

Fig. 1 is an isometric view of an AGV drive according to embodiment 1 of the present invention;

fig. 2 is a front view of an AGV driving apparatus according to embodiment 1 of the present invention;

fig. 3 is a left side view of an AGV driving apparatus according to embodiment 1 of the present invention;

fig. 4 is a right side view of an AGV drive according to embodiment 1 of the present invention;

FIG. 5 is an isometric view of one direction of an AGV drive of embodiment 1 of the present invention without a resilient floating assembly;

FIG. 6 is an isometric view of another orientation of the AGV drive of embodiment 1 of the present invention without the resilient floating assembly;

fig. 7 is a schematic structural view of an elastic floating assembly in embodiment 1 of the present invention;

fig. 8 is a schematic structural view of the elastic floating assembly of embodiment 1 of the present invention with the floating spring removed;

fig. 9 is an isometric view of an AGV in one direction according to embodiment 2 of the invention;

FIG. 10 is an isometric view of an AGV according to embodiment 2 of the present invention in another orientation;

fig. 11 is a front view of an AGV according to embodiment 2 of the present invention;

fig. 12 is a bottom view of an AGV according to embodiment 2 of the present invention;

fig. 13 is an axonometric view of one direction of the lifting mechanism in embodiment 2 of the present invention;

FIG. 14 is a schematic view of the lifting structure of FIG. 13 without the support unit;

fig. 15 is an isometric view of the lifting mechanism in another orientation according to embodiment 2 of the present invention;

fig. 16 is a front view of a charging mechanism according to embodiment 2 of the present invention;

fig. 17 is an isometric view of a charging mechanism in embodiment 2 of the present invention;

fig. 18 is a partial view of a charging mechanism according to embodiment 2 of the present invention;

FIG. 19 is a partial view of the charging mechanism of FIG. 16;

description of the reference numerals:

100. a vehicle body; 200. a ground charging electrode plate;

1. a mounting frame; 11. a mounting base;

2. a rotating shaft mechanism; 21. a rotating shaft; 22. a bearing connector;

3. an elastic floating assembly; 31. a guide rod; 32. a floating spring; 33. a stopper;

4. a drive assembly; 41. a drive wheel; 42. a power component;

5. a lifting mechanism; 51. a base; 52. a supporting unit; 53. a scissor lift assembly; 531. a scissor unit; 5311. a first yoke; 5312. a second prong; 532. a drive unit; 533. a connecting rod;

6. a charging mechanism; 61. installing a cover; 62. a first floating structure; 621. a bearing seat; 622. a guide shaft; 623. a compression spring; 63. a floating plate; 64. a universal wheel; 65. a charging assembly; 651. a charging brush head; 652. a charging seat; 66. a second floating structure.

Detailed Description

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

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships 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 specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Example 1

As shown in fig. 1 to 8, the present invention provides an AGV driving apparatus, which includes a mounting frame 1, a resilient floating assembly 3 and a driving assembly 4. Specifically, one end of the mounting rack 1 is rotatably connected to the AGV body 100 through a rotating shaft mechanism 2; a driving assembly 4 is mounted at the bottom of the mounting frame 1, and the driving assembly 4 comprises a driving wheel 41 and a power component 42 suitable for driving the driving wheel 41 to rotate. The end of the mounting frame 1 far away from the rotating shaft mechanism 2 is in floating connection with the AGV body 100 through the elastic floating assembly 3, and the elastic floating assembly 3 is suitable for applying a force far away from the AGV body 100 to the mounting frame 1, so that the driving wheel 41 can be reliably kept on the ground.

So set up, install above-mentioned AGV drive arrangement's AGV is at the in-process of advancing, drive wheel 41 can drive mounting bracket 1 and rotate around mounting bracket 1 one end through pivot mechanism 2 when meetting the uneven road surface of height, the other end of mounting bracket 1 passes through the 3 luffing of elastic floating assembly simultaneously, avoid AGV automobile body 100 to take place to jolt or take place to incline by a relatively large margin along length direction, make the smooth road surface through the height of AGV, thereby can make AGV realize the self-adaptation to uneven ground.

Alternatively, the power component 42 of the drive assembly 4 is an electric motor.

Optionally, one end of the mounting bracket 1, which is far away from the rotating shaft mechanism 2, is provided with a guide hole, and the elastic floating assembly 3 includes a guide rod 31, a limiting member 33, and a floating spring 32. Specifically, one end of the guide rod 31 is rotatably connected to the AGV body 100, and the other end passes through the guide hole and can move up and down along the guide hole; the limiting piece 33 is arranged at the other end of the guide rod 31 and used for axially limiting the guide rod 31; the floating spring 32 is sleeved outside the guide rod 31, and the floating spring 32 is compressed and arranged between the limiting part 33 and the mounting rack 1.

So configured, when the driving wheel 41 runs on a rough road, the mounting bracket 1 floats and exerts a force on the floating spring 32, and the floating spring 32 is axially compressed or extended along the guide rod 31 to absorb the shock of the floating mounting bracket 1; when the driving wheel 41 runs over the rough road and runs on a flat road, the floating spring 32 drives the mounting frame 1 to return to the original force balance state under the action of the elastic force thereof, thereby realizing the self-adaptation of the AGV to the rough ground.

Optionally, the mounting frame 1 includes a mounting base plate and a mounting seat 11 for mounting the elastic floating assembly 3, the mounting seat is disposed at one end of the mounting base plate far away from the rotating shaft mechanism 2, and the guide hole is formed in a bottom wall of the mounting seat 11; preferably, the mounting seat 11 is a plate with a zigzag structure formed by bending, and two ends of the mounting seat 11 are fixed on the mounting base plate by screws or bolts. Of course, the mounting seat may also be welded to the mounting base plate.

Optionally, the limiting member 33 includes a nut and a washer disposed below the nut, and two ends of the floating spring 32 abut between the washer and an inner bottom wall of the mounting seat.

Optionally, the elastic floating assemblies 3 have multiple sets, and the multiple sets of elastic floating assemblies 3 are arranged on the mounting rack 1 at intervals along the width direction of the mounting rack 1. So set up, can strengthen the shock attenuation effect of the 3 pairs of mounting panels of elastic floating assembly, improve the stability and the reliability of mounting panel at the floating in-process to improve AGV self-adaptability to rugged and uneven ground.

Optionally, the elastic floating assemblies 3 are arranged in two groups, and are symmetrically arranged on two sides of the central axis of the mounting rack 1 at intervals along the width direction of the mounting rack 1; preferably, two sets of the elastic floating assemblies 3 are arranged near the top corners of the mounting frame 1.

Optionally, the spindle mechanism 2 comprises a rotating shaft 21 and a bearing connection 22. Specifically, one end of the mounting bracket 1 is fixedly connected to the rotating shaft 21; both ends of the rotating shaft 21 are rotatably mounted to the bottom of the vehicle body 100 through the bearing connectors 22, respectively. Alternatively, the bearing connection 22 includes a bearing disposed at the end of the shaft and a bearing seat disposed on the outer race of the bearing, which may be bolted to the AGV body 100.

Example 2

As shown in fig. 1 to 19, an AGV according to an embodiment of the present invention includes an AGV body 100 and the AGV driving apparatus; the AGV driving devices are at least provided with two groups, and the two groups of AGV driving devices are arranged at the bottom of the vehicle body 100 along the length direction of the vehicle body 100 at intervals.

The technical advantages and effects that the AGV can achieve include the technical advantages and effects that the AGV driving device achieves, and are not described again; additionally, the utility model provides an AGV sets up at least two sets of AGV drive arrangement along the 100 length direction intervals of automobile body, can satisfy the less turning radius's in scene operation requirement.

Alternatively, as shown in fig. 9 to 15, the AGV further includes a lifting mechanism 5 provided on the top of the vehicle body 100, the lifting mechanism 5 including a base 51, a supporting unit 52, and a scissor lift assembly 53. Specifically, the base 51 is fixedly disposed on the vehicle body 100; the supporting unit 52 is arranged above the base 51 in a liftable manner and is suitable for providing support for a workpiece to be transported; the scissors lift assembly 53 comprises a scissors unit 531 disposed between the supporting unit 52 and the base 51, and a driving unit 532 adapted to drive the scissors unit 531 to extend or retract to control the lifting of the supporting unit 52.

The embodiment of the present invention provides an AGV which can control the scissors unit 531 to extend or fold in through the driving unit 532 by setting the lifting mechanism 5 on the top of the car body 100 to realize the lifting of the supporting unit 52 so as to drive the object to lift or descend. The AGV in this embodiment can be applied to the whole motorcycle assembly transportation, and when the AGV moved to different installation stations, accessible lifting mechanism 5 adjusted the height of the motorcycle of waiting to assemble to adaptability satisfies different requirements of different stations to motorcycle assembly height.

Optionally, the supporting unit 52 is a supporting plate; alternatively, the lifting mechanism 5 is provided near the center of the top of the vehicle body 100.

Optionally, the scissors unit 531 includes a first fork arm 5311 and a second fork arm 5312 arranged in a crossing manner, the first fork arm 5311 and the second fork arm 5312 are hinged to each other at their middle portions, and both ends are respectively connected between the supporting unit 52 and the base 51; one end of the first fork arm 5311 is hinged to the supporting unit 52, and the other end is slidably connected to the base 51; one end of the second forked arm 5312 is slidably connected to the supporting unit 52, and the other end is hinged to the base 51.

Optionally, a sliding block is arranged at one end of the first yoke 5311, which is slidably connected to the base 51, a guide rail is correspondingly arranged on the base 51, and the first yoke 5311 and the base 51 are slidably connected through the sliding block and the guide rail; similarly, a sliding device is arranged at one end of the second prong 5312 connected to the supporting unit 52, a guide rail is correspondingly arranged on the supporting unit 52, and the second prong 5312 and the supporting unit 52 are slidably connected through a slider and the guide rail.

Optionally, the scissors unit 531 has two sets, and the two sets of scissors units 531 are connected between the supporting unit 52 and the base 51 in parallel and at intervals. By providing two sets of scissor units 531 between the support unit 52 and the base 51, the support strength of the scissor lift assembly 53 can be enhanced, thereby improving the stability of the lift mechanism.

Optionally, the scissors lift assembly 53 further includes a connecting rod 533 connected between the two sets of scissors units 531. By arranging the connecting rod 533 between the two groups of scissor units 531, the linkage and synchronization of the movement between the two groups of scissor units 531 can be enhanced, and the movement stability of the lifting mechanism 5 is further improved, so as to drive the object to be lifted or landed stably; simultaneously, can also improve the support strength of scissors fork lifting unit 53.

Optionally, the driving unit 532 is a motor.

Alternatively, as shown in fig. 9-12, and 16-19, the AGV further includes a charging mechanism 6 secured to the bottom of the vehicle body 100, the charging mechanism 6 including a mounting cup 61, a first floating structure 62, a floating plate 63, universal wheels 64, a charging assembly 65, and a second floating structure 66. Specifically, a mounting cover 61 is mounted at the bottom of the vehicle body 100, and the mounting cover 61 is provided with a mounting cavity and a downward opening; a first floating structure 62 is fixed in the installation cavity and is suitable for moving up and down in the installation cavity; a floating plate 63 is arranged on the first floating structure 62, and the first floating structure 62 is suitable for applying downward elastic pressure to the floating plate 63; at least two universal wheels 64 are arranged on the bottom wall of the floating plate 63 at intervals along the width direction of the vehicle body 100; the charging assembly 65 is arranged on the bottom wall of the floating plate 63 and comprises a charging brush head 651; a second floating structure 66 is provided on the charging assembly 65 and adapted to apply a resilient pressure to a charging brush head 651 of the charging assembly 65 away from the floating plate 63.

The first floating structure 62 in the embodiment of the present invention is fixed in the installation cavity and adapted to move up and down, the floating plate 63 is fixed on the first floating structure 62, and under the action of the first floating structure 62, the universal wheel 64 under the floating plate 63 can always keep abutting against the ground, and meanwhile, the charging assembly 65 on the floating plate 63 is always kept at the effective chargeable height; meanwhile, the second floating structure 66 is arranged on the charging assembly 65, and the second floating structure 66 applies an elastic biasing force which is far away from the floating plate 63 and close to the ground charging pole plate 200 to the charging brush head 651, so that the charging brush head 651 is fully contacted with the ground charging pole plate 200 in the charging process, the charging stability is ensured, meanwhile, the second floating structure 66 can overcome part of the elastic acting force of the first floating structure 62 and form opposite buffering with the first floating structure 62, the interference risk caused by the fact that the charging brush head 651 is reversely jacked up due to the raised ground so as to act on the vehicle body 100 provided with the charging mechanism 6 is avoided, and the requirement on the application environment is reduced.

Optionally, the first floating structure 62 includes a bearing seat 621, a guide shaft 622, and a compression spring 623. Specifically, a bearing housing 621 is mounted on the top of the housing of the mounting cover 61; a guide shaft 622 is slidably disposed in the bearing seat 621 and is inserted into the housing of the mounting cover 61, and one end of the guide shaft 622 is fixedly connected to the floating plate 63; the compression spring 623 is sleeved outside the guide shaft 622 and is located between the bearing seat 621 and the floating plate 63.

Optionally, the charging assembly 65 further comprises a charging base 652, wherein the charging base 652 is fixed at the bottom of the floating plate 63; the charging brush head 651 is slidably secured to the charging stand 652 by the second floating structure 66. Optionally, the second floating assembly at least comprises a compression spring, one end of the compression spring is connected with the charging seat 652, and the other end of the compression spring is connected with the charging brush head 651.

Alternatively, the charging mechanism 6 is fixed to the bottom of the AGV body 100 near the rear of the vehicle.

Furthermore, the embodiment of the utility model provides a AGV can be applied to the whole car assembly transportation of motorcycle, compares in plate link line transportation mode, has that the route change is convenient, the flexibility is good, need not to carry out the advantage that the destructiveness was reformed transform to ground, and cost of maintenance is low simultaneously, if single AGV breaks down, point out to it go off the production line maintenance can, can not lead to the fact the influence to follow-up production, consequently can not cause production to stop the line. Of course, the utility model provides an AGV also can be applied to other application scenarios, and this embodiment does not restrict its application scenario.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (10)

1. An AGV driving apparatus, comprising:

one end of the mounting rack (1) is rotatably connected to the AGV body (100) through a rotating shaft mechanism (2);

the driving assembly (4) is installed at the bottom of the mounting frame (1), and the driving assembly (4) comprises a driving wheel (41) and a power component (42) suitable for driving the driving wheel (41) to rotate;

elasticity floating assembly (3), mounting bracket (1) is kept away from the one end of pivot mechanism (2) passes through with AGV automobile body (100) elasticity floating assembly (3) are floated and are connected, elasticity floating assembly (3) be suitable for to mounting bracket (1) is applyed the power of keeping away from automobile body (100).

2. AGV drive according to claim 1, characterised in that the end of the mounting frame (1) remote from the spindle mechanism (2) is provided with a guide hole, and that the resilient floating assembly (3) comprises:

one end of the guide rod (31) is rotatably connected to the AGV body (100), and the other end of the guide rod (31) penetrates through the guide hole and can move up and down along the guide hole;

the limiting piece (33) is arranged on the end part of the other end of the guide rod (31) and used for axially limiting the guide rod (31);

the floating spring (32) is sleeved outside the guide rod (31), and the floating spring (32) is compressed and arranged between the limiting piece (33) and the mounting rack (1).

3. AGV drive according to claim 1, characterised in that the resilient floating assemblies (3) have a plurality of sets, the sets of resilient floating assemblies (3) being arranged on the mounting frame (1) at intervals in the width direction of the mounting frame (1).

4. AGV drive according to one of the claims 1-3, characterized in that the spindle mechanism (2) comprises:

one end of the mounting rack (1) is fixedly connected to the rotating shaft (21);

and the two ends of the rotating shaft (21) are respectively and rotatably arranged at the bottom of the vehicle body (100) through the bearing connecting pieces (22).

5. AGV, characterized by an AGV body (100) and an AGV drive according to one of the claims 1 to 4;

the AGV driving device is provided with at least two groups, and the AGV driving devices are arranged at the bottom of the vehicle body (100) at intervals along the length direction of the vehicle body (100).

6. AGV according to claim 5, characterised by further comprising a lifting mechanism (5) arranged on top of the car body (100), said lifting mechanism (5) comprising:

a base (51) fixedly provided on the vehicle body (100);

the supporting unit (52) is arranged above the base (51) in a liftable way and is suitable for providing support for a workpiece to be transported;

the scissor lifting assembly (53) comprises a scissor unit (531) arranged between the supporting unit (52) and the base (51) and a driving unit (532) suitable for driving the scissor unit (531) to extend or retract so as to control the supporting unit (52) to lift.

7. AGV according to claim 6, characterized in that the scissors unit (531) comprises a first fork arm (5311) and a second fork arm (5312) arranged crosswise, the first fork arm (5311) and the second fork arm (5312) being hinged to each other in the middle and connected between the support unit (52) and the chassis (51) at both ends;

wherein one end of the first fork arm (5311) is hinged with the supporting unit (52), and the other end is connected with the base (51) in a sliding manner; one end of the second fork arm (5312) is connected with the supporting unit (52) in a sliding mode, and the other end of the second fork arm is hinged to the base (51).

8. AGV according to claim 6 or 7, characterised in that the fork units (531) have two sets, the two sets of fork units (531) being connected in parallel spaced apart relationship between the support unit (52) and the chassis (51);

the scissor lifting assembly (53) further comprises a connecting rod (533) connected between the two sets of scissor units (531).

9. AGV according to claim 8, characterised by further comprising a charging mechanism (6) fixed to the bottom of the car body (100), said charging mechanism (6) comprising:

the mounting cover (61) is mounted at the bottom of the vehicle body (100), and the mounting cover (61) is provided with a mounting cavity and a downward opening;

a first floating structure (62) fixed in the mounting cavity and adapted to move up and down in the mounting cavity;

a floating plate (63) arranged on the first floating structure (62), the first floating structure (62) being adapted to apply a downward elastic pressure on the floating plate (63);

at least two universal wheels (64) which are arranged on the bottom wall of the floating plate (63) at intervals along the width direction of the vehicle body (100);

a charging assembly (65) which is arranged on the bottom wall of the floating plate (63) and comprises a charging brush head (651);

and a second floating structure (66) disposed on the charging assembly (65) and adapted to apply an elastic pressure to a charging brush head (651) of the charging assembly (65) away from the floating plate (63).

10. AGV according to claim 9, characterised in that the first floating structure (62) comprises:

a bearing seat (621) mounted on the top of the housing of the mounting cover (61);

the guide shaft (622) is arranged in the bearing seat (621) in a sliding mode and penetrates through the shell of the mounting cover (61), and one end of the guide shaft (622) is fixedly connected to the floating plate (63);

and the compression spring (623) is sleeved outside the guide shaft (622) and is positioned between the bearing seat (621) and the floating plate (63).

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