Automatic guide dolly
阅读说明:本技术 一种自动导引小车 (Automatic guide dolly ) 是由 潘勇 孙中春 杨恒 杨应春 于 2020-06-28 设计创作,主要内容包括:本发明涉及一种自动导引小车,包括:车体和车轮支架,车轮支架底部安装驱动轮,在车体和车轮支架之间布置弹性悬挂结构,述弹性悬挂结构包括撑顶板和悬挂弹性件;所述车体上安装有升降驱动机构,升降驱动机构与所述撑顶板传动连接以驱动撑顶板沿上下方向往复移动;悬挂弹性件的上端与所述撑顶板配合、下端与所述车轮支架配合,以向所述撑顶板和车轮支架施加使两者相背远离的弹性作用力。利用弹性悬挂结构实现车轮支架的浮动调整,从而保证驱动轮对地压力,由于可通过升降驱动机构驱动撑顶板升降,进而可与悬挂弹性件相配合调整整个弹性悬挂结构的弹性减震性能,不至于完全依赖于弹性件导致弹性件疲劳程度较高而容易出现损坏的问题。(The invention relates to an automatic guided vehicle, comprising: the elastic suspension structure comprises a support plate and a suspension elastic part; the lifting driving mechanism is arranged on the trolley body and is in transmission connection with the supporting top plate so as to drive the supporting top plate to reciprocate along the up-down direction; the upper end of the suspension elastic piece is matched with the top supporting plate, and the lower end of the suspension elastic piece is matched with the wheel support, so that the elastic acting force for enabling the top supporting plate and the wheel support to be away from each other is applied to the top supporting plate and the wheel support. Utilize the unsteady adjustment of elasticity suspended structure realization wheel support to guarantee driving wheel to ground pressure, because accessible lift actuating mechanism drive props the roof board and goes up and down, and then can cooperate the elasticity shock attenuation performance of adjusting whole elasticity suspended structure with hanging the elastic component, be unlikely to rely on the elastic component completely to lead to the elastic component fatigue degree higher and the problem of damage appears easily.)
1. An automated guided vehicle comprising:
the vehicle body is used for loading articles to be transported;
the bottom of the wheel bracket is provided with a driving wheel for driving the vehicle body to move;
an elastic suspension structure disposed between the vehicle body and a wheel carrier;
it is characterized in that the preparation method is characterized in that,
the elastic suspension structure comprises a top supporting plate and a suspension elastic piece;
the lifting driving mechanism is arranged on the trolley body and is in transmission connection with the supporting top plate so as to drive the supporting top plate to reciprocate along the up-down direction;
the upper end of the suspension elastic piece is matched with the support top plate, and the lower end of the suspension elastic piece is matched with the wheel support, so that the elastic acting force for enabling the support top plate and the wheel support to be away from each other is applied to the support top plate and the wheel support.
2. The automated guided vehicle of claim 1, wherein the lift drive mechanism comprises a motor and a lead screw lift, the motor is fixedly mounted on the vehicle body, the lead screw lift comprises an input end and an output end, the input end of the lead screw lift is in transmission connection with the output shaft of the motor, and the output end of the lead screw lift is fixedly connected with the supporting top plate.
3. The automated guided vehicle of claim 2, wherein the vehicle body is provided with a load cell and a processing unit;
the weighing sensor is used for measuring the weight of the object to be transported;
and the processing unit is connected with the weighing sensor and the motor so as to control the motor to act according to the weight of the object to be transported, and further control the screw rod lifter to drive the supporting top plate to lift.
4. The automated guided vehicle of claim 3, wherein the vehicle body is provided with a lifting platform for lifting to carry an article to be transported, and the load cell is mounted on the lifting platform.
5. The automated guided vehicle of claim 3, wherein the vehicle body is provided with a proximity switch for detecting the lifting position of the roof support.
6. The automated guided vehicle according to any one of claims 1 to 5, wherein a vehicle body forward-backward direction is defined as a front-rear direction, the wheel support includes a support member and a drive wheel mounting frame;
the support piece is assembled with the lower end of the suspension elastic piece, guided in the vertical direction and assembled on the vehicle body in a floating manner, and positioned and assembled on the vehicle body in the left-right direction;
the driving wheel mounting frame is hinged and assembled with the supporting piece around a hinge central axis extending in the front-rear direction;
the drive wheel sets up two, two drive wheel coaxial arrange and along left right direction in articulated the central axis both sides are installed on the drive wheel mounting bracket.
7. The automated guided vehicle of claim 6, wherein the support member comprises a front support shaft and a rear support shaft which are coaxially arranged and arranged at intervals in a front-rear direction, the front support shaft and the rear support shaft are respectively assembled with the drive wheel mounting frame in an articulated manner, the front support shaft and the rear support shaft are respectively assembled on the vehicle body in a floating manner along an up-down direction, and are respectively assembled on the vehicle body in a left-right direction in a positioned manner, the suspension elastic member comprises a front elastic member and a rear elastic member which are arranged at intervals in the front-rear direction, the front elastic member is arranged between the top support plate and the front support shaft, and the rear elastic member is arranged between the top support plate and the rear support shaft.
8. The automated guided vehicle according to claim 7, wherein the front support shaft and the rear support shaft have a hinge shaft section and a support shaft section, respectively, the hinge shaft section is hinged to the drive wheel mounting frame, the support shaft section is guided to be float-fitted to the vehicle body in the up-down direction and is position-fitted in the left-right direction, the front elastic member is provided between the support shaft section of the front support shaft and the top support plate, and the rear elastic member is provided between the support shaft section of the rear support shaft and the top support plate.
9. The automated guided vehicle of claim 8, wherein the articulated shaft segments are hingedly mounted to a collar on the drive wheel mounting bracket to effect the hinged mounting of the respective support shaft to the drive wheel mounting bracket.
10. The automated guided vehicle of claim 8, wherein the vehicle body is provided with rectangular holes corresponding to the front supporting shaft and the rear supporting shaft, the supporting shaft sections are rectangular shaft sections inserted into the corresponding rectangular holes, the rectangular shaft sections are vertically guided and matched with the corresponding rectangular holes, the thickness of the rectangular shaft sections in the vertical direction is smaller than the size of the rectangular holes in the vertical direction, so that the supporting shaft sections float vertically in the rectangular holes, and the length of the rectangular shaft sections in the left-right direction is equal to the size of the rectangular holes in the left-right direction, so that the corresponding supporting members are positioned and assembled with the vehicle body in the left-right direction.
Technical Field
The invention relates to an automatic guide trolley.
Background
The automatic guided vehicle is widely applied to the industries such as service industry, manufacturing industry, express delivery industry, transportation industry and the like. In the prior art, in order to improve the passing stability of the guided vehicle, elastic suspension is mostly adopted, for example, a driving wheel suspension damping mechanism of an AGV disclosed in chinese patent application with application publication No. CN110722943A includes a fixed plate, a wheel support and a damping unit arranged between the fixed plate and the wheel support, the damping unit includes a guide shaft, one end of the guide shaft is fixedly connected with the wheel support, the other end of the guide shaft is assembled with the fixed plate in a sliding manner, an elastic member is sleeved outside the guide shaft, and two ends of the elastic member are assembled with the fixed plate and the wheel support correspondingly so as to apply opposite elastic acting forces to the fixed plate and the wheel support, thereby suspending the wheel support below the fixed plate. When the ground is fluctuated, the wheel bracket is fluctuated together with the wheel, so that the guided vehicle can smoothly pass through.
Among foretell this kind of suspension damper, the fixed plate direct mount is usually on the automobile body for the damping performance of whole mechanism relies on the elastic component completely, and the elastic component often adopts the pressure spring structure, if compromise rigidity and steady, this has just provided higher requirement to the elastic component, and, when AGV car loading heavy object and empty wagon, the elastic component range of variation is great, fatigue degree is higher, the life of elastic component has been reduced, the damage appears easily, in case after the damage, it is consuming time longer to maintain the change, the availability factor of AGV is influenced.
Disclosure of Invention
The invention aims to provide an automatic guide trolley, which aims to solve the technical problem that the damping performance of an AGV elastic suspension in the prior art is completely dependent on an elastic part, so that the elastic part is high in fatigue degree and easy to damage.
In order to achieve the purpose, the technical scheme of the automatic guide trolley provided by the invention is as follows: an automated guided vehicle comprising:
the vehicle body is used for loading articles to be transported;
the bottom of the wheel bracket is provided with a driving wheel for driving the vehicle body to move;
an elastic suspension structure disposed between the vehicle body and a wheel carrier;
the elastic suspension structure comprises a top supporting plate and a suspension elastic piece;
the lifting driving mechanism is arranged on the trolley body and is in transmission connection with the supporting top plate so as to drive the supporting top plate to reciprocate along the up-down direction;
the upper end of the suspension elastic piece is matched with the support top plate, and the lower end of the suspension elastic piece is matched with the wheel support, so that the elastic acting force for enabling the support top plate and the wheel support to be away from each other is applied to the support top plate and the wheel support.
The invention has the beneficial effects that: in the automatic guide trolley provided by the invention, the elastic suspension structure is utilized to realize the floating adjustment of the wheel support, so that the ground pressure of the driving wheel is ensured, and the lifting driving mechanism can drive the supporting top plate to lift, so that the elastic damping performance of the whole elastic suspension structure can be adjusted by being matched with the suspension elastic part, and the problem that the elastic part is easy to damage due to higher fatigue degree caused by completely depending on the elastic part is solved.
As a further improvement, the lifting driving mechanism comprises a motor and a screw rod lifter, the motor is fixedly mounted on the vehicle body, the screw rod lifter comprises an input end and an output end, the input end of the screw rod lifter is in transmission connection with an output shaft of the motor, and the output end of the screw rod lifter is fixedly connected with the supporting top plate.
Has the advantages that: the lifting driving mechanism adopts a form that the motor is matched with the screw rod lifter, so that the lifting precision of the supporting plate is conveniently controlled, and the installation is also more convenient.
As a further improvement, a weighing sensor and a processing unit are arranged on the vehicle body; the weighing sensor is used for measuring the weight of the object to be transported; the processing unit is connected with the weighing sensor and the motor to control the motor to act according to the weight of the object to be transported, and further control the screw rod lifter to drive the supporting top plate to lift.
Has the advantages that: when the device is used, the weighing sensor is used for weighing an article to be transported, the processing unit is used for controlling the motor to act, and further the deformation of the spring and the pressure applied by the spring are controlled according to the detection result of the weighing sensor.
As a further improvement, the vehicle body is provided with a lifting platform used for lifting to bear the articles to be transported, and the weighing sensor is arranged on the lifting platform.
Has the advantages that: set up dedicated elevating platform, conveniently independently support and transport article.
As a further improvement, the car body is provided with a proximity switch for detecting the lifting position of the supporting top plate.
Has the advantages that: and the position of the supporting plate is detected by using the proximity switch, so that reverse control is facilitated.
As a further improvement: a forward-backward direction of the vehicle body is defined as a forward-backward direction, and the wheel support includes a support member and a drive wheel mounting bracket;
the support piece is assembled with the lower end of the suspension elastic piece, guided in the vertical direction and assembled on the vehicle body in a floating manner, and positioned and assembled on the vehicle body in the left-right direction;
the driving wheel mounting frame is hinged and assembled with the supporting piece around a hinge central axis extending in the front-rear direction;
the drive wheel sets up two, two drive wheel coaxial arrange and along left right direction in articulated the central axis both sides are installed on the drive wheel mounting bracket.
Has the advantages that: when the driving wheel on one side of the automatic guided vehicle is fluctuated, the driving wheel on the side can float up and down relative to the driving wheel on the other side, so that the driving wheel mounting frame is inclined at an angle, and the supporting piece is positioned and assembled on the vehicle body along the left-right direction, so that the driving wheel mounting frame hinged with the supporting piece cannot transversely move in the left-right direction relative to the vehicle body, and at the moment, the driving wheel mounting frame can rotate relative to the vehicle body and float up and down to adapt to the fluctuation of the driving wheel; when the driving wheel on one side is fluctuated, the driving wheel on the other side cannot be influenced by the transverse dragging of the driving wheel on the other side, and the automatic guided vehicle can be guaranteed to accurately move along a route.
As further improvement, support piece includes coaxial arrangement and along preceding supporting axle and the back supporting axle of preceding back direction interval arrangement, preceding supporting axle and back supporting axle with the articulated assembly respectively of drive wheel mounting bracket, preceding supporting axle and back supporting axle are respectively along upper and lower direction unsteady assembly and are in on the automobile body, and respectively along controlling orientation location assembly and be in on the automobile body, it includes preceding elastic component and the back elastic component along preceding back direction interval arrangement to hang the elastic component, preceding elastic component sets up the roof support with between the preceding supporting axle, back elastic component supports the setting and is in the roof support with between the back supporting axle.
Has the advantages that: the front supporting shaft and the rear supporting shaft which are coaxially arranged are arranged, the front elastic piece and the rear elastic piece are correspondingly arranged, a front-rear matched supporting structure is formed, the elastic supporting stability is improved, and meanwhile, a better supporting effect is achieved between the vehicle body and the driving wheel mounting frame.
As further improvement, preceding supporting axle and back supporting axle have articulated shaft section and supporting shaft section respectively, articulated shaft section is articulated with the drive wheel mounting bracket, supporting shaft section and automobile body direction are floated the assembly and are fixed a position the assembly in the left and right sides orientation in the upper and lower direction, preceding elastic component set up in the front the supporting shaft section of supporting shaft with between the roof support, back elastic component set up the supporting shaft section of back supporting shaft with between the roof support.
Has the advantages that: divide into articulated shaft section and support shaft section with support piece for articulated shaft section is used for articulated assembly, and the support shaft section is used for installing the elastic component, makes the integration simultaneously and sets up two kinds of functional structure on a support piece, the setting of integrating of the automated guided vehicle of being convenient for.
As a further improvement, the hinge shaft section is in hinge assembly with a round sleeve on the driving wheel mounting frame so as to realize hinge assembly of the corresponding support shaft with the driving wheel mounting frame.
Has the advantages that: the hinged shaft section is directly arranged in the round sleeve, so that the hinged connection is simpler and more convenient, and the direct abrasion of the hinged shaft section and the driving wheel mounting frame is avoided.
As a further improvement, the vehicle body is provided with rectangular holes corresponding to the front supporting shaft and the rear supporting shaft respectively, the supporting shaft sections are rectangular shaft sections inserted into the corresponding rectangular holes, the rectangular shaft sections are matched with the corresponding rectangular holes in an up-and-down guiding manner, the thickness of the rectangular shaft sections in the up-and-down direction is smaller than the size of the rectangular holes in the up-and-down direction, so that the supporting shaft sections float up and down in the rectangular holes, and the length of the rectangular shaft sections in the left-and-right direction is equal to the size of the rectangular holes in the left-and-right direction, so that the corresponding supporting members are positioned and assembled with the vehicle body in the left.
Has the advantages that: has the advantages that: the supporting piece can only float in a rectangular hole of the vehicle body along the vertical direction in a guiding mode, the rectangular shaft section of the supporting piece is equal to the rectangular hole in the left-right direction in size, the rectangular shaft section is positioned and assembled in the rectangular hole in the left-right direction, and the supporting piece is prevented from moving left and right relative to the vehicle body and is prevented from being twisted in angle. Adopt rectangular hole and rectangular shaft section complex mode, more conveniently realize that the direction of back shaft in the upper and lower side floats and the location assembly in the left and right sides orientation, avoided support piece to take place to twist reverse for the automobile body simultaneously.
Drawings
Fig. 1 is a schematic structural diagram of an automatic guided
FIG. 2 is a schematic view of the automated guided vehicle of FIG. 1 at another angle;
FIG. 3 is a schematic structural view of the automated guided vehicle of FIG. 1 with the outer casing removed;
FIG. 4 is a schematic view of the structure of FIG. 3 from another angle;
FIG. 5 is a front view of the automated guided vehicle shown in FIG. 3;
FIG. 6 is a side view of FIG. 5;
FIG. 7 is a schematic view of the resilient suspension structure, wheel carrier mounting structure;
FIG. 8 is a schematic view of the structure of FIG. 7 at another angle;
FIG. 9 is a front view of FIG. 7;
fig. 10 is a bottom view of fig. 9.
Description of reference numerals:
1-obstacle avoidance inductive switch; 2-a charging contact; 3-turning on a switch; 4-emergency stop switch; 5-a housing; 6-universal wheel; 7-a vehicle body; 8-a lifting platform; 81-bar-shaped support; 9-rear side bracket plate; 10-a front support shaft; 11-a hinged shaft section; 12-a drive motor; 13-a drive wheel; 14-rear support shaft; 15-a guide; 16-a pressure spring; 17-a front side panel; 18-left endplate; 19-rear side plate; 20-right end plate; 21-front side bracket plate; 22-a roof support plate; 23-supporting the shaft section; 30-mounting groove, 31-weighing sensor, 32-positioning column, 33-mounting connecting plate, 34-mounting sleeve, 35-round sleeve, 36-stepping motor, 37-screw rod lifter, 38-driving wheel mounting rack, 39-proximity switch seat, 40-proximity switch and 41-proximity plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, elements recited by the phrase "comprising an … …" do not exclude the inclusion of such elements in processes or methods.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" when they are used are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "provided" may be used in a broad sense, for example, the object of "provided" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be a detachable connection or a non-detachable connection. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.
The present invention will be described in further detail with reference to examples.
The
as shown in fig. 1 to 10, the automatic guided vehicle comprises a
The top of the
In addition, a mounting
The front end face of the
In this embodiment, be equipped with the walking wheel
The wheel support comprises a driving
The wheel support further comprises a support piece which is guided to be assembled on the
Between the wheel carrier and the
And a lifting driving mechanism is arranged on the
The upper end of the suspension elastic element is matched with the
In this embodiment, the suspension elastic member specifically includes a front elastic member and a rear elastic member arranged at an interval in the front-rear direction, the front elastic member is disposed between the
In order to ensure that the
Rectangular holes are respectively formed in the
The
The lifting driving mechanism specifically comprises two motors and two
The
The
In fact, in the embodiment, the
When the automatic guided vehicle is empty, the supporting
When the automatic guided vehicle is used for carrying goods, the automatic guided vehicle can drive to the lower part of the goods along the designed route, at the moment, the
In fact, during the transfer of the cargo, not only the rotational adjustment of the wheel undercarriage but also the pressure regulation are involved. When the elevating platform lifts the heavy object, detect goods weight by four weighing
Specifically, when the automated guided vehicle moves to the lower part of the goods, for example, when the automated guided vehicle moves to the lower part of a tray with supporting legs, the lifting table 8 is lifted to lift the goods off the ground, the weighing
The automatic guided vehicle runs with load according to a planned route, after the automatic guided vehicle reaches a destination, the
In the whole process of the automatic guided vehicle running, the ground pressure of the driving wheel is always adjusted according to the load condition, so that the normal running of the automatic guided vehicle is ensured. And, through the position of adjustment back-up board, can effectively adjust the pressure that hangs the elastic component for the deflection that hangs the elastic component can not too big and can't satisfy the pressure requirement, and then can reduce the requirement to hanging the elastic component.
The
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