A shock-absorbing walking mechanism for AGV

Abstract

The present invention relates to an AGV shock-absorbing walking mechanism, including an AGV walking mechanism and a shock-absorbing mechanism, wherein the AGV walking mechanism is installed on an AGV trolley through the shock-absorbing mechanism, the shock-absorbing mechanism includes a shock-absorbing mechanism housing, a compression spring and a guide rail, and a driving mechanism assembly of the AGV walking mechanism is installed on the shock-absorbing mechanism housing through a compression spring and a guide rail, and the shock-absorbing mechanism housing is fixed on the AGV trolley. The walking mechanism and the shock-absorbing mechanism of the AGV of the present invention are relatively independent and can be processed and assembled separately without interfering with each other. The present invention can achieve a shock-absorbing effect, so that the overall structure of the AGV has low requirements on the ground, can be applied to the ground of most logistics warehouses, and can ensure the stability and reliability of the AGV walking process.

Description

Technical Field

[0001] The invention belongs to the field of AGV automatic vehicles, in particular to an AGV shock-absorbing walking mechanism. Background Art

[0002] At present, most of the existing AGV shock-absorbing walking mechanisms adopt a multi-link mechanism or a linear bearing with a compression spring structure. The multi-link mechanism has a complex structure and low transmission efficiency, while the linear bearing mechanism has insufficient bearing capacity and requires very high installation accuracy. In addition, these two forms of walking shock-absorbing mechanisms have very high requirements for the ground. If there is a large height difference in the ground during walking, the walking wheels will slip in the air, resulting in low walking straightness. Therefore, in summary, the existing AGV shock-absorbing walking mechanism still has shortcomings.

[0003] The existing AGV shock-absorbing walking mechanism occupies a large space in the entire AGV system and has very high requirements for the ground, which increases the construction unit's cost and time for ground construction treatment and affects the project progress of the implementation of the entire AGV system.

[0004] The linear bearings in the existing shock absorbing mechanism have very high requirements for processing accuracy. Once there are problems in the processing and assembly, the linear bearings will get stuck, causing the compression springs in the shock absorbing mechanism to fail, and lose the effective positive pressure on the ground, ultimately causing the walking wheels to fail to effectively contact the ground and slip. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an AGV shock-absorbing walking mechanism.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] An AGV shock-absorbing walking mechanism comprises an AGV walking mechanism and a shock-absorbing mechanism, wherein the AGV walking mechanism is installed on an AGV trolley through the shock-absorbing mechanism, the shock-absorbing mechanism comprises a shock-absorbing mechanism housing, a compression spring and a guide rail, a driving mechanism component of the AGV walking mechanism is installed on the shock-absorbing mechanism housing through the compression spring and the guide rail, and the shock-absorbing mechanism housing is fixed on the AGV trolley.

[0008] Furthermore, the shock absorbing mechanism housing is a rectangular housing with a cavity inside, and a shock absorbing guide shaft passes through the left side of the driving mechanism assembly, and the driving mechanism assembly can slide up and down along the shock absorbing guide shaft, and one end of the driving mechanism assembly and the shock absorbing guide shaft are located in the shock absorbing mechanism housing, and the driving mechanism assembly is connected to the inner side of the shock absorbing mechanism housing through a compression spring, and the upper end of the compression spring is fixed to the inner upper surface of the shock absorbing mechanism housing, and the lower end is fixed to the driving mechanism assembly, and the driving mechanism assembly is also fixedly connected to a guide rail, and the guide rail can slide up and down along a slider, and the slider is fixed to the outer side of the shock absorbing mechanism housing, and the shock absorbing guide shaft is fixed on the AGV cart.

[0009] Furthermore, guide shaft baffles are provided at the upper end and the lower end of the shock absorbing guide shaft, and the guide shaft baffles are used to position the shock absorbing mechanism housing.

[0010] Furthermore, the slider is fixed on a shock-absorbing slider fixing plate, and the shock-absorbing slider fixing plate is fixed on a shock-absorbing mechanism housing.

[0011] Furthermore, the AGV walking mechanism includes a walking wheel and a driving mechanism assembly, the driving mechanism assembly includes a walking mechanism fixing frame, a walking wheel fixing plate, a walking wheel baffle, a walking mechanism motor and a walking mechanism reducer, the walking mechanism motor is connected to the walking mechanism reducer, the walking mechanism motor and the walking mechanism reducer are both installed in the walking mechanism fixing frame, the output shaft of the walking mechanism reducer is fixed to the walking wheel fixing plate, the walking wheel fixing plate is connected to the walking wheel center, a walking wheel baffle is also provided on the outside of the walking wheel center, and the walking wheel baffle is used to limit the output shaft of the walking mechanism reducer.

[0012] Furthermore, the walking mechanism fixed frame includes a walking mechanism fixed upper plate, a walking mechanism fixed middle plate, a walking mechanism fixed lower plate and a walking mechanism motor fixed plate. The walking mechanism fixed upper plate, the walking mechanism fixed middle plate and the walking mechanism fixed lower plate form a C-shaped frame structure. The walking mechanism motor fixed plate is arranged at the front opening of the C-shaped frame structure, and a support column is arranged between the walking mechanism fixed upper plate and the walking mechanism fixed lower plate.

[0013] Furthermore, the shock absorbing mechanism is fixed on the AGV trolley via a shock absorbing mechanism locating pin.

[0014] The beneficial effects of the present invention are:

[0015] 1. The present invention provides a practical walking shock-absorbing mechanism for an intelligent AGV system that has strong applicability to the ground and can perform "goods-to-person" picking on logistics trolleys in dense warehouses. The mechanism includes a walking mechanism and a shock-absorbing mechanism. The walking mechanism drives the walking wheels through a motor to achieve differential walking of the entire AGV, and the shock-absorbing mechanism achieves effective positive pressure of the AGV on the ground through the action of a linear module and a compression spring, which ensures that the two walking wheels of the entire AGV will not slip during walking, and does not require high flatness of the walking ground. It can be applied to the ground of most logistics warehouses and can ensure the stability and reliability of the AGV walking process. This invention cleverly connects the walking mechanism and the shock-absorbing mechanism together. The entire mechanism occupies a small space, does not require high processing accuracy and is easy to install. The walking process has good straightness, high positioning accuracy, and stable and reliable performance, which overcomes the shortcomings of the prior art.

[0016] 2. The entire walking mechanism of the present invention is assembled using a frame structure. The walking mechanism fixed upper plate, the walking mechanism fixed middle plate and the walking mechanism fixed lower plate are fixed together by bolts to form a C-shaped frame structure, and then the walking mechanism fixed upper plate and the walking mechanism fixed lower plate are connected and reinforced with two supporting columns to ensure the stability and strength of the entire walking mechanism frame structure.

[0017] The walking mechanism motor is fixed into a whole through the walking mechanism reducer and the walking mechanism motor fixing plate, and then the whole is placed in the C-shaped frame and fixed by bolts. This installation method not only ensures the strength of the walking mechanism, but also improves the installation accuracy through splicing and reduces the processing and manufacturing costs.

[0018] A walking wheel fixing plate is also installed on the output shaft of the walking mechanism reducer. The walking wheel is fixed to the walking wheel fixing plate by bolts through the matching relationship between the hole and the shaft, and then a walking wheel baffle is fixed on the outside of the walking wheel. Its function is to prevent the walking wheel from axially moving along the output shaft of the walking mechanism reducer 3 during rotation.

[0019] The entire AGV walking mechanism of the present invention is compact and concise in design, easy to install, low in processing cost, high in assembly precision and can meet the strength requirements of actual use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a top view of the AGV structure;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the walking mechanism of the present invention;

[0022] Figure 3 It is a side structural schematic diagram of the walking mechanism of the present invention;

[0023] Figure 4 It is a schematic cross-sectional structure diagram of the walking mechanism of the present invention;

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 6 It is a schematic diagram of the cross-sectional structure of the present invention.

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0027] 1. AGV walking mechanism; 11. Walking mechanism fixing frame; 12. Walking wheel fixing plate; 13. Walking wheel baffle; 14. Walking mechanism motor; 15. Walking mechanism reducer; 16. Walking wheel; 17. Support column; 2. Shock-absorbing mechanism; 21. Shock-absorbing mechanism housing; 22. Compression spring; 23. Guide rail; 24. Driving mechanism assembly; 25. Shock-absorbing guide shaft; 26. Shock-absorbing slider fixing plate; 27. Shock-absorbing mechanism locating pin; 28. Slider; 29. ​​Guide rail fixing plate; 30. Retaining ring; 31. Guide shaft baffle. DETAILED DESCRIPTION

[0028] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0029] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0030] like Figure 1-Figure 6 As shown, an AGV shock-absorbing walking mechanism 2 includes an AGV walking mechanism 1 and a shock-absorbing mechanism 2. The AGV walking mechanism 1 is installed on the AGV trolley 3 through the shock-absorbing mechanism 2. The shock-absorbing mechanism 2 includes a shock-absorbing mechanism housing 21, a compression spring 22 and a guide rail 23. The driving mechanism assembly 24 of the AGV walking mechanism 1 is installed on the shock-absorbing mechanism housing 21 through the compression spring 22 and the guide rail 23. The shock-absorbing mechanism housing 21 is fixed on the AGV trolley 3.

[0031] As an embodiment, the shock absorbing mechanism housing 21 is a rectangular housing with a cavity inside, and a shock absorbing guide shaft 25 passes through the left side of the driving mechanism assembly 24, and the driving mechanism assembly 24 can slide up and down along the shock absorbing guide shaft 25, and one end of the driving mechanism assembly 24 and the shock absorbing guide shaft 25 are located in the shock absorbing mechanism housing 21, and the driving mechanism assembly 24 is connected to the inner side of the shock absorbing mechanism housing 21 through a compression spring 22, and the upper end of the compression spring 22 is fixed to the inner upper surface of the shock absorbing mechanism housing 21, and the lower end is fixed to the driving mechanism assembly 24, and the driving mechanism assembly 24 is also fixedly connected to the guide rail 23, and the guide rail 23 can slide up and down along the slider 28, and the slider 28 is fixed to the outer side of the shock absorbing mechanism housing 21, and the shock absorbing guide shaft 25 is fixed on the AGV trolley 3.

[0032] As an implementation manner, guide shaft baffles 31 are provided at the upper end and the lower end of the shock absorbing guide shaft 25 , and the guide shaft baffles 31 are used to position the shock absorbing mechanism housing 21 .

[0033] As an implementation manner, the slider 28 is fixed on a damping slider fixing plate 26 , and the damping slider fixing plate 26 is fixed on a damping mechanism housing 21 .

[0034] As an embodiment, the AGV walking mechanism 1 includes a walking wheel 16 and a driving mechanism assembly 24, and the driving mechanism assembly 24 includes a walking mechanism fixed frame 11, a walking wheel fixed plate 12, a walking wheel baffle 13, a walking mechanism motor 14 and a walking mechanism reducer 15. The walking mechanism motor 14 is connected to the walking mechanism reducer 15, and the walking mechanism motor 14 and the walking mechanism reducer 15 are both installed in the walking mechanism fixed frame 11. The output shaft of the walking mechanism reducer 15 is fixed to the walking wheel fixed plate 12, and the walking wheel fixed plate 12 is connected to the center of the walking wheel 16. A walking wheel baffle 13 is also provided on the outer side of the center of the walking wheel 16, and the walking wheel baffle 13 is used to limit the output shaft of the walking mechanism reducer 15.

[0035] As an implementation mode, the walking mechanism fixed frame 11 includes a walking mechanism fixed upper plate, a walking mechanism fixed middle plate, a walking mechanism fixed lower plate and a walking mechanism motor fixed plate 18, and the walking mechanism fixed upper plate, the walking mechanism fixed middle plate and the walking mechanism fixed lower plate form a C-shaped frame structure, and the walking mechanism motor fixed plate 18 is arranged at the front opening of the C-shaped frame structure, and a support column 17 is arranged between the walking mechanism fixed upper plate and the walking mechanism fixed lower plate.

[0036] As an implementation manner, the shock absorbing mechanism 2 is fixed on the AGV trolley 3 via a shock absorbing mechanism locating pin 27 .

[0037] The entire walking mechanism of the present invention is assembled using a frame structure, and the walking mechanism fixed upper plate, the walking mechanism fixed middle plate and the walking mechanism fixed lower plate are fixed together by bolts to form a C-shaped frame structure, and then the walking mechanism fixed upper plate and the walking mechanism fixed lower plate are connected and reinforced by two supporting columns to ensure the stability and strength of the entire walking mechanism frame structure.

[0038] The walking mechanism motor is fixed into a whole through the walking mechanism reducer and the walking mechanism motor fixing plate, and then the whole is placed in the C-shaped frame and fixed by bolts. This installation method not only ensures the use strength of the walking mechanism, but also improves the installation accuracy through splicing and reduces the processing and manufacturing costs.

[0039] A walking wheel fixing plate is also installed on the output shaft of the walking mechanism reducer. The walking wheel is fixed to the walking wheel fixing plate by bolts through the matching relationship between the hole and the shaft, and then a walking wheel baffle is fixed on the outside of the walking wheel. Its function is to prevent the walking wheel 6 from axially moving along the output shaft of the walking mechanism reducer 3 during rotation.

[0040] The entire AGV walking mechanism of the present invention is compact and concise in design, easy to install, low in processing cost, high in assembly precision and can meet the strength requirements of actual use.

[0041] The entire shock-absorbing mechanism is equipped with two linear guide rail modules. The linear guide rail module in this invention is fixed to the slider, and the shock-absorbing guide rail slides freely in a straight line along the inner groove of the shock-absorbing slider. Since the shock-absorbing guide rail and the walking mechanism assembly are fixed as a whole, and the shock-absorbing slider and the shock-absorbing mechanism shell are fixed as a whole, the walking mechanism assembly can slide freely up and down inside the shock-absorbing mechanism shell during the AGV's walking process.

[0042] Two sets of compression spring devices are installed outside the shock absorbing mechanism housing, and the compression spring devices include a shock absorbing guide shaft retaining ring 30, a compression spring and a guide shaft retaining piece 31. The entire walking mechanism assembly is located between the two sets of compression spring devices, so that the walking mechanism assembly will receive the force of the compression spring when sliding up and down inside the shock absorbing mechanism housing, ensuring that the walking mechanism assembly is always subject to the force of the compression spring when moving up and down, so that the walking wheel can effectively contact the ground during the rotation process, and the positive pressure on the ground is equal to the force of the compression spring, which can achieve a shock absorbing effect.

[0043] The entire AGV shock-absorbing walking mechanism cooperates with the positioning pin holes on the AGV bottom plate through two shock-absorbing mechanism positioning pins 27, thereby ensuring the positioning accuracy of the walking shock-absorbing mechanism installed on the bottom plate.

[0044] The present invention designs and processes the walking mechanism and the shock absorbing mechanism separately, and the two are installed and connected together through a linear module on the back, and the two are connected in series through a compression spring device on the front, so that the walking mechanism is always subjected to the force of the compression spring, ensuring the reliable contact between the walking wheel and the ground, and no slipping occurs during the walking process.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV shock-absorbing walking mechanism, characterized in that: The invention comprises an AGV walking mechanism (1) and a shock absorbing mechanism (2), wherein the AGV walking mechanism (1) is installed on an AGV trolley (3) via the shock absorbing mechanism (2), the shock absorbing mechanism (2) comprises a shock absorbing mechanism housing (21), a compression spring (22) and a guide rail (23), a driving mechanism component (24) of the AGV walking mechanism (1) is installed on the shock absorbing mechanism housing (21) via the compression spring (22) and the guide rail (23), and the shock absorbing mechanism housing (21) is fixed on the AGV trolley (3); the shock absorbing mechanism housing (21) is a rectangular housing with a cavity inside, a shock absorbing guide shaft (25) passes through the left side of the driving mechanism component (24), and the driving mechanism component (24) ) can slide up and down along the shock absorbing guide shaft (25), one end of the driving mechanism assembly (24) and the shock absorbing guide shaft (25) are located in the shock absorbing mechanism housing (21), the driving mechanism assembly (24) is connected to the inner side of the shock absorbing mechanism housing (21) through a compression spring (22), the upper end of the compression spring (22) is fixed to the inner upper surface of the shock absorbing mechanism housing (21), and the lower end is fixed to the driving mechanism assembly (24), the driving mechanism assembly (24) is also fixedly connected to the guide rail (23), the guide rail (23) can slide up and down along the slider (28), the slider (28) is fixed to the outer side of the shock absorbing mechanism housing (21), and the shock absorbing guide shaft (25) is fixed on the AGV trolley (3); The upper end and the lower end of the shock absorbing guide shaft (25) are both provided with guide shaft baffles (31), and the guide shaft baffles (31) are used to position the shock absorbing mechanism housing (21); The AGV walking mechanism (1) comprises a walking wheel (16) and a driving mechanism assembly (24); the driving mechanism assembly (24) comprises a walking mechanism fixing frame (11), a walking wheel fixing plate (12), a walking wheel blocking plate (13), a walking mechanism motor (14) and a walking mechanism reducer (15); the walking mechanism motor (14) is connected to the walking mechanism reducer (15); the walking mechanism motor (14) and the walking mechanism reducer (15) are both installed in the walking mechanism fixing frame (11); the output shaft of the walking mechanism reducer (15) is fixed to the walking wheel fixing plate (12); the walking wheel fixing plate (12) is connected to the center of the walking wheel (16); a walking wheel blocking plate (13) is further provided on the outer side of the center of the walking wheel (16); the walking wheel blocking plate (13) is used to limit the output shaft of the walking mechanism reducer (15).

2. The AGV shock-absorbing walking mechanism according to claim 1, characterized in that: The slider (28) is fixed on a damping slider fixing plate (26), and the damping slider fixing plate (26) is fixed on a damping mechanism housing (21).

3. The AGV shock-absorbing walking mechanism according to claim 1, characterized in that: The walking mechanism fixing frame (11) comprises a walking mechanism fixing upper plate, a walking mechanism fixing middle plate, a walking mechanism fixing lower plate and a walking mechanism motor fixing plate (18), wherein the walking mechanism fixing upper plate, the walking mechanism fixing middle plate and the walking mechanism fixing lower plate form a C-shaped frame structure, wherein a walking mechanism motor fixing plate (18) is arranged at the front opening of the C-shaped frame structure, and a support column (17) is arranged between the walking mechanism fixing upper plate and the walking mechanism fixing lower plate.

4. The AGV shock-absorbing walking mechanism according to claim 1, characterized in that: The shock absorbing mechanism (2) is fixed on the AGV trolley (3) via a shock absorbing mechanism positioning pin (27).

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