CN218877394U

CN218877394U - AGV chassis structure and AGV dolly

Info

Publication number: CN218877394U
Application number: CN202223217521.1U
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Guangdong Lyric Robot Automation Co Ltd
Current assignee: Guangdong Lyric Robot Automation Co Ltd
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2023-04-18
Anticipated expiration: 2032-11-30

Abstract

The utility model discloses a AGV chassis structure and AGV dolly relates to AGV dolly technical field. Wherein, AGV chassis structure includes: the chassis body comprises a frame and walking wheels, wherein at least two groups of walking wheels are arranged on the frame at intervals; a rotating assembly mounted to the frame, the rotating assembly being rotatable relative to the frame; the walking assembly comprises an elastic piece, a fixed cover, driving wheels and a driving device, wherein one end of the elastic piece is connected with the rotating assembly, the other end of the elastic piece is connected with the fixed cover, at least two driving wheels are arranged in parallel on the fixed cover, the number of the driving device is the same as that of the driving wheels, and the driving device drives the driving wheels to move independently. When the AGV dolly walks to uneven ground surface, the drive wheel can keep contact with ground under the effect of elastic component to be favorable to accurate control turn direction, make the AGV dolly can follow the motion of setting for the walking route.

Description

AGV chassis structure and AGV dolly

Technical Field

The utility model relates to a AGV dolly technical field, in particular to AGV chassis structure and AGV dolly.

Background

Automated Guided Vehicle, abbreviated AGV, is also commonly referred to as an AGV. At present, in order to keep the stability when the AGV dolly goes, can respectively set up a set of walking wheel in the front and back both ends of AGV dolly bottom usually, the centre sets up a set of drive wheel, utilizes the drive wheel control AGV dolly to advance or turn to. However, when the two groups of walking wheels and the one group of driving wheels run on uneven ground, the two groups of walking wheels and the one group of driving wheels cannot simultaneously contact the ground. When the steering wheel is not completely contacted with the ground, the AGV trolley cannot accurately control the turning direction, so that the AGV trolley deviates from the set walking path, and is inconvenient for accurate transportation of logistics.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a AGV chassis structure can effectively guarantee drive wheel and holding surface contact.

The utility model discloses still provide an AGV dolly that has above-mentioned AGV chassis structure.

The utility model discloses an AGV chassis structure of an aspect embodiment, include: the chassis body comprises a frame and walking wheels, wherein at least two groups of walking wheels are arranged on the frame at intervals; a rotating assembly mounted to the frame, the rotating assembly being rotatable relative to the frame; the walking assembly comprises an elastic piece, a fixed cover, driving wheels and a driving device, wherein one end of the elastic piece is connected with the rotating assembly, the other end of the elastic piece is connected with the fixed cover, at least two driving wheels are arranged in parallel on the fixed cover, the number of the driving device is the same as that of the driving wheels, and the driving device drives the driving wheels to move independently.

Further, the runner assembly includes first mounting panel, second mounting panel, first bearing, bearing housing and rotation axis, first mounting panel with frame fixed connection, the second mounting panel set up in first mounting panel is close to one side of drive wheel, first bearing install in the second mounting panel, the one end of bearing housing with first mounting panel fixed connection, the other end of bearing housing wears to locate first bearing, the one end of rotation axis with fixed cover fixed connection, the other end of rotation axis wears to establish the bearing housing, just the rotation axis with bearing housing swing joint, wherein, the elastic component with the one end that the runner assembly is connected is fixed in the second mounting panel.

Further, the rotating assembly further comprises a linear bearing, the linear bearing is sleeved on the rotating shaft, and at least part of the linear bearing is located in the bearing sleeve.

Further, still include the second bearing, the bearing housing is located to the second bearing cover, and the second bearing is located between the first mounting panel and the second mounting panel.

Further, the elastic part is a spring, and the springs are arranged on two sides of the rotating shaft.

Further, the chassis body further comprises an anti-collision component, and the anti-collision component is mounted on the frame.

Further, the chassis body still includes clean part, clean part install in the anticollision part is close to one side of walking wheel, clean part is used for clearing up the barrier.

Further, still including installing in the draw gear of frame, draw gear includes traction post and first driving piece, first driving piece is used for driving the lifting movement of traction post.

Further, still include locating component, locating component include second driving piece, lifter and set up in the absorption unit of lifter bottom, the second driving piece install in the frame, the second driving piece is used for the drive the lifter is at the motion of vertical direction, adsorb the unit and be used for with the holding surface butt.

The utility model discloses AGV dolly of another aspect embodiment, include as before AGV chassis structure.

The AGV chassis structure at least has the following beneficial effects: utilize the elastic component to connect fixed cover and runner assembly, the elastic component can the fixed distance between cover and the frame of dynamic adjustment, and the elastic component can adjust the distance between drive wheel and the frame promptly to make the drive wheel also can with ground butt all the time on the ground of unevenness. When the AGV dolly walks to uneven ground surface, the drive wheel can keep contact with ground under the effect of elastic component to be favorable to accurate control turn direction, make the AGV dolly can follow the motion of setting for the walking route.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The invention will be further described with reference to the following drawings and examples, in which:

FIG. 1 is a schematic diagram of an overall configuration of an AGV according to an embodiment of the present invention;

FIG. 2 is a schematic overall structure diagram of an AGV chassis structure according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of another perspective of the AGV chassis structure of an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a rotating assembly and a traveling assembly in an AGV chassis structure according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a rotating assembly and a traveling assembly in an AGV chassis structure according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the exploded structure of FIG. 5;

FIG. 7 is a schematic diagram of a partial structure of a rotating assembly and a traveling assembly in an AGV chassis structure according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a traction device in an AGV chassis structure in accordance with an embodiment of the present invention;

fig. 9 is another schematic diagram of a traction device in an AGV chassis structure according to an embodiment of the present invention.

Reference numerals are as follows:

10. an AGV trolley;

110. a frame; 120. a traveling wheel; 130. a guide wheel; 140. an anti-collision component; 150. a cleaning member;

200. a rotating assembly; 210. a first mounting plate; 220. a second mounting plate; 230. a first bearing; 240. a bearing housing; 250. a rotating shaft; 260. a linear bearing; 270. a second bearing; 280. a fixing member;

310. an elastic member; 320. a fixed cover; 321. through the hole; 330. a drive wheel; 340. a drive device;

410. a traction column; 420. a first driving member; 430. rotating the disc; 440. an eccentric wheel; 450. a tray; 460. and (4) a jacking spring.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does 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.

In the description of the present invention, a plurality of means is one or more, a plurality of means is two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means 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 the present invention. In this specification, the schematic representations of the terms used above do not necessarily 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.

At present, in order to keep the stability of AGV dolly 10 when traveling, both ends respectively set up a set of walking wheel 120 around AGV dolly 10 bottom usually, and the centre sets up a set of drive wheel, nevertheless on unevenness's unevenness road surface, two sets of walking wheels 120 and a set of drive wheel 330 can't contact ground simultaneously. When the drive wheels 330 do not fully contact the ground, the AGV cart 10 may not be able to precisely control the direction of the turn, causing it to deviate from the set travel path, which may not facilitate precise logistics.

In view of this, the utility model discloses an AGV chassis structure and an AGV dolly 10 that has aforementioned AGV chassis structure, as shown in fig. 1 to 3, through improving AGV chassis structure to guarantee that drive wheel 330 can all the time with ground butt in driving process, and then improve the control accuracy of turn direction.

The utility model discloses in an aspect of the embodiment, AGV chassis structure includes chassis body, runner assembly 200 and running gear.

As shown in fig. 2 and 3, the chassis body includes a frame 110 and road wheels 120, and at least two groups of road wheels 120 are arranged at the bottom of the frame 110 at intervals; the rotating assembly 200 is mounted on the frame 110, and the rotating assembly 200 can rotate relative to the frame 110; the walking assembly comprises an elastic member 310, a fixed cover 320, driving wheels 330 and driving devices 340, one end of the elastic member 310 is connected with the rotating assembly 200, the other end of the elastic member 310 is connected with the fixed cover 320, the fixed cover 320 is provided with at least two driving wheels 330 which are arranged in parallel, the number of the driving devices 340 is the same as that of the driving wheels 330, and each driving device 340 independently drives one driving wheel 330 to move. Wherein each driving wheel 330 is independently driven by a driving device 340. Specifically, the elastic member 310 applies a force to the driving wheel 330, so that the driving wheel 330 can keep in contact with the ground; by controlling the speed of the different drives 340, the different drive wheels 330 can be synchronized or differentially moved to provide linear or turning motion to the AGV cart 10. In operation, the road wheels 120 are in contact with the ground. If the AGV trolley 10 travels on the concave ground, the driving wheel 330 moves in a direction away from the frame 110 under the action of the elastic members 310, so that the driving wheel 330 is ensured to contact with the ground; if the AGV car 10 travels to the convex ground, the elastic members 310 are compressed, so that the driving wheels 330 and the traveling wheels 120 at the front and rear ends of the frame 110 can contact the ground.

In the aforementioned AGV chassis structure, the fixed cover 320 and the driving wheel 330 are connected to the rotating assembly 200 by the elastic member 310, and the elastic member 310 can dynamically adjust the distance between the driving wheel 330 and the frame 110, so that the driving wheel 330 is always abutted against the floor. When the AGV 10 travels to uneven ground, the driving wheel 330 can keep in contact with the ground under the action of the elastic member 310, thereby facilitating accurate control of the turning direction and enabling the AGV 10 to move along the set traveling path.

In some embodiments, referring to fig. 3 to 6, the rotating assembly 200 includes a first mounting plate 210, a second mounting plate 220, a first bearing 230, a bearing housing 240 and a rotating shaft 250, the first mounting plate 210 is fixedly connected to the frame 110, the second mounting plate 220 is disposed on a side of the first mounting plate 210 close to the driving wheel 330, the first bearing 230 is mounted on the second mounting plate 220, one end of the bearing housing 240 is fixedly connected to the first mounting plate 210, the other end of the bearing housing 240 penetrates through the first bearing 230, one end of the rotating shaft 250 is fixedly connected to the fixing cover 320, the other end of the rotating shaft 250 penetrates through the bearing housing 240, and the rotating shaft 250 is movably connected to the bearing housing 240. Wherein, one end of the elastic element 310 connected with the rotating assembly 200 is fixed on the second mounting plate 220; the rotary shaft 250 is movably connected to the bearing housing 240, so that the rotary shaft 250, the stationary cover 320, and the driving wheel 330 mounted on the stationary cover 320 can move in the axial direction of the bearing housing 240. As can be further seen from the figure, the driving wheels 330 are disposed at both sides of the fixed cover 320, and the driving device 340 is installed in the fixed cover 320; one side of each driving wheel 330 is correspondingly provided with a driving device 340, and each driving device 340 drives one driving wheel 330 to rotate; the fixing cover 320 is provided with a through hole 321 through which the elastic member 310 passes, and the fixing member 280 is mounted to the lower end of the rotating shaft 250, and the fixing member 280 is fixedly coupled to the inside of the fixing cover 320. It should be noted that the second mounting plate 220 is able to rotate relative to the first mounting plate 210 about the bearing housing 240. During movement, the driving wheel 330 drives the fixed cover 320 to move, one end of the rotating shaft 250 is fixedly connected with the fixed cover 320, and the other end of the rotating shaft 250 penetrates through the bearing sleeve 240, so that the fixed cover 320 drives the frame 110 to move through the rotating shaft 250, the bearing sleeve 240 and other components, thereby realizing the rotation or forward movement of the AGV cart 10.

In this embodiment, referring to fig. 6, the rotating assembly 200 further includes a linear bearing 260, the linear bearing 260 is sleeved on the rotating shaft 250, and the linear bearing 260 is at least partially located in the bearing sleeve 240. The linear bearing 260 is fixedly connected to the bearing housing 240. That is, the linear bearing 260 is located between the rotational shaft 250 and the bearing housing 240, and the rotational shaft 250 is movable relative to the linear bearing 260 within the bearing housing 240. The linear bearing 260 is provided to improve the movement accuracy of the rotary shaft 250, thereby facilitating the driving wheel 330 to travel in the set track.

In some embodiments, as shown in fig. 6, the rotating assembly 200 further includes a second bearing 270, the second bearing 270 is sleeved on the bearing sleeve 240, and the second bearing 270 is located between the first mounting plate 210 and the second mounting plate 220. Wherein the second bearing 270 is a thrust bearing. The second bearing 270 can bear the acting force along the axial direction of the bearing sleeve 240, and meanwhile, the situation that the second mounting plate 220 is limited to rotate due to the fact that the second mounting plate 220 is in contact with the first mounting plate 210 can be effectively avoided, and smooth turning of the AGV trolley 10 is guaranteed.

In this embodiment, referring to fig. 3 to 7, the elastic member 310 is a spring, and the springs are disposed on both sides of the rotating shaft 250. When the AGV trolley 10 runs on a flat ground, the spring is in a compressed state, and the elastic force of the spring presses the driving wheel 330 on the ground; when the AGV cart 10 travels over a concave ground surface, the drive wheels 330 are able to move under the force of the springs in a direction away from the frame 110 and thus remain in contact with the ground surface.

In some embodiments, referring to fig. 1-3, the chassis body further includes a collision avoidance component 140, the collision avoidance component 140 being mounted to the frame 110. Specifically, the collision prevention part 140 is disposed at the front end of the frame 110, and can effectively prevent the front end of the frame 110 from being impacted. Further, the rear end of the frame 110 is also provided with a collision prevention part 140. The anti-collision component 140 can be selected as an anti-collision strip, and the anti-collision strip can be made of rigid materials, such as steel pipes, metal aluminum strips and the like; and can also be selected from plastic, rubber, foam and other materials with a buffering effect.

In some embodiments, referring to fig. 3, the chassis body further includes a cleaning member 150, the cleaning member 150 is mounted on a side of the collision prevention member 140 near the road wheels 120, and the cleaning member 150 is used for cleaning obstacles. Specifically, the cleaning member 150 may be a brush, the brush is disposed at the bottom of the frame 110, and the brush is located on the traveling path of the traveling wheels 120, so as to sweep away obstacles on the traveling path of the AGV cart 10 and prevent the AGV cart 10 from being restricted in traveling.

In some embodiments, referring to FIGS. 3 and 8, the AGV chassis structure further includes a traction device mounted to the frame 110. Specifically, the traction device comprises a traction column 410 and a first driving member 420, wherein the first driving member 420 is used for driving the traction column 410 to move up and down along the vertical direction. The traction column 410 can be extended out of the upper surface of the frame 110 by the first driving member 420 for traction of the material.

As an embodiment, referring to fig. 8, the traction apparatus includes a mounting bracket, a traction column 410, a first driving member 420, a rotating disc 430, an eccentric 440, a tray 450, and a jacking spring 460, the mounting bracket is fixedly mounted on the frame 110, the traction column 410 is movably mounted on the mounting bracket, the first driving member 420 is also mounted on the mounting bracket, the rotating disc 430 is fixedly connected to an output shaft of the first driving member 420, the eccentric 440 is fixedly mounted on the rotating disc 430 and is eccentrically disposed with the rotating disc 430, the tray 450 is located below the traction column 410, the jacking spring 460 is disposed below the tray 450, and an upper end of the jacking spring 460 abuts against a bottom of the tray 450. The first driving member 420 drives the eccentric wheel 440 to rotate, and the tray 450 can move up and down under the combined action of the eccentric wheel 440 and the jacking spring 460, so that the tray 450 drives the traction column 410 to move up and down. The first driving member 420 may be specifically selected to be a motor.

As an example, referring to fig. 9, the first driving member 420 is specifically selected as a cylinder, and the traction column 410 is connected to an output end of the cylinder. In practice, the traction posts 410 are positioned within the frame 110 to prevent the traction posts 410 from interfering with the AGV transporting material; when it is desired to pull material, the cylinders act to drive the pull post 410 out of the upper surface of the frame 110, at which point the pull post 410 can be used to pull material.

In some embodiments, the positioning device further includes a positioning assembly (not shown in the drawings), the positioning assembly includes a second driving member, a lifting rod, and an adsorbing unit disposed at a bottom end of the lifting rod, the second driving member is mounted on the frame 110, the second driving member is used for driving the lifting rod to move in a vertical direction, and the adsorbing unit is used for abutting against the supporting surface. The lifting rod can drive the adsorption unit to ascend or descend; the adsorption unit can be adsorbed on the ground. When the AGV carries out the fixed point operation, the adsorption unit descends to ground, and the adsorption unit adsorbs on ground, can make AGV dolly 10 keep with ground contact, promotes AGV dolly 10's location effect. Wherein, the adsorption unit can be selected as a sucker.

Referring to fig. 1 to 8, another aspect of the present invention discloses an AGV cart 10, where the AGV cart 10 includes the AGV chassis structure as described above, and has all the technical effects of the AGV chassis structure, which are not described herein again.

In this embodiment, the chassis body further includes a guide wheel 130, and the guide wheel 130 is provided with an outer periphery of the frame 110.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art. Furthermore, the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

Claims

1. An AGV chassis structure, comprising:

the chassis body comprises a frame (110) and walking wheels (120), wherein at least two groups of walking wheels (120) are installed on the frame (110) at intervals;

a rotating assembly (200) mounted to the frame (110), the rotating assembly (200) being rotatable relative to the frame (110);

the walking assembly comprises an elastic piece (310), a fixed cover (320), a driving wheel (330) and a driving device (340), one end of the elastic piece (310) is connected with the rotating assembly (200), the other end of the elastic piece (310) is connected with the fixed cover (320), at least two driving wheels (330) are arranged in parallel on the fixed cover (320), the number of the driving device (340) is the same as that of the driving wheel (330), and each driving device (340) drives one driving wheel (330) to move independently.

2. AGV chassis structure according to claim 1, characterized in that the rotating assembly (200) comprises a first mounting plate (210), a second mounting plate (220), a first bearing (230), a bearing sleeve (240) and a rotating shaft (250), the first mounting plate (210) is fixedly connected with the frame (110), the second mounting plate (220) is arranged at one side of the first mounting plate (210) close to the driving wheel (330), the first bearing (230) is arranged at the second mounting plate (220), one end of the bearing sleeve (240) is fixedly connected with the first mounting plate (210), the other end of the bearing sleeve (240) is arranged through the first bearing (230), one end of the rotating shaft (250) is fixedly connected with the fixed hood (320), the other end of the rotating shaft (250) is arranged through the bearing sleeve (240), and the rotating shaft (250) is movably connected with the bearing sleeve (240), wherein the end of the elastic member (310) connected with the rotating assembly (200) is fixed at the second mounting plate (220).

3. The AGV chassis structure according to claim 2, wherein the rotatable assembly (200) further includes a linear bearing (260), the linear bearing (260) being mounted to the rotatable shaft (250), the linear bearing (260) being at least partially located within the bearing housing (240).

4. The AGV chassis structure of claim 2, further comprising a second bearing (270), the second bearing (270) being journaled in the bearing sleeve (240) and the second bearing (270) being located between the first mounting plate (210) and the second mounting plate (220).

5. AGV chassis structure according to any of claims 2 to 4, characterized in that the resilient member (310) is a spring, which is provided on both sides of the rotating shaft (250).

6. The AGV chassis structure according to claim 1, wherein the chassis body further includes a bump guard (140), the bump guard (140) being mounted to the frame (110).

7. The AGV chassis structure of claim 6, wherein the chassis body further comprises a cleaning member (150), the cleaning member (150) being mounted to a side of the collision avoidance member (140) adjacent the road wheels (120), the cleaning member (150) being configured to clear obstacles.

8. The AGV chassis structure of claim 1, further comprising a traction device mounted to said frame (110), said traction device including a traction column (410) and a first drive (420), said first drive (420) for driving said traction column (410) in an elevating motion.

9. The AGV chassis structure of claim 1, further comprising a positioning assembly, wherein the positioning assembly comprises a second driving member, a lifting rod and an absorption unit arranged at the bottom end of the lifting rod, the second driving member is mounted on the frame (110), the second driving member is used for driving the lifting rod to move in a vertical direction, and the absorption unit is used for abutting against a supporting surface.

10. An AGV trolley comprising an AGV chassis structure according to any one of claims 1 to 9.