CN219077341U - Light-load AGV - Google Patents
Light-load AGV Download PDFInfo
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- CN219077341U CN219077341U CN202223336082.6U CN202223336082U CN219077341U CN 219077341 U CN219077341 U CN 219077341U CN 202223336082 U CN202223336082 U CN 202223336082U CN 219077341 U CN219077341 U CN 219077341U
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Abstract
The utility model discloses a light-load AGV, which relates to the technical field of AGVs and comprises a chassis, a frame arranged on the chassis, a suspension device arranged on the frame and a driving device arranged on the suspension device; the suspension device comprises a damping component and a connecting rod, one end of the damping component is connected with the frame, and the other end of the damping component is movably connected with the connecting rod; the connecting rod is fixedly connected with the driving device, and the other end of the connecting rod is movably connected with the frame; the damping component is an elastic structure, and the elastic structure is in an elastic compression state; the driving device comprises a motor, a speed reducer and a driving wheel, the speed reducer is arranged on the connecting rod, the output end of the motor is connected with the speed reducer, and the output shaft of the speed reducer is connected with the driving wheel. The utility model applies downward pressure to the driving device through the suspension device, combines the weight of the driving device, enables the driving wheel to cling to the ground, establishes strong friction connection with the ground, and avoids the driving wheel from slipping.
Description
Technical Field
The utility model relates to the technical field of AGVs, in particular to a light-load AGV.
Background
The light-load AGV is a wheel type autonomous mobile robot developed for the automatic conveying requirement of light-load articles in industry and service industry, has the functions of autonomous navigation running, running along a preset track, intelligent obstacle avoidance, automatic charging, intelligent scheduling and the like, and can be widely applied to logistics transportation scenes such as industrial material distribution, storage goods conveying, indoor article conveying and the like.
However, in the running process of the existing light-load AGV, the phenomenon of skidding caused by insufficient friction force between the driving wheel and the ground due to wet and slippery ground or the phenomenon of skidding caused by suspended driving wheel due to uneven ground is often encountered.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art, and provides a light-load AGV which applies downward pressure to a driving device through a suspension device, and combines the weight of the driving device to enable a driving wheel of the driving device to cling to the ground, and strong friction connection is established between the driving wheel and the ground, so that the driving wheel is prevented from slipping.
The utility model provides a light-load AGV, which comprises a chassis, a frame arranged on the chassis, a suspension device arranged on the frame and a driving device arranged on the suspension device, wherein the frame is provided with a plurality of hanging parts;
the suspension device comprises a damping component and a connecting rod, one end of the damping component is connected with the frame, and the other end of the damping component is movably connected with the connecting rod; the connecting rod is fixedly connected with the driving device, and the other end of the connecting rod is movably connected with the frame; the damping component is of an elastic structure, and the elastic structure is in an elastic compression state;
the driving device comprises a motor, a speed reducer and a driving wheel, wherein the speed reducer is arranged on the connecting rod, the output end of the motor is connected with the speed reducer, and the output shaft of the speed reducer is connected with the driving wheel.
Specifically, the diameter of the driving wheel is d, the height of the chassis from the ground is h, and the relationship between d and h is as follows: d is more than or equal to 2h.
Specifically, the damper assembly comprises a first connecting piece and a damper, one end of the first connecting piece is fixedly connected with the frame, and the other end of the first connecting piece is movably connected with the damper.
Specifically, the shock absorber is sleeved with a spring.
Specifically, the connecting rod includes second connecting piece and mobile jib, the one end of second connecting piece with mobile jib fixed connection, the other end of second connecting piece with damper movably connected.
Specifically, the main rod is provided with a driving device installation part, a shell of the speed reducer is fixedly connected with the driving device installation part, and an output shaft of the speed reducer penetrates through the driving device installation part.
Specifically, the frame is provided with first installation department and second installation department, the frame based on first installation department with damper fixed connection, the frame based on second installation department with connecting rod swing joint.
Specifically, the suspension device comprises a first sub-suspension device and a second sub-suspension device, and the first sub-suspension device and the second sub-suspension device are distributed in bilateral symmetry.
Specifically, the driving device comprises a first sub-driving device and a second sub-driving device, and the first sub-driving device and the second sub-driving device are distributed in bilateral symmetry.
Specifically, the frame is an aluminum alloy frame.
Compared with the prior art, the utility model has the beneficial effects that:
one end of the connecting rod is movably connected with the frame, the other end of the connecting rod is movably connected with the damping component, the driving device is fixed on the connecting rod to form a lever system which takes the connecting rod as a hard rod and takes the movable connection position of the connecting rod and the frame as a fulcrum, the damping component in an elastic compression state can not be stretched due to the constraint of the driving device against the ground and the frame, the elastic compression state is maintained, downward pressure is formed on the driving device, the driving wheel of the driving device is tightly attached to the ground, the suspension phenomenon can not occur, and the friction force between the driving wheel and the ground is increased;
the driving device is fixedly connected with the connecting rod of the suspension device through a speed reducer, and the driving device is not rigidly connected with other structures, so that the weight of the driving device is concentrated on the driving wheel, the pressure of the driving wheel on the ground is enhanced, and the friction force between the driving wheel and the ground is increased;
the suspension device applies downward pressure to the driving device, and the weight of the driving device is combined, so that the driving wheel of the driving device clings to the ground, and strong friction connection is established between the driving wheel and the ground, thereby avoiding the driving wheel from slipping.
Drawings
FIG. 1 is a schematic diagram of the internal structure of a light load AGV in an embodiment of the present utility model;
FIG. 2 is a schematic view of a suspension arrangement for a light load AGV in accordance with an embodiment of the present utility model;
FIG. 3 is a schematic diagram of a light load AGV drive mechanism in accordance with an embodiment of the present utility model;
FIG. 4 is a schematic view of a portion of the structure of a light load AGV in accordance with an embodiment of the present utility model.
In the drawing, 100, a chassis; 200. a frame; 210. a first mounting portion; 220. a second mounting portion; 300. a suspension device; 310. a shock absorbing assembly; 311. a first connector; 312. a damper; 3121. a piston cylinder; 3122. a first spring seat; 3123. a spring; 3124. a piston rod; 3125. a second spring seat; 320. a connecting rod; 321. a second connector; 322. a main rod; 323. a driving device mounting part; 3231. a first through hole; 3232. a second through hole; 400. a driving device; 410. a motor; 420. a speed reducer; 430. and (3) driving wheels.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Fig. 1 shows a schematic view of the internal structure of a light-load AGV according to an embodiment of the present utility model, where the light-load AGV includes a chassis 100, a frame 200 disposed on the chassis 100, a suspension 300 disposed on the frame 200, and a driving device 400 disposed on the suspension 300.
Fig. 2 is a schematic structural diagram of a suspension device of a light-load AGV according to an embodiment of the present utility model, referring to fig. 1 and 2, the suspension device 300 includes a shock-absorbing assembly 310 and a connecting rod 320, one end of the shock-absorbing assembly 310 is connected to the frame 200, and the other end of the shock-absorbing assembly 310 is movably connected to the connecting rod 320; the connecting rod 320 is fixedly connected with the driving device 400, and the other end of the connecting rod 320 is movably connected with the frame 200; the shock absorbing assembly 310 is a resilient structure that is in a resiliently compressed state.
The suspension device 300 forms a lever system using the connecting rod 320 as a hard rod and using the movable connection position of the connecting rod 320 and the frame 200 as a fulcrum, the damping component 310 in an elastic compression state acts on the other end of the connecting rod 320, and the damping component 310 cannot stretch due to the constraint that the driving device 400 abuts against the ground and the frame 200, so that the elastic compression state is maintained, downward pressure is formed on the driving device 400, the driving device 400 is tightly attached to the ground, a suspension phenomenon is avoided, and the friction force between the driving device 400 and the ground is increased.
Fig. 3 is a schematic structural diagram of a driving device for a light-load AGV according to an embodiment of the present utility model, referring to fig. 1, 2 and 3, the driving device 400 includes a motor 410, a reducer 420 and a driving wheel 430, the reducer 420 is disposed on the connecting rod 320, an output end of the motor 410 is connected to the reducer 420, and an output shaft of the reducer 420 is connected to the driving wheel 430.
The driving device 400 is fixedly connected with the connecting rod 320 of the suspension device 300 through the reducer 420, and the driving device 400 is not rigidly connected with other structures, so that the weight of the driving device 400 is concentrated on the driving wheel 430, the pressure of the driving wheel 430 on the ground is enhanced, and the friction between the driving wheel 430 and the ground is increased.
By applying downward pressure to the driving device 400 by the suspension device 300, the driving wheel 430 of the driving device 400 is tightly attached to the ground by combining the weight of the driving device 400, and a strong friction connection is established between the driving wheel 430 and the ground, so that the driving wheel 430 is prevented from slipping.
When the light-load AGV is stationary on the ground, the connecting rod 320 is in a horizontal state under the supporting action of the driving wheel 430, and the shock absorption component 310 is in a vertical state at the moment; the vertical distance between the connecting rod 320 in the horizontal state and the upper end of the frame 200 is H, the length of the shock absorbing assembly 310 in the extended state is L, and the relationship between H and L is: h < L, when the length of the shock absorbing assembly 310 is less than or equal to H, the shock absorbing assembly 310 is compressed and has elastic potential energy, and downward pressure is formed on the driving device 400; and the weight of the light-load AGV is greater than the elastic force of the shock-absorbing assembly 310 in the elastically compressed state, i.e. the light-load AGV is not pushed off the ground by the driving wheel 430.
Specifically, in the driving device 400, an output shaft of the motor 410 is connected with an input shaft of the speed reducer 420, and an output shaft of the speed reducer 420 is directly connected with the driving wheel 430, so that the power transmission process is stable, accurate and reliable, and the running direction and speed of the light-load AGV can be conveniently controlled; and the motor 410 is vertically arranged on the speed reducer 420, so that the internal space of the light-load AGV can be saved, and a wider installation position is provided for other components.
In some embodiments, the diameter of the driving wheel 430 is d, the height of the chassis 100 from the ground is h, and the relationship between d and h is: d is more than or equal to 2 hours, so that the driving wheel 430 can conveniently contact the ground directly; and the diameter of the drive wheel 430 is large enough to achieve a higher linear speed, i.e., a faster running speed for a light load AGV.
In other conditions, the larger the diameter d of the driving wheel 430 is, the larger the contact area between the driving wheel 430 and the ground is, so that the friction between the driving wheel 430 and the ground can be enhanced; the larger the diameter d of the driving wheel 430 is, the larger the volume of the driving wheel 430 is, and the weight is correspondingly increased, so that the friction between the driving wheel 430 and the ground can be enhanced; the larger the diameter d of the driving wheel 430 is, the higher the center position of the driving wheel 430 is, i.e., the position where the driving wheel 430 is connected to the output shaft of the reducer 420 is, so as to squeeze the damper assembly 310, so that the elastic compression degree of the damper assembly 310 is increased, i.e., the suspension 300 applies downward pressure to the driving device 400 to increase, so that the friction between the driving wheel 430 and the ground is enhanced, and the driving wheel 430 is prevented from slipping.
In some embodiments, referring to fig. 2, the shock absorbing assembly 310 includes a first connecting member 311 and a shock absorber 312, wherein one end of the first connecting member 311 is fixedly connected with the frame 200, and the other end of the first connecting member 311 is movably connected with the shock absorber 312; specifically, the first connector 311 is hinged to the damper 312.
The connecting rod 320 comprises a second connecting piece 321 and a main rod 322, one end of the second connecting piece 321 is fixedly connected with the main rod 322, and the other end of the second connecting piece 321 is movably connected with the shock absorbing component 310; the main rod 322 is movably connected with the frame 200; specifically, the second connector 321 is hinged to the shock absorber 312, and the main rod 322 is hinged to the frame 200.
The first connecting piece 311, the damper 312, and the second connecting piece 321 are hinged to each other, so that the rigidity of the connecting portion between the connecting piece and the damper 312 can be reduced, the damper 312 can move within a certain limit, the damper 312 can automatically adapt to the movement state of the driving wheel 430, a good elastic support is provided for the driving wheel 430, and the driving wheel 430 can adapt to uneven ground.
Further, the main rod 322 is also hinged to the frame 200, and cooperates with the connecting piece and the shock absorber 312 to limit the suspension device 300 to move in the side of the frame 200, so as to ensure the stability of the suspension device 300, and make the suspension device 300 absorb the impact received by the driving device 400 to the greatest extent when the light-load AGV operates, and reduce the shock of the driving device 400.
Referring to fig. 1, 2 and 3, further, the main lever 322 is provided with a driving device mounting portion 323, a housing of the speed reducer 420 is fixedly connected with the driving device mounting portion 323, and an output shaft of the speed reducer 420 passes through the driving device mounting portion 323. The driving device mounting portion 323 is provided with a first through hole 3231 and a plurality of second through holes 3232, the casing of the speed reducer 420 is mounted on the driving device mounting portion 323 based on the plurality of second through holes 3232, and the output shaft of the speed reducer 420 passes through the first through hole 3231 and is fixedly connected with the driving wheel 430, specifically, the output shaft of the speed reducer 420 is wedged with the driving wheel 430.
The driving device 400 is tightly and fixedly connected with the suspension device 300 based on the driving device mounting part 323 to form a whole, and does not affect the movement of the driving wheel 430; the suspension device 300 is matched with the driving device 400, so that the light-load AGV can stably run on uneven ground.
Referring to fig. 1 and 2, further, the frame 200 is provided with a first mounting portion 210 and a second mounting portion 220, the frame 200 is fixedly connected with the shock absorbing assembly 310 based on the first mounting portion 210, and the frame 200 is movably connected with the connecting rod 320 based on the second mounting portion 220.
The first mounting part 210 may change its thickness by adding a pad; the vertical distance H between the connecting rod 320 in the horizontal state and the upper end of the frame 200 is fixed, that is, the shock absorbing assembly 310 in the elastic compression state can only be H at the longest, and at this time, by increasing the thickness of the first mounting portion 210 by adding the spacer, the length of the shock absorbing assembly 310 can be further compressed, so that the elastic potential energy in the shock absorbing assembly 310 is increased, thereby enhancing the downward pressure applied to the driving wheel 430 by the shock absorbing assembly 310 through the connecting rod 320.
The second mounting portion 220 is an L-shaped structural member, and moves the front end stress pivot of the frame 200 to a certain distance to the rear end, so that the center of gravity of the frame 200 falls behind the driving wheel 430, enhancing the linear running stability of the light-load AGV, and reducing the power loss; and the front end stress pivot of the frame 200 is moved to the rear end by a certain distance, so that the span between the front end support frame and the rear end support frame of the frame 200 can be shortened, and the support strength of the frame 200 can be enhanced.
Further, the shock absorber 312 is sleeved with a spring 3123, the shock absorber 312 includes a piston cylinder 3121 and a piston rod 3124, the piston rod 3124 is movably inserted into the piston cylinder 3121, a first spring seat 3122 is provided on the piston cylinder 3121, a second spring seat 3125 is provided on the piston rod 3124, one end of the spring 3123 is connected with the first spring seat 3122, and the other end of the spring 3123 is connected with the second spring seat 3125. The piston rod 3124, the piston cylinder 3121 and the spring 3123 form an elastic structure, which can flexibly stretch and retract to enable the driving wheel 430 to adapt to uneven ground, thereby avoiding the suspension slipping of the driving wheel 430; at the same time, the impact force transmitted from the uneven ground to the driving device 400 is buffered, and the shock caused thereby is damped, so as to protect the driving device 400 from being damaged by a strong impact.
FIG. 4 is a schematic view of a portion of a light load AGV according to an embodiment of the utility model, wherein the suspension device 300 includes a first sub-suspension device and a second sub-suspension device, and the first sub-suspension device and the second sub-suspension device are symmetrically distributed in a left-right direction; the driving device 400 includes a first sub-driving device and a second sub-driving device, and the first sub-driving device and the second sub-driving device are distributed symmetrically.
Each sub-driving device corresponds to one sub-suspension device, namely, the two driving wheels 430 are provided with respective independent suspension devices 300, so that the light-load AGV has better maneuverability and flexibility and stable operation; and the two sub-driving devices form a left driving wheel and a right driving wheel, so that the light-load AGV can operate in a double-wheel differential driving mode, and then the light-load AGV is matched with four eccentric universal supporting wheels under the chassis 100 to realize linear motion, circular arc motion and in-situ rotation.
Specifically, the speed of the left driving wheel is V1, the speed of the right driving wheel is V2, and when V1 = V2, the light-load AGV makes linear motion; when V1 is larger than V2, the light-load AGV does right circular arc motion; when V1 is less than V2, the light-load AGV moves leftwards in an arc manner; when v1= -V2, the light-load AGV rotates in place.
In some embodiments, the frame 200 is an aluminum alloy frame 200, which reduces the overall weight of the light-load AGV, reduces power consumption, and increases the effective load.
The utility model provides a light-load AGV, one end of the connecting rod 320 is movably connected with the frame 200, the other end of the connecting rod 320 is movably connected with the shock absorbing component 310, and the driving device 400 is fixed on the connecting rod 320 to form a lever system taking the connecting rod 320 as a hard rod and taking the movable connection position of the connecting rod 320 and the frame 200 as a fulcrum, the shock absorbing component 310 in an elastic compression state can not extend due to the restraint of the driving device 400 against the ground and the frame 200, the elastic compression state is kept, downward pressure is formed on the driving device 400, the driving wheel 430 of the driving device 400 is tightly attached to the ground, the suspension phenomenon can not occur, and the friction force between the driving wheel 430 and the ground is increased; the driving device 400 is fixedly connected with the connecting rod 320 of the suspension device 300 through the reducer 420, and the driving device 400 is not rigidly connected with other structures, so that the weight of the driving device 400 is concentrated on the driving wheel 430, the pressure of the driving wheel 430 on the ground is enhanced, and the friction between the driving wheel 430 and the ground is increased; by applying downward pressure to the driving device 400 by the suspension device 300, the driving wheel 430 of the driving device 400 is tightly attached to the ground by combining the weight of the driving device 400, and a strong friction connection is established between the driving wheel 430 and the ground, so that the driving wheel 430 is prevented from slipping.
In the driving device 400, an output shaft of a motor 410 is connected with an input shaft of a speed reducer 420, and an output shaft of the speed reducer 420 is directly connected with a driving wheel 430, so that a power transmission process is stable, accurate and reliable, and the running direction and speed of the light-load AGV can be conveniently controlled; the motor 410 is vertically arranged on the speed reducer 420, so that the internal space of the light-load AGV can be saved, and a wider installation position is provided for other components; the diameter of the driving wheel 430 is large enough to make the driving wheel 430 directly contact the ground, and the contact area is large, so that stronger friction force can be obtained, and higher linear speed, namely, high running speed of the light-load AGV can be obtained.
The first connecting piece 311, the damper 312, and the second connecting piece 321 are hinged to each other, so that the rigidity of the connecting portion between the connecting piece and the damper 312 can be reduced, the damper 312 can move within a certain limit, the damper 312 can automatically adapt to the movement state of the driving wheel 430, a good elastic support is provided for the driving wheel 430, and the driving wheel 430 can adapt to uneven ground. Further, the main rod 322 is also hinged to the frame 200, and cooperates with the connecting piece and the shock absorber 312 to limit the suspension device 300 to move in the side of the frame 200, so as to ensure the stability of the suspension device 300, and make the suspension device 300 absorb the impact received by the driving device 400 to the greatest extent when the light-load AGV operates, and reduce the shock of the driving device 400.
The driving device 400 is tightly and fixedly connected with the suspension device 300 based on the driving device mounting part 323 to form a whole, and does not affect the movement of the driving wheel 430; the suspension device 300 is matched with the driving device 400, so that the light-load AGV can stably run on uneven ground.
The first mounting portion 210 of the frame 200 can adjust the length of the shock absorbing assembly 310 by adding a pad, that is, adjust the elastic compression degree of the shock absorbing assembly 310; the second mounting part 220 on the frame 200 moves the front end stress pivot of the frame 200 to the rear end by a certain distance, so that the gravity center of the frame 200 falls behind the driving wheel 430, the linear running stability of the light-load AGV is enhanced, and the power loss is reduced; the span between the front and rear end support frames of the frame 200 is also shortened, and the support strength of the frame 200 is enhanced.
The shock absorber 312 in the shock absorbing assembly 310 is an elastic structure composed of a piston rod 3124, a piston cylinder 3121 and a spring 3123, and can flexibly stretch and retract, so that the driving wheel 430 is adapted to uneven ground, and the suspension slipping of the driving wheel 430 is avoided; at the same time, the impact force transmitted from the uneven ground to the driving device 400 is buffered, and the shock caused thereby is damped, so as to protect the driving device 400 from being damaged by a strong impact.
Each sub-driving device corresponds to one sub-suspension device, namely, the two driving wheels 430 are provided with respective independent suspension devices 300, so that the light-load AGV has better maneuverability and flexibility and stable operation; and the two sub-driving devices form a left driving wheel and a right driving wheel, so that the light-load AGV can operate in a double-wheel differential driving mode, and then the light-load AGV is matched with four eccentric universal supporting wheels under the chassis 100 to realize linear motion, circular arc motion and in-situ rotation.
The foregoing describes in detail a light-load AGV provided by the embodiments of the present utility model, and specific examples should be adopted herein to illustrate the principles and embodiments of the present utility model, where the foregoing examples are only for helping to understand the method and core ideas of the present utility model; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present utility model, the present description should not be construed as limiting the present utility model in view of the above.
Claims (10)
1. The light-load AGV is characterized by comprising a chassis, a frame arranged on the chassis, a suspension device arranged on the frame and a driving device arranged on the suspension device;
the suspension device comprises a damping component and a connecting rod, one end of the damping component is connected with the frame, and the other end of the damping component is movably connected with the connecting rod; the connecting rod is fixedly connected with the driving device, and the other end of the connecting rod is movably connected with the frame; the damping component is of an elastic structure, and the elastic structure is in an elastic compression state;
the driving device comprises a motor, a speed reducer and a driving wheel, wherein the speed reducer is arranged on the connecting rod, the output end of the motor is connected with the speed reducer, and the output shaft of the speed reducer is connected with the driving wheel.
2. The light load AGV of claim 1 wherein the diameter of the drive wheel is d and the height of the chassis from the ground is h, the relationship of d to h being: d is more than or equal to 2h.
3. The light load AGV of claim 1 wherein the shock assembly includes a first connector and a shock absorber, one end of the first connector being fixedly connected to the frame and the other end of the first connector being movably connected to the shock absorber.
4. The light load AGV of claim 3 wherein said shock absorber is sleeved with a spring.
5. The light load AGV of claim 1 wherein the link includes a second connector and a main rod, one end of the second connector being fixedly connected to the main rod and the other end of the second connector being movably connected to the shock absorbing assembly.
6. The light load AGV of claim 5 wherein the main lever is provided with a drive mounting portion, the housing of the decelerator is fixedly connected to the drive mounting portion, and the output shaft of the decelerator passes through the drive mounting portion.
7. The light load AGV of claim 1, wherein the frame is provided with a first mounting portion and a second mounting portion, the frame is fixedly connected with the shock assembly based on the first mounting portion, and the frame is movably connected with the link based on the second mounting portion.
8. The light load AGV of claim 1 wherein the suspension includes a first sub-suspension and a second sub-suspension, the first sub-suspension and the second sub-suspension being symmetrically distributed.
9. The light load AGV of claim 1 wherein the drive includes a first sub-drive and a second sub-drive, the first sub-drive and the second sub-drive being symmetrically distributed.
10. The light load AGV of claim 1, wherein the frame is an aluminum alloy frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202223336082.6U CN219077341U (en) | 2022-12-13 | 2022-12-13 | Light-load AGV |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202223336082.6U CN219077341U (en) | 2022-12-13 | 2022-12-13 | Light-load AGV |
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| CN219077341U true CN219077341U (en) | 2023-05-26 |
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| CN202223336082.6U Active CN219077341U (en) | 2022-12-13 | 2022-12-13 | Light-load AGV |
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