阅读说明：本技术 驱动轮悬挂减震机构及agv小车 (Driving wheel suspension damping mechanism and AGV trolley ) 是由 彭昌 覃见吉 张民 于 2019-11-19 设计创作，主要内容包括：一种驱动轮悬挂减震机构及AGV小车,涉及机器人领域。驱动轮悬挂减震机构包括固定板、用于安装驱动轮的车轮支架及第一减震单元。其中,第一减震单元包括第一导向轴、与第一导向轴配合的第一直线轴承、以及套设于第一导向轴的周向的弹性件,弹性件的两端分别与车轮支架、固定板连接；第一直线轴承固设于固定板,第一导向轴具有相对的第一端以及第二端,第一端与车轮支架固定连接,第二端滑动穿过固定板以及第一直线轴承,第二端设有限定第一导向轴脱离直线轴承的限位部,以使车轮支架悬挂于固定板。保证长期的载重运行时,驱动轮悬挂减震机构与机架之间不会有刚性摩擦和磨损,使AGV小车的运行路线精度高且使用寿命长。(A driving wheel suspension damping mechanism and an AGV relate to the field of robots. The driving wheel suspension damping mechanism comprises a fixing plate, a wheel support and a first damping unit, wherein the wheel support is used for mounting a driving wheel. The first damping unit comprises a first guide shaft, a first linear bearing matched with the first guide shaft and an elastic piece sleeved on the circumference of the first guide shaft, and two ends of the elastic piece are respectively connected with the wheel bracket and the fixing plate; the first linear bearing is fixedly arranged on the fixing plate, the first guide shaft is provided with a first end and a second end which are opposite, the first end is fixedly connected with the wheel support, the second end penetrates through the fixing plate and the first linear bearing in a sliding mode, and the second end is provided with a limiting part for limiting the first guide shaft to be separated from the linear bearing, so that the wheel support is suspended on the fixing plate. When long-term load operation is guaranteed, rigid friction and abrasion between the driving wheel suspension damping mechanism and the rack are avoided, so that the running route of the AGV trolley is high in precision and long in service life.)

1. A drive wheel suspension damper mechanism, comprising:

a fixing plate;

a wheel bracket for mounting a driving wheel; and

the first damping unit comprises a first guide shaft, a first linear bearing matched with the first guide shaft and an elastic piece sleeved on the circumferential direction of the first guide shaft; two ends of the elastic piece are respectively connected with or abutted against the wheel bracket and the fixing plate; the first linear bearing is fixedly arranged on the fixing plate, the first guide shaft is provided with a first end and a second end which are opposite, the first end is fixedly connected with the wheel bracket, and the second end penetrates through the fixing plate and the first linear bearing in a sliding manner; the second end is provided with a limiting part for limiting the first guide shaft to be separated from the linear bearing, so that the wheel support is hung on the fixing plate.

2. The drive wheel suspension damper mechanism according to claim 1, wherein the fixed plate is provided with a stepped hole, the stepped hole includes a first stepped hole and a second stepped hole which are coaxially communicated, the first stepped hole is adapted to be engaged with the first guide shaft, the second stepped hole has a larger diameter than the first stepped hole, the first linear bearing is partially embedded in the second stepped hole, and the diameter of the inner race of the first linear bearing is the same as the diameter of the first stepped hole.

3. The drive wheel suspension shock absorbing mechanism according to claim 2, wherein said second stepped bore is located on a side of said first stepped bore remote from said chassis, and said second end is slid through said fixed plate and said first linear bearing in turn and extends out of said linear bearing.

4. The drive wheel suspension shock absorbing mechanism according to claim 1, wherein the number of the first shock absorbing units is at least two, and at least two of the first shock absorbing units are symmetrically arranged at both ends of the wheel frame along the drive wheel.

5. The drive wheel suspension shock-absorbing mechanism according to any one of claims 1 to 4, further comprising a second shock-absorbing unit including a second guide shaft and a second linear bearing engaged with the second guide shaft, the second linear bearing being disposed in the wheel frame, one end of the second guide shaft being connected to the fixed plate, and the other end thereof slidably passing through the second linear bearing and protruding out of the wheel frame.

6. The drive wheel suspension shock absorbing mechanism according to claim 5, wherein the number of the second shock absorbing units is at least two, and at least two of the second shock absorbing units are symmetrically arranged at both ends of the wheel frame along the drive wheel.

7. An AGV trolley comprising a chassis, drive wheels and a drive wheel suspension damping mechanism according to any one of claims 1 to 6 provided on said chassis.

8. The AGV of claim 7, wherein said chassis is provided with a first milled slot, said AGV comprising side plates, one end of said side plates being connected to said fixed plate and the other end being embedded in said first milled slot and fixedly connected to said chassis.

9. The AGV car of claim 7, wherein a through hole is formed in the middle of the chassis, a second milling groove is formed in the chassis, the AGV car includes a lower camera and a lower camera mounting bracket, the lower camera mounting bracket is partially embedded in the second milling groove and is fixedly connected to the chassis, and the lower camera is mounted on the lower camera mounting bracket and the lens of the lower camera is aligned to the through hole.

10. The AGV cart of any one of claims 7-9, including a screw assembly and a lift bearing plate;

the screw mechanism include along the lead screw of vertical setting, with lead screw-thread fit's nut and third linear bearing, the nut with jacking bearing plate fixed connection, in order to drive the jacking bearing plate is followed the axis motion of lead screw, the chassis is equipped with the third milling flutes, linear bearing's part inlays to be located in the third milling flutes and with chassis fixed connection, the lead screw is kept away from the one end of jacking bearing plate is rotationally passed third linear bearing stretches out the chassis.

Technical Field

The application relates to the field of robots, in particular to a driving wheel suspension damping mechanism and an AGV.

Background

In the development of modern industry, high efficiency, rapidness, reliability, and liberation of people from simple work are advocated. The robot gradually replaces people to appear at each work post, the robot has the characteristics of programmability, coordinated operation, sensor control and the like, an Automatic Guided Vehicle (AGV) is one of mobile robots, is important equipment in a modern industrial logistics system, mainly stores and transports various materials, and provides a guarantee important certificate for flexibility, integration and efficient operation of the system.

Although the conventional AGV trolley is provided with a damping structure, in the actual use process, when the AGV trolley runs on an uneven road surface under light load, the phenomena of slipping of a driving wheel and deviation of a track cannot occur, but when the AGV trolley runs under long-time load, the situations of hanging of the driving wheel, slipping, deviation of a running track and the like are easily caused.

Disclosure of Invention

The application provides a drive wheel hangs damper and AGV dolly to improve above-mentioned problem.

According to the embodiment of the first aspect of the present application, the driving wheel suspension damping mechanism comprises a fixing plate, a wheel bracket for mounting the driving wheel, and a first damping unit.

The first damping unit comprises a first guide shaft, a first linear bearing matched with the first guide shaft and an elastic piece sleeved on the circumferential direction of the first guide shaft; two ends of the elastic piece are respectively connected with or abutted against the wheel bracket and the fixing plate; the first linear bearing is fixedly arranged on the fixing plate, the first guide shaft is provided with a first end and a second end which are opposite, the first end is fixedly connected with the wheel support, the second end penetrates through the fixing plate and the first linear bearing in a sliding mode, and the second end is provided with a limiting part for limiting the first guide shaft to be separated from the linear bearing, so that the wheel support is suspended on the fixing plate.

According to the drive wheel suspension damper of this application embodiment, be suitable for and install in the chassis of AGV dolly, through the setting of first shock attenuation unit, realize that wheel support can float with the fixed plate suspension type and be connected, and then when the road surface unevenness, first guiding axle can slide from top to bottom relative to the fixed plate, effectively carry out the shock attenuation through the setting of spring. And through the setting of first linear bearing, the axis position of having guaranteed first guide post is at the mobility of horizontal direction, and then guarantee long-term load operation, there can not rigid friction and wearing and tearing between drive wheel suspension damper and the fixed plate, even after long-term load operation, meet the road surface and be uneven, jolt under the great condition, under the effect of spring, first guide post produces the position change of vertical direction in first linear bearing all the time, the circumstances such as the skew of drive wheel skid and movement track can not appear, make the operation route precision of AGV dolly high and long service life.

In addition, the driving wheel suspension damping mechanism according to the embodiment of the present application has the following additional technical features:

in combination with the first aspect, in some embodiments shown in the present application, the fixing plate is provided with a step hole, the step hole includes a first step hole and a second step hole which are coaxially communicated, the first step hole is used for being matched with the first guide shaft, the aperture of the second step hole is larger than that of the first step hole, the first linear bearing is partially embedded in the second step hole, and the aperture of the inner ring of the first linear bearing is the same as that of the first step hole.

Through setting up the step hole, can guarantee first linear bearing's installation accuracy on the one hand, on the other hand has certain limiting displacement to first linear bearing, guarantees its stable fixed in fixed plate.

Optionally, the first linear bearing is a flange linear bearing, so as to further prevent the first linear bearing from deviating from the target position in the horizontal direction during long-term operation.

Optionally, the second stepped hole is located on a side of the first stepped hole away from the chassis, and the second end sequentially slides through the fixing plate and the first linear bearing and extends out of the linear bearing.

That is to say, the first linear bearing is located the first step hole and keeps away from one side of chassis, is convenient for accurate installation dismantlement.

In combination with the first aspect, the present application illustrates some embodiments in which the number of the first damping units is at least two, and the at least two first damping units are symmetrically arranged at both ends of the wheel carrier along the driving wheel.

The setting mode of symmetrical arrangement can guarantee that operation in-process wheel support guarantees the level setting, and wheel support atress is even simultaneously, guarantees the stability of drive wheel operation, prevents simultaneously that the drive wheel from hanging to produce rigid friction and wearing and tearing between damper and the fixed plate.

In combination with the first aspect, in some embodiments shown in this application, the driving wheel suspension damping mechanism further includes a second damping unit, the second damping unit includes a second guide shaft and a second linear bearing engaged with the second guide shaft, the second linear bearing is disposed in the wheel support, one end of the second guide shaft is connected to the fixing plate, and the other end of the second guide shaft slides through the second linear bearing and extends out of the wheel support.

The setting of second shock attenuation unit can further improve the stability of AGV dolly operation, improves the shock attenuation effect, reduces the operation in-process, and the wheel support rocks around the direction of advance of drive wheel, leads to the drive wheel to hang and produces rigid friction and wearing and tearing between damper and the fixed plate to and because of the unable fast recovery of spring deformation lead to the drive wheel condition such as skew with the movement track.

It should be noted that, in order to ensure the suspension damping effect, the second guide shaft slides through the second linear bearing and has a gap between the end extending out of the wheel support and the chassis.

Optionally, the number of the second damping units is at least two, and the at least two second damping units are symmetrically arranged at two ends of the wheel bracket along the driving wheel.

Through the setting, the problem that the wheel support rocks from beginning to end along the advancing direction of the driving wheel in the operation process can be further prevented, the damping effect piece is guaranteed, and the driving wheel is prevented from slipping and shifting.

According to the AGV dolly of the embodiment of the second aspect of the application, the AGV comprises a chassis, a driving wheel and a driving wheel suspension damping mechanism which is arranged on the chassis and provided according to the embodiment of the first aspect of the application.

According to AGV dolly of this application embodiment, utilize drive wheel as above to hang damper, even first shock attenuation unit does not have rigid friction and wearing and tearing when long-term load operation, when meetting the road surface unevenness, the circumstances such as the skew that the drive wheel skidded and the movement track can not appear under the great condition of jolting have the operation route precision height, long service life's characteristics.

In combination with the second aspect, in some embodiments shown herein, the chassis is provided with a first milling groove, and the AGV includes a side plate, one end of which is connected to the fixing plate, and the other end of which is embedded in the first milling groove and fixedly connected to the chassis.

Through the setting of first milling flutes, can guarantee the installation accuracy of fixed plate, guarantee that the drive wheel hangs damper's stability, the circumstances such as the skew of the drive wheel skid and movement track appear when preventing long-term load operation.

In combination with the second aspect, in some embodiments shown in the present application, a through hole is formed in the middle of the chassis, a second milling groove is formed in the chassis, the AGV includes a lower camera and a lower camera mounting bracket, the lower camera mounting bracket is partially embedded in the second milling groove and is fixedly connected to the chassis, and the lower camera is mounted on the lower camera mounting bracket and a lens of the lower camera is aligned with the through hole.

Through the setting of second milling flutes, guarantee the precision that lower camera installation accuracy effectively improves AGV dolly orbit.

In combination with the second aspect, in some embodiments shown herein, the AGV includes a screw mechanism, a lift bearing plate, and a third linear bearing; the screw mechanism includes the lead screw along vertical setting, with lead screw thread fit's nut, the jacking bearing plate fixed connection of nut and to drive the axis motion of jacking bearing plate along the lead screw, the chassis is equipped with the third milling flutes, linear bearing's part inlay locate the third milling flutes in and with chassis fixed connection, the lead screw is kept away from the one end of jacking bearing plate and is rotationally passed third linear bearing and stretch out the chassis.

The third milling flutes guarantee the precision of screw mechanism at horizontal position, and then guarantee the installation accuracy of jacking bearing plate, effectively reduce wearing and tearing simultaneously, and then prolong screw mechanism's life.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural view of a first view angle of a driving wheel suspension damping mechanism provided in embodiment 1 of the present application;

fig. 2 is a structural schematic diagram of a second perspective view of a driving wheel suspension damping mechanism provided in embodiment 1 of the present application;

FIG. 3 is a schematic view of a AGV cart according to embodiment 2 of the present application from a first perspective;

FIG. 4 is a schematic diagram of a second perspective view of an AGV cart according to embodiment 2 of the present application;

FIG. 5 is a schematic diagram of a third perspective view of an AGV cart according to embodiment 2 of the present application;

fig. 6 is a schematic structural diagram of a chassis provided in embodiment 2 of the present application;

FIG. 7 is a schematic diagram of a third perspective view of an AGV cart according to embodiment 2 of the present application;

fig. 8 is a schematic mechanism diagram of a drive wheel suspension damping mechanism according to embodiment 2 of the present application.

Icon: 100-a chassis; 101-a first milling groove; 131-a driving wheel; 200-a driving wheel suspension damping mechanism; 201-fixing plate; 203-side plate; 210-a wheel carrier; 211-a drive device; 220-a first damping unit; 221-a first guide shaft; 223-a first linear bearing; 226-an elastic member; 230-a second damping unit; 231-a second guide shaft; 234-guide shaft support; 235-a locking portion; 10-an AGV; 103-second milling groove; 106-third milling groove; 107-notch; 111-a power supply; 112-a WIFI communication module; 120-a housing; 121-a tail lamp belt; 122-a head light strip; 123-power switch; 124-display screen; 125-locomotive emergency stop switch; 126-vehicle tail emergency stop switch; 128-manual charging interface; 129-automatic charging interface; 133-universal wheel; 135-universal wheel support; 137-universal wheel drive; 141-jacking a bearing plate; 143-screw mandrel; 145-a nut; 146-a third linear bearing; 147-a jacking motor; 148-jacking gear; 149-lower slewing bearing; 151-driven gear; 154-a rotary electric machine; 155-upper slewing bearing; 156-a rotary gear; 157-a support plate; 161-lower machine mounting rack; 163-first via; 165-upper camera; 169-a second via; 170-laser obstacle avoidance sensor; 180-controller.

Detailed Description

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

It should be noted that the terms "first," "second," "third," and the like are used merely to distinguish one description from another, and are not intended to indicate or imply relative importance.

Furthermore, the terms "horizontal", "vertical", and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the practical use process, the applicant finds that when the conventional AGV runs on an uneven road surface under light load, the phenomena of driving wheel slip and track deviation cannot occur. However, when the vehicle is operated under a load for a long time, the main reasons that the driving wheels are suspended, and the situations such as slipping and walking track deviation are easily caused are as follows: when the load is loaded for a long time, rigid friction and abrasion occur between the damping mechanism and the fixed plate 201 to cause the damping mechanism to deflect, and elastic members such as springs cannot recover elasticity in time.

In view of this, the present application is hereby presented.