阅读说明：本技术 一种减震及自动提升装置及设有该装置的自动导向运输车 (Shock attenuation and automatic lifting device and be equipped with device's automatic direction transport vechicle ) 是由 胡海燕 刘华雷 于 2019-08-06 设计创作，主要内容包括：本发明公开了一种减震及自动提升装置及设有该装置的自动导向运输车,所述减震及自动提升装置包括上顶板、下顶板、至少三个连接在上下顶板之间的减震及自动提升机构、连接在上下顶板之间的中心齿轮机构、设置在下底板上的减速电机,每个所述减震及自动提升机构均与中心齿轮机构啮合,所述减速电机的转轴上设有小齿轮,所述小齿轮与中心齿轮机构啮合。本发明通过设置升降机构可以保持上顶板和下底板同方向的运动,不会致使舵轮和车体之间出现歪扭现象；中心的减震弹簧对上顶板和下底板有顶撑的作用力,使得舵轮AGV不论在什么样的工作路面,都可以保证舵轮与地面始终有效接触,减震同时又保证较好的抓地力,提高了舵轮AGV运行的稳定性。(The invention discloses a damping and automatic lifting device and an automatic guide transport vehicle with the same. The lifting mechanism can keep the upper top plate and the lower bottom plate to move in the same direction, so that the phenomenon of skew and torsion between the steering wheel and the vehicle body is avoided; damping spring at center has the effort that the shore propped to last roof and lower plate for steering wheel AGV no matter at what kind of working road surface, all can guarantee steering wheel and ground effective contact all the time, better land fertility of grabbing is guaranteed again simultaneously in the shock attenuation, has improved the stability of steering wheel AGV operation.)

1. the utility model provides a shock attenuation and automatic lifting device which characterized in that:

the shock absorption and automatic lifting device comprises an upper top plate, a lower top plate, at least three shock absorption and automatic lifting mechanisms connected between the upper top plate and the lower top plate, a central gear mechanism connected between the upper top plate and the lower top plate, and a speed reduction motor arranged on a lower bottom plate,

Each damping and automatic lifting mechanism is meshed with a central gear mechanism, a pinion is arranged on a rotating shaft of the reducing motor and meshed with the central gear mechanism,

The shock absorption and automatic lifting mechanism comprises a lifting mechanism and a locking mechanism, the lifting mechanism and the locking mechanism are mutually matched for use, so that the lifting mechanism and the locking mechanism have two states of fixing and moving,

Elevating system includes two thrust ball bearing, bearing sleeve, axis of rotation damping spring, gear slewer and fixed axle, thrust ball bearing sets up respectively in the upper and lower both sides of the convex revolving platform of axis of rotation, and the axis of rotation cover is established in bearing sleeve, and bearing sleeve sets firmly in last roof below, axis of rotation damping spring offsets bottom the axis of rotation, still be equipped with cam bearing in the axis of rotation, slewer's whole body is equipped with the spiral groove, cam bearing rolls and sets up in the spiral groove for cam bearing has the degree of freedom along the motion of spiral groove direction, gear slewer's bottom is equipped with slewing gear, slewing gear and the meshing of central gear mechanism, gear slewer's bottom is located to the fixed axle, the top of axis of rotation is equipped with the rectangle recess.

2. The shock-absorbing and automatic lifting device according to claim 1, characterized in that: the locking mechanism comprises a locking mechanism shell, a lead screw, a miniature speed reducing motor, a locking body, a connecting rod and a rectangular spring, wherein the lead screw is arranged in the locking mechanism shell, one end of the lead screw is connected with the miniature speed reducing motor, the lead screw is provided with a lead screw nut which is coaxially matched with the lead screw, the bottom end of the lead screw nut is in pin joint with one end of the connecting rod, the other end of the connecting rod is in pin joint with a central pin at the top end of the locking body, the rectangular spring is sleeved on the locking body, the lower end of the rectangular spring abuts against the bottom end of the locking mechanism shell, and the lead screw is driven by the miniature speed reducing motor to rotate, so that the locking body has the degree of; and the upper top plate is also provided with a rectangular groove matched with the lock head body for use.

3. the shock-absorbing and automatic lifting device according to claim 1, characterized in that: the central gear mechanism comprises a central gear, a central damping spring, a spring radial fixing end cover and a central thrust ball bearing, wherein the lower end of the central damping spring is connected with the central gear, the upper end of the central damping spring is connected with the spring radial fixing end cover, and the central thrust ball bearing is sleeved above the spring radial fixing end cover; the central gear is meshed with the rotary gear.

4. The shock-absorbing and automatic lifting device according to claim 1, characterized in that: the number of the shock absorption and automatic lifting mechanisms is three, and the three shock absorption and automatic lifting mechanisms are arranged in a triangular shape.

5. The shock-absorbing and automatic lifting device according to claim 4, characterized in that: the three shock-absorbing and automatic lifting mechanisms are arranged in an equilateral triangle shape.

6. The shock-absorbing and automatic lifting device according to claim 5, wherein: the upper top plate and the lower top plate are regular triangles.

7. an automatic guiding transport vehicle with a shock absorption and automatic lifting device comprises an AGV body and at least one steering wheel arranged below the AGV body, and is characterized by further comprising the shock absorption and automatic lifting device according ~ any one of claims 1 ~ 6, wherein the upper end of the shock absorption and automatic lifting device is connected with the AGV body, and the lower end of the shock absorption and automatic lifting device is connected with the steering wheel.

Technical Field

the invention relates to a damping and automatic lifting device and an automatic guide transport vehicle with the same, and relates to the field of automatic guide traction equipment.

Background

the AGV steering wheel integrates integrated mechanical structures such as a driving motor, a steering motor and a speed reducer, integrates the functions of products, walking, traction and steering, and can load and pull heavier goods. A transport driving device capable of automatically traveling along a predetermined guide path and having a programming and mode selecting device, a safety protection function and various transfer functions. In recent years, with the vigorous development of the fields of factory logistics automation, automatic assembly line and the like in China, the labor force is reduced, the cost is increased, and the AGV has the characteristics of high automation degree, safety, flexibility and the like, so that the demand of the AGV is increasingly increased, and the AGV is widely applied to the industries of automatic production and storage systems of automobile manufacturing, machining and the like at present.

In the current AGV trolleys, the AGV transport technology using a steering wheel as a driving device has the following problems: the first point is that the steering wheel is used as a traction device, the traction force is very large, the equipment load directly acts on the steering wheel device in the operation process, and because the operation pavement of the steering wheel AGV is complicated and changeable, if the steering wheel AGV does not have a damping device, gears inside the steering wheel are easy to lose efficacy in the process of multiple impact compression resistance, so that the steering wheel device is damaged; the wheels of the steering wheel device have no elastic deformation capacity, and when the steering wheel device works on uneven ground, the driving wheels and the driven wheels cannot touch the ground simultaneously, so that the problem of skidding is easily caused, and the AGV is unstable in operation. Second, these situations require a person to push the AGV when the AGV running along a route needs to be stopped for trouble shooting or manually correct the orientation. If the steering wheel lands on the ground, the steering wheel is difficult to push manually when no power is used for driving the steering wheel, so that the movement is difficult, and the work of other equipment on the route is influenced.

In view of the above, it is apparent that there is a need for a shock absorbing and automatic lifting device and an automatically guided vehicle provided with the same.

disclosure of Invention

The invention aims to provide a damping and automatic lifting device and an automatic guide transport vehicle with the same, which achieve the purposes of damping steering wheels and the whole vehicle body and avoiding skidding, and simultaneously achieve the function of automatically lifting or descending the steering wheel device.

In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows: a shock-absorbing and automatic lifting device, which comprises a base,

The shock absorption and automatic lifting device comprises an upper top plate, a lower top plate, at least three shock absorption and automatic lifting mechanisms connected between the upper top plate and the lower top plate, a central gear mechanism connected between the upper top plate and the lower top plate, and a speed reduction motor arranged on a lower bottom plate,

Each damping and automatic lifting mechanism is meshed with a central gear mechanism, a pinion is arranged on a rotating shaft of the reducing motor and meshed with the central gear mechanism,

The shock absorption and automatic lifting mechanism comprises a lifting mechanism and a locking mechanism, the lifting mechanism and the locking mechanism are mutually matched for use, so that the lifting mechanism and the locking mechanism have two states of fixing and moving,

The lifting mechanism comprises two thrust ball bearings, a bearing sleeve, a rotating shaft damping spring, a gear rotating device and a fixed shaft,

Thrust ball bearing sets up respectively in the upper and lower both sides of the convex revolving platform of axis of rotation, and the axis of rotation cover is established in the bearing sleeve, and the bearing sleeve sets firmly in last roof below, axis of rotation damping spring offsets with the axis of rotation bottom, still be equipped with cam bearing in the axis of rotation, gear slewer's whole body is equipped with the spiral wire casing, cam bearing rolls and sets up in the spiral wire casing for cam bearing has the degree of freedom along the motion of spiral wire casing direction, gear slewer's bottom is equipped with slewing gear, slewing gear and the meshing of central gear mechanism, gear slewer's bottom is located to the fixed axle, the top of axis of rotation is equipped with the rectangle recess.

Preferably, the locking mechanism comprises a locking mechanism shell, a lead screw, a miniature speed reducing motor, a locking body, a connecting rod and a rectangular spring, the lead screw is arranged in the locking mechanism shell, one end of the lead screw is connected with the miniature speed reducing motor, the lead screw is provided with a lead screw nut which is coaxially matched with the lead screw, the bottom end of the lead screw nut is in pin joint with one end of the connecting rod, the other end of the connecting rod is in pin joint with a central pin at the top end of the locking body, the rectangular spring is sleeved on the locking body, the lower end of the rectangular spring abuts against the bottom end of the locking mechanism shell, and the lead screw is driven by the miniature speed reducing motor to rotate, so that the locking body has the freedom degree of movement; and the upper top plate is also provided with a rectangular groove matched with the lock head body for use.

Preferably, the central gear mechanism comprises a central gear, a central damping spring, a spring radial fixing end cover and a central thrust ball bearing, the lower end of the central damping spring is connected with the central gear, the upper end of the central damping spring is connected with the spring radial fixing end cover, and the central thrust ball bearing is sleeved above the spring radial fixing end cover; the central gear is meshed with the rotary gear.

preferably, the number of the shock absorption and automatic lifting mechanisms is three, and the three shock absorption and automatic lifting mechanisms are arranged in a triangular shape.

In a further technical scheme, the three shock absorption and automatic lifting mechanisms are arranged in an equilateral triangle shape.

In a further technical scheme, the upper top plate and the lower top plate are regular triangles.

This technical scheme still provides an automatic guided transporting vehicle with shock attenuation and automatic lifting device, including AGV automobile body and at least one helm of setting in AGV automobile body below, still include above-mentioned arbitrary one shock attenuation and automatic lifting device, shock attenuation and automatic lifting device's upper end and AGV body coupling, shock attenuation and automatic lifting device's lower extreme and helm are connected.

due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:

1. according to the invention, the lifting mechanism is arranged, so that longitudinal vertical force can be decomposed, the rotating shaft can move in the spiral line groove and can also keep the upper top plate and the lower bottom plate to move in the same direction, and the phenomenon of distortion between the steering wheel and the vehicle body can not occur; the damping spring in the center and the damping spring in the lifting mechanism have supporting force on the upper top plate and the lower bottom plate, so that the steering wheel AGV can always effectively contact with the ground no matter what working road surface the steering wheel AGV is on, better ground gripping force is guaranteed while damping is carried out, and the running stability of the steering wheel AGV is improved;

2. the invention can lift the steering wheel of the AGV under the conditions of complex obstacles and drive failure without contacting with the ground, and can conveniently and easily move by means of the universal wheels at the bottom of the AGV body.

3. The three same devices are separately arranged in an equilateral triangle shape, and when the upper plate and the lower plate receive forces in different directions, the central gear mechanism and the lifting mechanism are matched together, so that the whole body is more stable.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the lifting mechanism of the present invention.

Fig. 3 is a schematic structural view of the locking mechanism of the present invention.

Fig. 4 is an exploded view of the overall structure of the present invention.

Fig. 5 is a force exploded view of the lift mechanism of the present invention.

Fig. 6 is a partial matching structure of the locking mechanism and the upper top plate.

Fig. 7 is an assembly structure view of the present invention with a steering wheel.

Fig. 8 is a sectional structural view of the locking mechanism of the present invention.

wherein: 1. a locking mechanism; 2. an upper top plate; 3. a shock absorbing and automatic lifting mechanism; 4. a lower base plate; 5. a reduction motor; 6. a locking mechanism housing; 7. a thrust ball bearing; 8. a rotating shaft; 9. a gear slewing device; 10. a fixed shaft; 11. a rotation shaft damping spring; 12. a cam bearing; 13. a bearing sleeve; 14. a lead screw nut; 15. a lock head body; 16. a rectangular spring; 17. a miniature speed reduction motor; 18. a lead screw; 19. a connecting rod; 20. a central thrust ball bearing; 21. the spring radially fixes the end cover; 22. a pinion gear; 23. a sun gear; 24. a central damping spring; 25. a rectangular groove; 26. a rectangular groove.

Detailed Description

the invention is further described with reference to the following figures and examples: