CN219055870U - AGV universal suspension wheel - Google Patents

Abstract

The utility model relates to an AGV universal suspension wheel which comprises a frame, a movement mechanism and a positioning mechanism, wherein the frame comprises a first frame body, a second frame body and an elastic assembly, the first frame body is connected with the second frame body through a first guide column, the movement mechanism comprises a rotation assembly and a wheel assembly, the output end of the rotation assembly is connected with the wheel assembly, the positioning mechanism comprises a power assembly and a jacking assembly, the first end of the jacking assembly is connected with the power assembly, the second end of the jacking assembly is propped against the rotation assembly, and the power assembly drives the second end to move up and down. This universal hanging wheel of AGV realizes hanging the universal rotation of wheel through actuating mechanism, and the tight subassembly of power pack drive pushes up and rotates, and towards being close to or keep away from actuating mechanism direction motion, according to the height position of the vertical direction of road surface roughness adjustment actuating mechanism, when the tight subassembly of pushing up moves towards actuating mechanism, suppresses actuating mechanism in ground, and the restriction hangs the wheel motion, makes whole AGV dolly stable, the secondary positioning mechanism work on the AGV dolly of being convenient for.

Description

AGV universal suspension wheel

Technical Field

The utility model relates to the technical field of automatic guided vehicles, in particular to an AGV universal suspension wheel.

Background

With the gradual development of factory automation and computer integrated manufacturing system technology and the wide application of flexible manufacturing systems and automated stereoscopic warehouses, AGVs (Automated Guided Vehicle, automated guided vehicles) have been rapidly developed as a necessary automated handling means for connecting and adjusting discrete logistics management systems to allow continuous operation. In order to realize the omnidirectional movement of the AGV trolley, a plurality of groups of driving wheels and follower wheels are usually arranged on the chassis of the AGV, the AGV trolley is usually provided with universal suspension wheels as follower wheels in the related art, the idler wheels as the driving wheels are matched to drive the AGV trolley to normally walk,

however, most of conventional AGV trolley can only walk on the ground with good ground flatness, when the vehicle runs on the uneven ground, because the uneven ground can not enable some wheels to contact the ground, the walking AGV trolley can not keep the vehicle body stable at the moment, the whole vehicle body can shake to different degrees, and further the work of a secondary positioning mechanism on the AGV vehicle is influenced, and the high-precision positioning of the trolley can not be realized. The general universal hanging wheel of AGV adopts the setting spring to realize the buffering purpose mostly, but when the universal hanging wheel of AGV is unsettled not the ground connection, can't fix a position the support to the AGV dolly, can't guarantee the safe work of AGV dolly.

Disclosure of Invention

Based on this, it is unable at the subaerial problem of stable traveling of unevenness to need to aim at the AGV dolly, provides one kind and can make the gyro wheel butt ground through positioning mechanism, realizes dolly location support to secondary positioning mechanism on the messenger AGV dolly can accurate discernment, guarantees the universal hanging wheel of AGV dolly safe operation.

An AGV universal suspension wheel comprising:

the rack comprises a first rack body and a second rack body, wherein the first rack body and the second rack body are connected through a first guide column, so that the first rack body and the second rack body can move relatively along the first guide column, and the rack further comprises an elastic assembly arranged between the first rack body and the second rack body;

the motion mechanism comprises a rotation assembly and a wheel assembly, the rotation assembly is arranged on the second frame body, and the output end of the rotation assembly is connected with the wheel assembly and is used for driving the wheel assembly to rotate around the axis of the rotation assembly;

the positioning mechanism comprises a power assembly and a jacking assembly, wherein the power assembly is arranged on the first frame body, a first end of the jacking assembly is connected with the power assembly, a second end of the jacking assembly is propped against the rotating assembly, and the power assembly is used for driving the jacking assembly to move so that the second end of the jacking assembly moves up and down.

In one embodiment, the power assembly comprises a driving motor and a first limiting plate, wherein the driving motor faces one end of the jacking assembly, a driving shaft is arranged at one end of the driving motor, the driving shaft is connected with the jacking assembly, and the first limiting plate is arranged at one side of the driving motor, facing the jacking assembly, and is used for limiting the rotating range of the jacking assembly.

In one embodiment, the tightening assembly comprises a cam coupled to the power assembly and a follower bearing movably coupled to an end of the cam adjacent to the rotating assembly.

In one embodiment, the first frame body comprises a first support plate and a plurality of bushings, the bushings are arranged along the edges of the first support plate, the second frame body comprises a second support plate and a third support plate which are arranged in parallel with the first support plate, the second support plate is connected with the third support plate through the first guide post, and the first support plate is movably connected with the first guide post through the bushings, so that the second support plate and the third support plate can move relative to the first support plate along the first guide post at the same time.

In one embodiment, the positioning mechanism is embedded on the first frame body and the second frame body, a first avoiding groove matched with the positioning mechanism is arranged on the first supporting plate, a second avoiding groove matched with the positioning mechanism is arranged on the second supporting plate,

the moving mechanism is arranged in the second frame body in a penetrating mode, and the third supporting plate is provided with a mounting groove matched with the moving mechanism.

In one embodiment, the elastic component comprises a spring and a stabilizing disc, the spring is sleeved on the first guide post, one end of the spring is connected with the bushing, the other end of the spring is connected with the stabilizing disc, the stabilizing disc is arranged on the first guide post, one side of the stabilizing disc is connected with the spring, and the other side of the stabilizing disc is connected with the third support plate.

In one embodiment, the rotating assembly comprises a central turntable, a first rotating shaft and a transmission frame, the transmission frame is arranged above the central turntable, one end of the first rotating shaft, which is inserted into the wheel assembly, is provided with a clamping disc, and the first rotating shaft axially penetrates through the central turntable, the transmission frame and the center of the wheel assembly and is used for rotatably arranging the wheel assembly at the lower end of the rotating assembly.

In one embodiment, the wheel assembly comprises a rotating arm, a second rotating shaft and rollers, wherein the rotating arm comprises an upper substrate and arm plates respectively arranged on two sides of the upper substrate, the upper substrate is provided with inserting holes matched with the clamping discs and used for enabling the rotating arm to be connected with the first rotating shaft in a rotating mode, shaft holes are respectively formed in the arm plates and oppositely arranged, the second rotating shaft is matched with the shaft holes to be arranged between the arm plates, and the rollers are arranged on the second rotating shaft.

In one embodiment, the positioning mechanism further comprises a first brake arranged on the rotating assembly, wherein the first brake is used for limiting the rotation of the first rotating shaft, and a second brake arranged on one side of the wheel assembly, and the second brake is used for limiting the rotation of the second rotating shaft.

In one embodiment, the positioning mechanism further comprises a reset assembly arranged on the frame, the reset assembly comprises an auxiliary adjusting plate and a proximity switch sensor movably connected with the auxiliary adjusting plate, and the proximity switch sensor is used for detecting the position of the second end of the jacking assembly.

Above-mentioned universal hanging wheel of AGV, which comprises a frame, motion and positioning mechanism, wherein first support body and second support body in the frame are used for moving mechanism and positioning mechanism fixed mounting, through setting up elastic component, can play the buffering effect of moving away to avoid possible earthquakes at hanging the wheel in-process of traveling, cooperation support body and positioning mechanism can provide the reserved distance for the position of motion according to the vertical direction of ground altitude mixture control simultaneously, can realize hanging the universal rotation of wheel through motion, concretely realize axial rotation by rotating the subassembly, realize rolling the rotation by the wheel subassembly, through power pack drive tight subassembly 32 rotation in top, the direction motion of being close to or keeping away from motion, height position on the vertical direction of motion is adjusted according to road surface roughness, move towards motion when power pack drive tight subassembly 32, tight subassembly 32 is pressed motion and ground in ground, restrict the motion of whole hanging the wheel, make whole AGV dolly stable, the secondary positioning mechanism work on the dolly of being convenient for.

Drawings

FIG. 1 is a schematic perspective view of an AGV universal suspension wheel;

FIG. 2 is a schematic perspective view of an alternative view of an AGV universal suspension wheel;

FIG. 3 is a schematic view of the power assembly of the AGV universal suspension wheel (omitting the first limiting plate);

FIG. 4 is a side view of the AGV universal suspension wheel;

FIG. 5 is a cross-sectional view of the AGV universal suspension wheel of FIG. 4 taken along the direction A-A;

FIG. 6 is a cross-sectional view of the AGV universal suspension wheel of FIG. 4 taken along the direction B-B.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1, an AGV universal suspension wheel according to an embodiment of the present utility model is shown, including a frame 1, a movement mechanism 2, and a positioning mechanism 3, where the frame 1 includes a first frame 11 and a second frame 12, the first frame 11 and the second frame 12 are connected by a first guide post 13, so that the first frame 11 and the second frame 12 can relatively move along the first guide post 13, and the frame 1 further includes an elastic component 14 disposed between the first frame 11 and the second frame 12. The motion mechanism 2, the motion mechanism 2 includes rotating assembly 21 and wheel subassembly 22, and rotating assembly 21 installs in second support body 12, and the output of rotating assembly 21 is connected with wheel subassembly 22 for drive wheel subassembly 22 and revolve the axis of rotating assembly 21 and rotate. The positioning mechanism 3 comprises a power assembly 31 and a jacking assembly 32, the power assembly 31 is arranged on the first frame 11, a first end of the jacking assembly 32 is connected with the power assembly 31, a second end of the jacking assembly 32 abuts against the rotating assembly 21, and the power assembly 31 is used for driving the jacking assembly 32 to move so that the second end of the jacking assembly 32 moves up and down.

Above-mentioned universal hanging wheel of AGV is provided with frame 1, actuating mechanism 2 and positioning mechanism 3, wherein first support body 11 and second support body 12 in frame 1 are arranged in with actuating mechanism 2 and positioning mechanism 3 fixed mounting, through setting up elastic component 14, can play buffering shock-absorbing effect in hanging wheel travel, cooperation support body and positioning mechanism 3 can provide the reserved distance for actuating mechanism 2 according to the position of the vertical direction of ground altitude mixture control, can realize the universal rotation of hanging wheel through actuating mechanism 2, concretely realize axial rotation by rotating assembly 21, realize rolling rotation by wheel subassembly 22, drive tight subassembly 32 rotation through power component 31, towards being close to or keep away from the direction motion of actuating mechanism 2, height position on the vertical direction of actuating mechanism 2 is adjusted according to the road surface roughness, when the tight subassembly 32 is pressed in ground to actuating mechanism 2 with actuating mechanism 32, restrict the motion of whole hanging wheel, make whole dolly stable, the secondary positioning mechanism 3 work on the AGV dolly of being convenient for.

Referring to fig. 1 and 2, in some embodiments, the power assembly 31 includes a driving motor 311 and a first limiting plate 312, one end of the driving motor 311 facing the tightening assembly 32 is provided with a driving shaft, the driving shaft is connected with the tightening assembly 32, and the first limiting plate 312 is disposed on a side of the driving motor 311 facing the tightening assembly 32, for limiting a rotation range of the tightening assembly 32.

Further, a tightening assembly 32 is disposed on a driving shaft of the driving motor 311, the tightening assembly 32 rotates with the driving shaft as a rotation shaft, a first limiting plate 312 is adapted to the driving motor 311, a limiting column 313 is vertically disposed on one side of the tightening assembly 32, and the limiting column 313 is used for limiting a rotation angle of the tightening assembly 32 to rotate within a fixed range. When the AGV trolley is required to stop stabilizing, the driving motor 311 drives the jacking component 32 to press the wheel component 22 below the frame 1 on the ground, the wheel component 22 is kept relatively static after contacting the ground, and the elastic component 14 between the first frame 11 and the second frame 12 is matched, so that the wheels in the wheel component 22 on the whole AGV trolley are ensured to contact the ground.

Referring to fig. 1-3, in some embodiments, the puller assembly 32 includes a cam 321 and a follower bearing 324, the cam 321 being coupled to the power assembly 31, the follower bearing 324 being movably coupled to an end of the cam 321 proximate the rotating assembly 21.

Further, the cam 321 includes a connection section 322 connected to the driving shaft of the driving motor 311 and a rotation section 323 disposed at one end of the connection section, wherein one end of the rotation section 323 is provided with a first rotation hole, the other end is provided with a second rotation hole, the rotation section 323 is connected to the connection section 322 through the first rotation hole, and the follower bearing 324 is disposed at the end of the cam 321 far from the driving motor 311 through the second rotation hole. In this embodiment, by providing the cam 321 that rotates with the driving motor 311, and matching the follower bearing 324 movably connected in the second rotation hole, when the tightening assembly 32 rotates downward to abut against the rotation assembly 21, the rotatable follower bearing 324 can reduce the friction between the cam 321 and the rotation assembly 21, so as to further press the whole rotation assembly 21 downward.

In some embodiments, the first frame 11 includes a first support plate 111 and a plurality of bushings 113, the plurality of bushings 113 are disposed along an edge of the first support plate 111, the second frame 12 includes a second support plate 121 and a third support plate 123 disposed parallel to the first support plate 111, the second support plate 121 and the third support plate 123 are connected by a first guide post 13, and the first support plate 111 is movably connected to the first guide post 13 by the bushings 113, so that the second support plate 121 and the third support plate 123 can simultaneously move along the first guide post 13 relative to the first support plate 111.

Further, the first support plate 111, the second support plate 121 and the third support plate 123 are all disposed in parallel, in this embodiment, four first guide posts 13 are disposed, and pass through the first support plate 111, the second support plate 121 and the third support plate 123 respectively, and two ends after passing through are fixed by nuts. The second support plate 121 and the third support plate 123 can simultaneously move along the first guide post 13 relative to the first support plate 111, thereby achieving height adjustment of the movement mechanism 2 in the vertical direction according to ground flatness.

Referring to fig. 1 and 2, in some embodiments, the positioning mechanism 3 is embedded in the first frame 11 and the second frame 12, the first support plate 111 is provided with a first avoidance groove 112 adapted to the positioning mechanism 3, the second support plate 121 is provided with a second avoidance groove 122 adapted to the positioning mechanism 3, the moving mechanism 2 is penetrated in the second frame 12, and the third support plate 123 is provided with an installation groove 124 adapted to the moving mechanism 2. Specifically, by providing the first avoidance groove 112 and the second avoidance groove 122, an action space is provided for the cam 321 to press the rotating assembly 21 downward. By providing the mounting groove 124, a mounting space is reserved for embedding and mounting the movement mechanism 2 and the positioning mechanism 3 in the frame 1, and the body quantity of the whole suspension wheel structure is reduced.

In some embodiments, the elastic component 14 includes a spring 141 and a stabilizing disc 142, where the spring 141 is sleeved on the first guide post 13, one end is connected with the bushing 113, the other end is connected with the stabilizing disc 142, the stabilizing disc 142 is disposed on the first guide post 13, one side is connected with the spring 141, and the other side is connected with the third support plate 123.

Further, stabilizing pins 143 are disposed opposite to each other on both sides of the stabilizing disc 142, one end of each stabilizing pin 143 is connected to the stabilizing disc 142, and the other end is abutted against the third supporting plate 123. By providing the elastic assembly 14 in this embodiment, on the one hand, a cushioning effect can be provided for the entire frame 1 during running, and on the other hand, a supporting force can be provided for the first support plate 111, and a restoring traction force can be provided for the movement of the second support plate 121 and the third support plate 123 relative to the first support plate 111.

Referring to fig. 4 to 6, in some embodiments, the rotating assembly 21 includes a central turntable 211, a first rotating shaft 212, and a transmission frame 213, the transmission frame 213 is disposed above the central turntable 211, one end of the first rotating shaft 212 inserted into the wheel assembly 22 is provided with a clamping disc 2121, and the first rotating shaft 212 axially penetrates through the center of the central turntable 211, the transmission frame 213, and the wheel assembly 22, so as to rotatably dispose the wheel assembly 22 at the lower end of the rotating assembly 21.

Further, the drive rack 213 comprises an upper drive top plate 2131 and two side rack arms 2132, wherein the length of the drive top plate 2131 is longer than the length between the two side rack arms 2132, i.e. the length of the drive top plate 2131 is longer than the diameter of the central turntable 211. By providing the drive top plate 2131, the cam 321 drives the follower bearing 324 to rotate downward and then to abut against the drive top plate 2131, thereby pressing the rotating assembly 21 downward. The transmission frame 213 is rotatable with the center turntable 211 by connecting the center turntable 211 by a frame arm 2132.

In some embodiments, the wheel assembly 22 includes a rotating arm 221, a second rotating shaft 222 and rollers 223, the rotating arm 221 includes an upper substrate 2211 and arm plates 2214 respectively disposed on two sides of the upper substrate 2211, the upper substrate 2211 is provided with insertion holes 2212 adapted to the clamping discs 2121 for rotationally connecting the rotating arm 221 with the first rotating shaft 212, the oppositely disposed arm plates 2214 are respectively provided with shaft holes 2215, the second rotating shaft 222 is mounted between the arm plates 2214 in cooperation with the shaft holes 2215, and the second rotating shaft 222 is provided with the rollers 223.

Further, in the present embodiment, a groove 2213 adapted to the chuck 2121 is provided around the insertion hole 2212 for fixing the chuck 2121 to the insertion hole 2212 so that the wheel assembly 22 can rotate along the first rotation shaft 212. The roller 223 may also be provided as a plurality of rollers 223 arranged side by side. Specifically, a shaft sleeve 224 is disposed between the second rotating shaft 222 and the shaft hole 2215.

In one embodiment, the positioning mechanism 3 further includes a first brake 33 disposed on the rotating assembly 21, the first brake 33 being configured to limit rotation of the first rotating shaft 212, and a second brake 34 disposed on one side of the wheel assembly 22, the second brake 34 being configured to limit rotation of the second rotating shaft 222.

Further, in the present embodiment, the first brake 33 and the second brake 34 are both electromagnetic brakes, specifically, the first brake 33 is formed by providing an armature hub 331 on the first rotating shaft 212 between the transmission frame 213 and the central turntable 211, providing an armature 332 and a stator 333 on the first rotating shaft 212 in the central turntable 211, and providing a coil 334 between the stator 333 and the first rotating shaft 212, and further, connecting the armature 332 and the armature hub 331 by a plate spring. The first shaft 212 rotates together with the armature hub 331, and when the brake is energized, the stator 333 generates electromagnetic force by the coil 334, and the armature 332 engages with the stator 333 to stop the rotation of the first shaft 212. When the brake is de-energized, the electromagnetic force of the stator 333 disappears, the brake disappears, and the first rotation shaft 212 is released. The second brake 34 operates in the same manner as the first brake 33 to restrict rotation of the second shaft 222.

In one embodiment, the positioning mechanism 3 further includes a reset assembly 36 disposed on the frame 1, the reset assembly 36 including an auxiliary adjustment plate 361 and a proximity switch sensor 362 movably coupled to the auxiliary adjustment plate 361, the proximity switch sensor 362 being configured to detect a position of the second end of the tightening assembly 32.

In this embodiment, the proximity switch sensor 362 is movably connected to the auxiliary adjusting plate 361, and can adjust the installation position according to the requirement of the user, and the proximity switch sensor 362 is provided to detect whether the cam 321 returns to the original position after rotating.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (10)

1. An AGV universal suspension wheel comprising:

the frame (1), frame (1) including first support body (11) and second support body (12), first support body (11) with connect through first guide post (13) between second support body (12) to make between first support body (11) and second support body (12) can follow first guide post (13) relative movement, frame (1) still includes setting up first support body (11) with elastic component (14) between second support body (12);

the motion mechanism (2), the motion mechanism (2) comprises a rotation assembly (21) and a wheel assembly (22), the rotation assembly (21) is installed on the second frame body (12), and the output end of the rotation assembly (21) is connected with the wheel assembly (22) and is used for driving the wheel assembly (22) to rotate around the axis of the rotation assembly (21);

positioning mechanism (3), positioning mechanism (3) include power component (31) and tight subassembly (32) in top, power component (31) set up in first support body (11), the first end of tight subassembly (32) in top with power component (31) are connected, the second end and the rotating member (21) of tight subassembly (32) in top offset, power component (31) are used for the drive tight subassembly (32) motion, so that the second end of tight subassembly (32) in top reciprocates.

2. The universal hanging wheel of an AGV according to claim 1, wherein the power assembly (31) comprises a driving motor (311) and a first limiting plate (312), the driving motor (311) is provided with a driving shaft towards one end of the tightening assembly (32), the driving shaft is connected with the tightening assembly (32), and the first limiting plate (312) is provided on one side of the driving motor (311) towards the tightening assembly (32) for limiting the rotation range of the tightening assembly (32).

3. The universal suspension wheel of an AGV according to claim 1, wherein the puller assembly (32) comprises a cam (321) and a follower bearing (324), the cam (321) is connected to the power assembly (31), and the follower bearing (324) is movably connected to an end of the cam (321) adjacent to the rotating assembly (21).

4. The universal suspension wheel of an AGV according to claim 1, wherein the first frame (11) comprises a first support plate (111) and a plurality of bushings (113), a plurality of the bushings (113) are disposed along the edges of the first support plate (111), the second frame (12) comprises a second support plate (121) and a third support plate (123) disposed parallel to the first support plate (111), the second support plate (121) and the third support plate (123) are connected by the first guide post (13), and the first support plate (111) is movably connected to the first guide post (13) by the bushings (113), so that the second support plate (121) and the third support plate (123) can move along the first guide post (13) relative to the first support plate (111) at the same time.

5. The universal hanging wheel of an AGV according to claim 4, wherein the positioning mechanism (3) is embedded on the first frame body (11) and the second frame body (12), a first avoiding groove (112) matched with the positioning mechanism (3) is arranged on the first supporting plate (111), a second avoiding groove (122) matched with the positioning mechanism (3) is arranged on the second supporting plate (121), the moving mechanism (2) is arranged in the second frame body (12) in a penetrating mode, and an installing groove (124) matched with the moving mechanism (2) is arranged on the third supporting plate (123).

6. The universal suspension wheel of an AGV according to claim 4, wherein the elastic assembly (14) comprises a spring (141) and a stabilizing disc (142), the spring (141) is sleeved on the first guide post (13), one end is connected with the bushing (113), the other end is connected with the stabilizing disc (142), the stabilizing disc (142) is disposed on the first guide post (13), one side is connected with the spring (141), and the other side is connected with the third support plate (123).

7. The universal hanging wheel of an AGV according to claim 1, wherein the rotating assembly (21) comprises a central turntable (211), a first rotating shaft (212) and a transmission frame (213), the transmission frame (213) is disposed above the central turntable (211), one end of the first rotating shaft (212) inserted into the wheel assembly (22) is provided with a clamping disc (2121), and the first rotating shaft (212) axially penetrates through the centers of the central turntable (211), the transmission frame (213) and the wheel assembly (22), so that the wheel assembly (22) is rotatably disposed at the lower end of the rotating assembly (21).

8. The universal hanging wheel of AGV according to claim 7, wherein the wheel assembly (22) comprises a rotating arm (221), a second rotating shaft (222) and a roller (223), the rotating arm (221) comprises an upper base plate (2211) and arm plates (2214) respectively arranged on two sides of the upper base plate (2211), the upper base plate (2211) is provided with a plug hole (2212) matched with the clamping disc (2121) for rotating and connecting the rotating arm (221) with the first rotating shaft (212), the arm plates (2214) which are oppositely arranged are respectively provided with a shaft hole (2215), the second rotating shaft (222) is matched with the shaft holes (2215) to be arranged between the arm plates (2214), and the roller (223) is arranged on the second rotating shaft (222).

9. The AGV universal suspension wheel according to claim 8, wherein the positioning mechanism (3) further comprises a first brake (33) provided on the rotating assembly (21), the first brake (33) being configured to restrict rotation of the first spindle (212), and a second brake (34) provided on one side of the wheel assembly (22), the second brake (34) being configured to restrict rotation of the second spindle (222).

10. The universal suspension wheel of an AGV according to claim 1, wherein the positioning mechanism (3) further comprises a reset assembly (36) disposed on the frame (1), the reset assembly (36) comprises an auxiliary adjustment plate (361) and a proximity switch sensor (362) movably connected to the auxiliary adjustment plate (361), and the proximity switch sensor (362) is configured to detect a position of the second end of the tightening assembly (32).

Images