阅读说明：本技术 一种agv驱动总成的驱动轮独立缓震结构 (Independent bradyseism structure of drive wheel of AGV drive assembly ) 是由 柯德莉 方朱峰 汪庭兵 方欣琛 于浩源 潘荆栋 于 2021-02-05 设计创作，主要内容包括：本发明涉及AGV技术领域,公开一种AGV驱动总成的驱动轮独立缓震结构,包括支撑板、驱动板、驱动轮以及驱使驱动轮转动的第一电机,驱动板和支撑板之间设置有纵向缓冲结构,纵向缓冲结构包括在支撑板与驱动板相对的侧面的两端分别设置的弹性压缩缓冲部,弹性压缩缓冲部的上下端分别与支撑板和驱动板固定,在支撑板和弹性压缩缓冲部之间设置有轴向缓冲结构,轴向缓冲结构包括于支撑板的两侧向外固定设置的与弹性压缩缓冲部穿插配合的缓冲轴、缓冲轴远离支撑板的一端设置的限位板以及在缓冲轴上于弹性压缩缓冲部的两侧套接的分别与支撑板或限位板弹性抵接的第一缓冲弹簧,该该独立缓震结构能够显著提高AGV的抗震性能、抗倾倒性能和抗撞击性能。(The invention relates to the technical field of AGV and discloses a driving wheel independent shock absorption structure of an AGV driving assembly, which comprises a supporting plate, a driving wheel and a first motor for driving the driving wheel to rotate, wherein a longitudinal buffer structure is arranged between the driving plate and the supporting plate, the longitudinal buffer structure comprises elastic compression buffer parts respectively arranged at two ends of the side surface of the supporting plate opposite to the driving plate, the upper end and the lower end of each elastic compression buffer part are respectively fixed with the supporting plate and the driving plate, an axial buffer structure is arranged between the supporting plate and the elastic compression buffer parts, the axial buffer structure comprises buffer shafts fixedly arranged at two sides of the supporting plate outwards and in penetrating fit with the elastic compression buffer parts, limiting plates arranged at one ends of the buffer shafts far away from the supporting plate, and first buffer springs which are sleeved at two sides of the elastic compression buffer parts on the buffer shafts and are respectively in elastic butt, this independent bradyseism structure can show the shock resistance, the anti-toppling performance and the anti-impact performance that improve AGV.)

1. The utility model provides a structure of independently bradyseism of drive wheel of AGV drive assembly, includes backup pad (1) with bottom plate (8) fixed connection of AGV body, is located drive plate (7) of backup pad (1) both sides, installs drive wheel (14) on drive plate (7) and orders about drive wheel (14) pivoted first motor (15), its characterized in that: be provided with vertical buffer structure between drive plate (7) and backup pad (1), vertical buffer structure includes the elastic compression buffering portion that sets up respectively at the both ends of backup pad (1) and the relative side of drive plate (7), the upper and lower end of elastic compression buffering portion is fixed with backup pad (1) and drive plate (7) respectively, be provided with axial buffer structure between backup pad (1) and elastic compression buffering portion, axial buffer structure includes in outside fixed setting in both sides of backup pad (1) break through complex buffering axle (4) with elastic compression buffering portion, spacing board (5) that one end of backup pad (1) set up are kept away from in buffering axle (4) and on buffering axle (4) in the first buffer spring (6) of the both sides of elastic compression buffering portion cup joint respectively with backup pad (1) or spacing board (5) elastic butt.

2. The drive wheel independent cushioning structure of an AGV drive assembly according to claim 1, further comprising: be provided with the supplementary buffer structure of axial on backup pad (1), the supplementary buffer structure of axial includes on backup pad (1) along the buffering folding portion (2) of the axial interval bending type setting of buffering axle (4), buffering folding portion (2) are the ascending U type of opening and are provided with a plurality of second buffer spring (3) along its axial interval in the inside of buffering folding portion (2), the both ends of second buffer spring (3) and the both sides inner wall fixed connection of buffering folding portion (2).

3. The drive wheel independent cushioning structure of an AGV drive assembly according to claim 2, further comprising: one side of the limiting plate (5) close to the buffering shaft (4) is recessed with a slot (501) for the buffering shaft (4) to be partially inserted.

4. The drive wheel independent cushioning structure of an AGV drive assembly according to claim 2, further comprising: the buffer folding structure is characterized by further comprising a reinforcing structure, wherein the reinforcing structure comprises a connecting plate which is arranged between the limiting plate (5) and the supporting plate (1) and is connected with the limiting plate into a whole, a first reinforcing plate (12) which extends to the supporting plate (1) after the upper end face or/and the lower end face of the limiting plate (5) penetrate through the connecting plate and a second reinforcing plate (13) which extends to the buffer folding part (2) close to the lower end face of the supporting plate (1).

5. The drive wheel independent cushioning structure of an AGV drive assembly according to claim 4, further comprising: the first reinforcing plate (12) and the second reinforcing plate (13) are triangular with opposite tips.

6. The drive wheel independent cushioning structure of an AGV drive assembly according to claim 5, further comprising: at least one first reinforcing plate (12) and at least one second reinforcing plate (13) are arranged at intervals.

7. The drive wheel independent cushioning structure of an AGV drive assembly according to claim 1, further comprising: elastic compression buffer portion includes connecting rod (11) and nitrogen spring (9) that perpendicular inward fixation in one side of drive plate (7) inner wall below set up, nitrogen spring (9) including built-in cylinder body (901) that have nitrogen gas and with cylinder body (901) flexible piston rod (902) that set up, the one end that piston rod (902) were kept away from in cylinder body (901) is provided with the hole of stepping down that supplies buffering axle (4) to pass, the one end that cylinder body (901) were kept away from in piston rod (902) is connected with connecting rod (11) rotation.

8. The drive wheel independent cushioning structure of an AGV drive assembly according to claim 7, further comprising: one end of the cylinder body (901) opposite to the piston rod (902) extends outwards to form a limit ring, and a third buffer spring (10) with two ends respectively elastically abutted against the two limit rings is sleeved outside the cylinder body (901).

9. The drive wheel independent cushioning structure of an AGV drive assembly according to claim 7, further comprising: two nitrogen springs (9) on each side of the supporting plate (1) are distributed in a splayed shape.

Technical Field

The invention relates to the technical field of AGV, in particular to a driving wheel independent cushioning structure of an AGV driving assembly.

Background

AGV is an abbreviation for Automated Guided Vehicle, i.e., "Automated Guided Vehicle". An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions.

In the running process of the AGV, the stability determines the performance of transporting goods, and Chinese patent with publication number CN211684556U discloses a driving wheel independent cushioning structure of an AGV differential driving assembly, which comprises an AGV body, wherein the AGV body is arranged on a supporting beam, the supporting beam is provided with a fulcrum shaft, the fulcrum shaft is also connected with a driving wheel mounting plate, the supporting beam and the driving wheel mounting plate can relatively rotate by taking the fulcrum shaft as a fulcrum, a driving wheel is mounted on the driving wheel mounting plate, and the driving wheel is driven by a driving device; still be provided with an independent bradyseism structure, the relative angle of a supporting beam and drive wheel mounting panel is adjusted to independent bradyseism structure to adjust the terrain clearance of AGV body, the independent bradyseism structure of this scheme includes that an angle adjusts the telescopic link, angle adjustment telescopic link one end is connected with a supporting beam, the other end is mobilizable to be set up on the drive wheel mounting panel, the relative angle of a supporting beam and drive wheel mounting panel is adjusted when angle adjustment telescopic link moves on the drive wheel mounting panel.

By adopting the independent cushioning structure, the following defects still exist: 1. the supporting beam is connected with the AGV, the driving wheel mounting plate is hinged to the supporting beam, the driving wheel is arranged on two sides of the driving wheel mounting plate, then an independent cushioning structure is arranged between the supporting beam and the driving wheel mounting plate, the position of the driving wheel is not changed when the AGV body is lifted, however, the hinged arrangement determines that the AGV body cannot synchronously lift when stressed, and only can move downwards towards one end far away from a hinged joint, if the AGV is transporting goods, the goods can be toppled out, otherwise, a mechanism needs to be additionally arranged to avoid toppling of the goods, and the improvement is obviously needed; 2. above-mentioned setting can only carry out fore-and-aft buffering, but can't provide axial buffering, when the AGV body received the axial striking, because its and the integrative setting of drive assembly of below, when power conduction gives drive assembly, because drive assembly can't provide the axial buffering, lead to the AGV to empty or impaired easily.

Disclosure of Invention

The invention aims to provide an independent driving wheel cushioning structure of an AGV driving assembly, which can provide good longitudinal cushioning performance and axial cushioning performance for an AGV body.

In order to solve the technical problems, the invention provides the following technical scheme: a driving wheel independent shock absorption structure of an AGV driving assembly comprises a supporting plate fixedly connected with a bottom plate of an AGV body, driving plates positioned on two sides of the supporting plate, a driving wheel arranged on the driving plate and a first motor driving the driving wheel to rotate, wherein a longitudinal buffer structure is arranged between the driving plate and the supporting plate and comprises elastic compression buffer parts respectively arranged at two ends of the side surface of the supporting plate opposite to the driving plate, the upper end and the lower end of each elastic compression buffer part are respectively fixed with the supporting plate and the driving plate, be provided with axial buffer structure between backup pad and elastic compression buffering portion, axial buffer structure include in the outside fixed setting in both sides of backup pad with the elastic compression buffering portion interlude complex buffering axle, the limiting plate that the one end setting of backup pad was kept away from to the buffering axle and the epaxial first buffer spring who cup joints respectively with backup pad or limiting plate elasticity butt in the both sides of elastic compression buffering portion of buffering.

Furthermore, be provided with the supplementary buffer structure of axial in the backup pad, the supplementary buffer structure of axial includes the buffering folding part of buckling the setting along the axial interval of buffering axle in the backup pad, and buffering folding part is the ascending U type of opening and is provided with a plurality of second buffer spring along its axial interval in the inside of buffering folding part, the both ends of second buffer spring and the both sides inner wall fixed connection of buffering folding part.

Furthermore, one side of the limiting plate, which is close to the buffering shaft, is recessed with a slot for the buffering shaft to be partially inserted.

Further, still include additional strengthening, additional strengthening including set up between limiting plate and backup pad with the even board of two even as an organic whole, extend to the first reinforcing plate of backup pad after the upper end face or the lower terminal surface of limiting plate passes even board and extend to near the second reinforcing plate of the buffering folded section of end under the backup pad.

Further, the first reinforcing plate and the second reinforcing plate are triangular with opposite tips.

Furthermore, at least one first reinforcing plate and at least one second reinforcing plate are arranged at intervals.

Further, the elastic compression buffering part comprises a connecting rod and a nitrogen spring, wherein the connecting rod and the nitrogen spring are fixedly arranged in one side of the lower portion of the inner wall of the driving plate perpendicularly inwards, the nitrogen spring comprises a cylinder body and a piston rod, the nitrogen body is arranged in the cylinder body, the piston rod is arranged in a telescopic mode, a yielding hole for the buffering shaft to penetrate through is formed in one end, far away from the piston rod, of the cylinder body, and one end, far away from the cylinder body.

Furthermore, one end of the cylinder body, which is opposite to the piston rod, extends outwards to form a limit ring, and a third buffer spring, the two ends of which are elastically abutted against the two limit rings, is sleeved outside the cylinder body.

Furthermore, two nitrogen springs on each side of the supporting plate are distributed in a splayed shape.

Compared with the prior art, the invention has the following beneficial effects:

1. add vertical buffer structure on current drive assembly, carry out vertical buffering through vertical buffer structure's nitrogen spring and third buffer spring, nitrogen spring is provided with four corners departments that are located the backup pad respectively, and every side is "eight" style of calligraphy and distributes, and AGV can stably go up and down, and when strideing across the barrier, the height that every drive wheel homoenergetic self-adaptation regulation goes up and down does not influence the stability of AGV body, can ensure the stability of AGV delivery.

2. Add axial buffer structure on drive assembly, and this axial buffer structure sets up with the linkage of vertical buffer structure, when the AGV receives the axial striking, under axial buffer structure's effect, the AGV body takes place the axial skew earlier, at this moment, first buffer spring can be in compression state, but the drive wheel still remains motionless, when this axial effort loses, first buffer spring resets, the AGV resets, thereby avoid the AGV to empty, and vertical buffer structure can share partly axial impact simultaneously, play the effect of supplementary buffering.

3. Add the supplementary buffer structure of axial in the backup pad, not only can increase the thickness of backup pad, increase its bearing capacity, can also provide good shock-absorbing capacity for the axial, further improve AGV's axial crashproof performance. To sum up, this independent bradyseism structure can show the anti-seismic performance, the anti-performance of toppling and anti-collision that improve AGV.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a front view of a drive wheel independent cushioning arrangement of an AGV drive assembly of the present invention;

FIG. 2 is an isometric view of a drive wheel independent cushioning structure of an AGV drive assembly of the present invention;

FIG. 3 is a top view of a drive wheel independent cushioning arrangement of an AGV drive assembly of the present invention;

FIG. 4 is a cross-sectional view A-A of FIG. 3;

FIG. 5 is a front view of a AGV drive assembly of the present invention after the independent cushioning structure of the drive wheels of the AGV and the floor of the AGV are installed;

FIG. 6 is an isometric view of an AGV with a drive wheel independent cushioning structure of the present invention installed.

In the figure: 1. a support plate; 2. a buffer folding part; 3. a second buffer spring; 4. a buffer shaft; 5. a limiting plate; 501. a slot; 6. a first buffer spring; 7. a drive plate; 8. a base plate; 9. a nitrogen spring; 901. a cylinder body; 902. a piston rod; 10. a third buffer spring; 11. a connecting rod; 12. a first reinforcing plate; 13. a second reinforcing plate; 14. a drive wheel; 15. a first motor; 16. a driven gear; 17. a second motor; 18. a drive gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

An independent shock absorption structure for a driving wheel of an AGV driving assembly is disclosed, and shown in FIGS. 1-6, comprising a supporting plate 1 fixedly connected with a bottom plate 8 of an AGV body, driving plates 7 positioned at both sides of the supporting plate 1, a driving wheel 14 mounted on the driving plate 7, and a first motor 15 driving the driving wheel 14 to rotate, wherein the driving wheel 14 is rotatably connected with the driving plate 7 through a rotating shaft, the first motor 15 is fixed at the inner side surface of the driving plate 7, a first motor shaft is fixedly connected with the rotating shaft, a driven gear 16 fixedly connected with the bottom plate 8 is rotatably arranged on the upper end surface of the supporting plate 1, a driving gear 18 meshed with the driven gear 16 is arranged on the supporting plate 1, a second motor 17 for driving the driving gear 18 to rotate is fixed on the lower end surface of the supporting plate 1, when the controller receives a steering signal, a signal is sent to the second motor 17, and the second motor 17 drives the driving gear 18 to rotate by a corresponding angle, so that the moving direction of the AGV body is changed.

A longitudinal buffer structure is arranged between the driving plate 7 and the supporting plate 1, as shown in fig. 1-3, the longitudinal buffer structure comprises elastic compression buffer parts respectively arranged at two ends of the side surface of the supporting plate 1 opposite to the driving plate 7, the upper and lower ends of the elastic compression buffer parts are respectively fixed with the supporting plate 1 and the driving plate 7, the elastic compression buffer parts comprise a connecting rod 11 and a nitrogen spring 9 which are vertically and inwardly fixedly arranged at one side below the inner wall of the driving plate 7, the nitrogen spring 9 comprises a cylinder 901 in which nitrogen is arranged and a piston rod 902 which is telescopically arranged with the cylinder 901, one end of the piston rod 902 far away from the cylinder 901 is rotatably connected with the connecting rod 11, in order to increase the balance of the stress of the supporting plate 1, the two nitrogen springs 9 at one side of the supporting plate 1 are arranged in an 'eight' shape, further, in order to increase the longitudinal buffer performance, one end, a third buffer spring 10, two ends of which are elastically abutted with the two limit rings respectively, is sleeved outside the cylinder 901.

An axial buffer structure is arranged between the supporting plate 1 and the elastic compression buffer part, as shown in fig. 1 and fig. 3-4, the axial buffer structure comprises a buffer shaft 4 fixedly arranged at two sides of the supporting plate 1 outwards and in penetrating fit with the nitrogen spring 9, a limiting plate 5 arranged at one end of the buffer shaft 4 far away from the supporting plate 1, and first buffer springs 6 respectively elastically abutted against the supporting plate 1 or the limiting plate 5 and sleeved at two sides of the elastic compression buffer part on the buffer shaft 4, a abdicating hole for the buffer shaft 4 to pass is arranged at one end of a cylinder 901 of the nitrogen spring 9 far away from a piston rod 902, one end of the buffer shaft 4 far away from the limiting plate 5 is fixed on the supporting plate 1 through screws, and a slot 501 for the buffer shaft 4 to be partially inserted is arranged at one side of the limiting plate 5 close to the buffer shaft 4, so that the anti-deformation capacity of the buffer shaft 4 can be increased, and the nitrogen spring 9 can form linkage, that is, when receiving the axial acting force, the axial position of the support plate 1 may be changed as the first buffer spring 6 is contracted, and the nitrogen spring 9 can simultaneously provide the buffer force to relieve the axial acting force.

In order to further enhance the axial buffering performance, an axial auxiliary buffering structure is arranged on the supporting plate 1, as shown in fig. 1 and 3, the axial auxiliary buffering structure includes a buffering folding portion 2 which is bent along the axial direction of the buffering shaft 4 on the supporting plate 1, the buffering folding portion 2 is in a U shape with an upward opening, a plurality of second buffering springs 3 are arranged inside the buffering folding portion 2 along the axial direction thereof at intervals, and two ends of each second buffering spring 3 are fixedly connected with the inner walls of two sides of the buffering folding portion 2.

The pressure that has set up greatly increased backup pad 1, it needs it to have sufficient anti deformability, therefore, still including additional strengthening, additional strengthening is including setting up the company of linking as an organic whole with both between limiting plate 5 and backup pad 1, extend to the first reinforcing plate 12 of backup pad 1 and extend to the second reinforcing plate 13 of the buffering folded portion 2 near the tip in backup pad 1 lower terminal surface tip after passing the company of limiting plate 5 and/or lower terminal surface, first reinforcing plate 12 and second reinforcing plate 13 are the relative triangle-shaped in pointed end, first reinforcing plate 12 and second reinforcing plate 13 interval are provided with at least one.

During the installation, install third buffer spring 10 on nitrogen spring 9 earlier, then wear to establish on buffering axle 4 with nitrogen spring 9's cylinder body 901, cup joint first buffer spring 6 in nitrogen spring 9's both sides after that, peg graft on limiting plate 5 with the one end of buffering axle 4 after that, the other end passes through the fix with screw in backup pad 1, fix connecting rod 11 on drive plate 7 after that, it is articulated with nitrogen spring 9's piston rod 902 and actuating lever, fix second buffer spring 3 in buffering folding portion 2 at last.

The working principle of the scheme is that when the AGV bears longitudinal pressure (for example, goods are carried), the supporting plate 1 sinks under the pressure, at the moment, longitudinal buffering is carried out through the nitrogen spring 9 and the third buffer spring 10 of the longitudinal buffering structure, the nitrogen spring 9 is provided with four corners which are respectively positioned on the supporting plate 1, each side of the nitrogen spring is distributed in a splayed shape, the stability is high, when an obstacle is crossed, each driving wheel 14 can self-adaptively adjust the lifting height without affecting the stability of the AGV body, and the stability of the AGV carrying the goods can be ensured; when the AGV is impacted axially, under the action of the axial buffer structure, the AGV body firstly deflects axially, at the moment, the first buffer spring is in a compressed state, the drive wheel 14 remains stationary and when this axial force is lost, the first buffer spring returns, the AGV returns, thereby preventing the AGV from tipping over, and further, because the longitudinal buffer structure and the axial buffer structure are linked, the longitudinal buffer structure can share a part of axial impact force at the same time to play a role of auxiliary buffer, and the setting of axial buffer structure not only can increase backup pad 1's thickness, increases its bearing capacity, can also provide good shock-absorbing capacity for the axial, further improves AGV's axial crashproof performance, combines vertical buffer structure, axial buffer structure and axial to assist buffer structure can show the anti-seismic performance, the anti-performance of toppling and the crashproof performance that improve AGV.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.