Drive mechanism and automated guided vehicle

Abstract

The present invention provides a driving mechanism and an automatic guided transport vehicle, and relates to the technical field of logistics equipment. The driving mechanism is used for the automatic guided transport vehicle, and includes a driving assembly and a lifting assembly, the lifting assembly includes a fixed part and a movable part, the fixed part is connected to the driving assembly, and the movable part is used to connect with the frame of the automatic guided transport vehicle; the automatic guided transport vehicle includes a frame and the above-mentioned driving mechanism, and the driving mechanism is installed on the frame. In the driving mechanism and the automatic guided transport vehicle having the driving mechanism, the movable part of the lifting assembly adapts to the uneven ground by lifting, the adaptability to the ground is enhanced, and the carrying capacity is also improved at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics equipment, and in particular to a driving mechanism and an automatic guided transport vehicle. Background Art

[0002] Automated Guided Vehicle (AGV), also known as unmanned guided vehicle, automatic navigation vehicle and laser navigation vehicle, is a transport vehicle equipped with electromagnetic or optical automatic guidance devices, which can travel along the specified guidance path without manual navigation, has safety protection and various transfer functions, and uses rechargeable batteries as its power source. Generally, its route and behavior can be controlled by a computer, or its route can be set up using electromagnetic tracks, which are attached to the floor, and the unmanned guided vehicle relies on the information brought by the electromagnetic tracks to move and act.

[0003] In the prior art, an automated guided transport vehicle generally includes a driving mechanism, a frame, and a lifting device, etc. The lifting device is arranged on the frame and is used to lift goods. In addition, the driving mechanism of the automated guided transport vehicle in the prior art adapts to uneven ground through the expansion and contraction of a spring. However, the driving mechanism of this type of arrangement has low adaptability to the ground and low load-bearing capacity. Summary of the invention

[0004] The first object of the present invention is to provide a driving mechanism to alleviate the technical problems existing in the prior art that the driving mechanism of the automatic guided transport vehicle adapts to uneven ground through the expansion and contraction of the spring, has low adaptability to the ground, and has low load-bearing capacity.

[0005] The driving mechanism provided by the present invention is used for an automatic guided transport vehicle. The driving mechanism includes a driving assembly and a lifting assembly. The lifting assembly includes a fixed part and a movable part. The fixed part is connected to the driving assembly, and the movable part is used to connect to the frame of the automatic guided transport vehicle.

[0006] Furthermore, the driving assembly includes a motor, a reducer and a driving wheel, the motor, the reducer and the driving wheel are consistent in number and are multiple, the multiple driving wheels are arranged side by side along the axis direction thereof, and each of the motors drives one driving wheel separately through one of the reducers;

[0007] The driving assembly also includes a mounting seat, and the plurality of reducers are fixedly disposed on the mounting seat. The fixing portion is hinged to the mounting seat, and the mounting seat extends in a horizontal direction relative to a swing axis of the fixing portion and forms an angle greater than 0° and not greater than 90° with the axis of the driving wheel.

[0008] Furthermore, in the driving assembly, the number of each of the motor, the reducer and the driving wheel is two, the two motors and the two reducers are located between the two driving wheels, and the four are distributed in a horizontal plane.

[0009] Furthermore, the mounting seat includes a first mounting plate and a hinge plate fixedly disposed on the first mounting plate, and the fixing portion is hinged to the hinge plate via a rotating shaft.

[0010] Furthermore, the fixed part includes a cylinder, the movable part includes a rod sleeve, the lifting assembly also includes a driving member, the cylinder is connected to the driving assembly, the rod sleeve is used to connect to the frame, and the driving member is used to drive the rod sleeve to rise and fall in a vertical direction relative to the cylinder.

[0011] Furthermore, the driving member comprises a hydraulic cylinder, a cylinder body of the hydraulic cylinder is fixedly disposed in the cylinder barrel, and a piston rod of the hydraulic cylinder is fixedly disposed in the rod sleeve.

[0012] Furthermore, the driving mechanism also includes a limiter and an encoder assembly, wherein the limiter is used to limit the rotation of the rod sleeve around the vertical direction; the encoder assembly is fixedly arranged on the rod sleeve, and the encoder assembly is used to detect the rotation angle of the driving mechanism relative to the frame.

[0013] Furthermore, the driving mechanism also includes a turntable bearing, which has an inner ring and an outer ring, one of the inner ring and the outer ring is fixedly connected to the movable part, and the other of the inner ring and the outer ring is used to be fixedly connected to the frame.

[0014] The driving mechanism provided by the present invention can produce the following beneficial effects:

[0015] The driving mechanism provided by the present invention is used for an automatic guided transport vehicle, and the driving mechanism includes a driving assembly and a lifting assembly, wherein the fixed part of the lifting assembly is connected to the driving assembly, and the movable part of the lifting assembly is used to connect to the frame of the automatic guided transport vehicle. Compared with the prior art in which the spring is extended and retracted to adapt to the uneven ground, in the driving mechanism, the movable part of the lifting assembly is lifted and lowered to adapt to the uneven ground, thereby enhancing the adaptability to the ground and the carrying capacity.

[0016] The second object of the present invention is to provide an automatic guided transport vehicle to alleviate the technical problems existing in the prior art that the driving mechanism of the automatic guided transport vehicle adapts to uneven ground through the expansion and contraction of the spring, has low adaptability to the ground, and has low load-bearing capacity.

[0017] The automatic guided transport vehicle provided by the present invention comprises a vehicle frame and the driving mechanism, wherein the driving mechanism is installed on the vehicle frame.

[0018] Furthermore, the number of the driving mechanisms is four, and the four driving mechanisms are all installed on the frame and arranged in two rows and two columns.

[0019] The automatic guided transport vehicle provided by the present invention has all the beneficial effects of the above-mentioned driving mechanism, so they are not described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram of the exploded structure of a driving mechanism provided in an embodiment of the present invention;

[0022] Figure 2 A bottom view of the automatic guided transport vehicle provided by an embodiment of the present invention;

[0023] Figure 3 A front view of an automatic guided transport vehicle provided in an embodiment of the present invention.

[0024] icon:

[0025] 010-driving mechanism; 020-frame;

[0026] 100-driving assembly; 110-motor; 120-reducer; 130-driving wheel; 140-mounting seat; 141-first mounting plate; 142-hinged plate; 143-rotating shaft;

[0027] 200-lifting assembly; 210-cylinder barrel; 220-rod sleeve; 230-hydraulic cylinder;

[0028] 300-limiting parts;

[0029] 410 - second mounting plate;

[0030] 500-Slewing bearing. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0034] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the inventive product is usually placed when in use. 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 position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0035] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are absolutely horizontal or vertical, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0038] Figure 1 This is a schematic diagram of the exploded structure of the driving mechanism provided in this embodiment.

[0039] This embodiment provides a driving mechanism 010 for an automatic guided transport vehicle, such as Figure 1As shown, the driving mechanism 010 includes a driving assembly 100 and a lifting assembly 200. The lifting assembly 200 includes a fixed portion and a movable portion. The fixed portion is connected to the driving assembly 100, and the movable portion is used to connect to the frame of the automated guided transport vehicle.

[0040] The driving mechanism 010 provided in this embodiment includes a driving assembly 100 and a lifting assembly 200. The fixed part of the lifting assembly 200 is connected to the driving assembly 100, and the movable part of the lifting assembly 200 is used to connect with the frame of the automatic guided transport vehicle. Compared with the prior art that adapts to uneven ground by the expansion and contraction of the spring, in the driving mechanism 010, the movable part of the lifting assembly 200 adapts to the uneven ground by lifting and lowering, and the adaptability to the ground is enhanced, and the carrying capacity is also improved at the same time.

[0041] In this embodiment, continue as Figure 1 As shown, the drive assembly 100 includes a motor 110, a reducer 120 and a driving wheel 130. The number of the motor 110, the reducer 120 and the driving wheel 130 is the same and there are two of them. The two driving wheels 130 are arranged side by side along their axial direction. Each motor 110 drives a driving wheel 130 separately through a reducer 120. The drive assembly 100 also includes a mounting seat 140. The two reducers 120 are fixedly arranged on the mounting seat 140. The fixing part is hinged to the mounting seat 140. The mounting seat 140 extends in the horizontal direction relative to the swing axis of the fixing part and forms an angle greater than 0° and not greater than 90° with the axis of the driving wheel 130. When the driving mechanism 010 is in use, if the ground is roughly horizontal, the part above the mounting seat 140 of the driving mechanism 010 and the frame are fixed in the vertical direction. When driving to an uneven place, since the mounting seat 140 can swing relative to the part above it, the mounting seat 140 can drive the two driving wheels 130 to swing, so that one of the two driving wheels 130 contacts the high part of the ground, and the other contacts the low part of the ground, so that the entire driving mechanism 010 maintains good contact with the ground, effectively avoiding the occurrence of slipping and other phenomena. In addition, under this setting, the two driving wheels 130 can also be controlled by controlling the rotation direction of the two motors 110 to achieve the same direction rotation of the two driving wheels 130, so that the driving mechanism 010 drives the frame to move in a set direction; or the two driving wheels 130 can be controlled by controlling the rotation direction of the two motors 110 to rotate in the opposite direction, so that the driving mechanism 010 drives the frame to move in another predetermined direction, that is, in addition to normal walking, the driving mechanism 010 can also achieve a steering function.

[0042] It should be noted that configuring a control component for the drive mechanism 010 or the automated guided transport vehicle and enabling the control component to control the motor 110 of the drive mechanism 010 to achieve forward and reverse rotation are both mature existing technologies, so this application will not elaborate on them.

[0043] It should be noted that in other embodiments of the present application, the number of the motor 110, the reducer 120 and the driving wheel 130 of the driving assembly 100 is the same but not limited to two. For example, the number of the motor 110, the reducer 120 and the driving wheel 130 can also be three, and the three driving wheels 130 are arranged side by side along the axis direction thereof and are driven by one motor 110. That is, as long as the multiple driving wheels 130 can achieve walking and steering, the present application does not impose any specific restrictions on the number of driving wheels 130, etc.

[0044] Specifically, in this embodiment, the swing axis of the mounting seat 140 relative to the fixed part of the lifting assembly 200 is perpendicular to the axis of the driving wheel 130, that is, there is an angle of 90° between the two. When the driving mechanism 010 drives the frame and the like to move forward and encounters an uneven ground, the mounting seat 140 and the portion below it swing left and right relative to the portion above it.

[0045] It should be noted that in other embodiments of the present application, the angle between the swing axis of the mounting seat 140 and the axis of the driving wheel 130 is not limited to 90°. For example, the angle between the swing axis of the mounting seat 140 and the axis of the driving wheel 130 is 45°.

[0046] In this embodiment, the two motors 110 and the two reducers 120 are located between the two driving wheels 130, and the four are distributed in a horizontal plane. Such a configuration can reduce the space occupied by the driving assembly 100 and make the structure of the driving assembly 100 more compact, and the driving wheel 130 can also protect the motor 110 and the reducer 120.

[0047] Continue as Figure 1 As shown, in this embodiment, the mounting seat 140 includes a first mounting plate 141 and a hinge plate 142 fixedly disposed on the first mounting plate 141 , and the fixing portion and the hinge plate 142 are hingedly connected via a rotating shaft 143 .

[0048] Specifically, there are two hinge plates 142 and two rotating shafts 143, and the two rotating shafts 143 can be detachably mounted on the two hinge plates 142, and the two rotating shafts 143 can rotate coaxially. The two hinge plates 142 support the parts above them, which not only improves the bearing capacity of the driving mechanism 010, but also improves the supporting stability of the driving mechanism 010. During installation, the rotating shaft 143 can be connected to the fixed part of the lifting assembly 200 first, and then the rotating shaft 143 can be connected to the hinge plates 142.

[0049] It should be noted that, in other embodiments of the present application, the number of hinged plates 142 and the number of rotating shafts 143 are not limited to two. For example, the number of both hinged plates 142 and the number of rotating shafts 143 are three, and the three rotating shafts 143 can be detachably installed on the three hinged plates 142 respectively, and the three rotating shafts 143 can rotate coaxially. That is, as long as reliable articulation between the mounting base 140 and the jacking assembly 200 can be achieved, the present application does not impose any specific limitation on the number of hinged plates 142 and the number of rotating shafts 143.

[0050] In this embodiment, the fixed part of the jacking assembly 200 includes a cylinder 210, the movable part of the jacking assembly 200 includes a rod sleeve 220, and the jacking assembly 200 also includes a driving component. The cylinder 210 is connected to the driving component 100, the rod sleeve 220 is used to connect to the frame of the automatic guided transport vehicle, and the driving component is used to drive the rod sleeve 220 to rise and fall in the vertical direction relative to the cylinder 210.

[0051] Specifically, the cylinder 210 is hinged to the hinge plate 142 via the rotating shaft 143, and the top end of the rod sleeve 220 is used to be connected to the vehicle frame.

[0052] Specifically, in this embodiment, the driving member may include a hydraulic cylinder 230, the cylinder body of the hydraulic cylinder 230 is fixedly disposed in the cylinder barrel 210, and the piston rod of the hydraulic cylinder 230 is fixedly disposed in the rod sleeve 220. The cylinder barrel 210 and the rod sleeve 220 respectively protect the cylinder body and the piston rod, and by providing the cylinder barrel 210 and the rod sleeve 220, hydraulic cylinders 230 with different radial sizes can be selected, and when the hydraulic cylinder 230 fails, the hydraulic cylinder 230 can be conveniently disassembled for maintenance or replacement.

[0053] In this embodiment, the driving mechanism 010 also includes a limit member 300 and an encoder assembly. The limit member 300 is used to limit the rotation of the rod sleeve 220 around the vertical direction; the encoder assembly is fixedly arranged on the rod sleeve 220, and the encoder assembly is used to detect the rotation angle of the driving mechanism 010 relative to the frame.

[0054] Specifically, the encoder assembly includes a second mounting plate 410 and an encoder. The second mounting plate 410 is fixedly disposed on the lifting assembly 200 , and the encoder is mounted on the second mounting plate 410 .

[0055] It should be noted that the encoder and its working principle for detecting the rotation angle are very mature existing technologies, and this application does not make any improvements thereto, so they will not be elaborated here.

[0056] More specifically, the second mounting plate 410 is fixedly mounted on the rod sleeve 220 .

[0057] In this embodiment, the limiting member 300 may be a fastener. The peripheral wall of the cylinder 210 is provided with an oblong hole extending along its axial direction. The fastener passes through the oblong hole and is fixedly connected to the rod sleeve 220 .

[0058] In this embodiment, the driving mechanism 010 further includes a turntable bearing 500, which has an inner ring and an outer ring. The inner ring is fixedly connected to the movable part, and the outer ring is used to be fixedly connected to the frame.

[0059] It should be noted that, in other embodiments of the present application, the outer ring of the slewing bearing 500 may also be fixedly connected to the movable part, while the inner ring of the slewing bearing 500 is used to be fixedly connected to the frame.

[0060] Figure 2 A bottom view of the automatic guided transport vehicle provided in this embodiment, Figure 3 This is a front view of the automatic guided transport vehicle provided in this embodiment.

[0061] like Figure 2 and Figure 3 As shown, this embodiment further provides an automatic guided transport vehicle, which includes a frame 020 and the above-mentioned driving mechanism 010 , and the driving mechanism 010 is installed on the frame 020 .

[0062] Specifically, in the automatic guided transport vehicle of this embodiment, Figure 2 As shown, the outer contour of the frame 020 when viewed from above is rectangular.

[0063] However, it should be noted that in other embodiments of the present application, the top view outer contour of the frame 020 is not limited to a rectangle. For example, the top view outer contour of the frame 020 can also be circular, etc. The user can set the shape of the top view outer contour of the frame 020 according to the shape of the specific goods to be transferred, and the present application does not impose specific restrictions on this.

[0064] Specifically, in the automatic guided transport vehicle of this embodiment, continue as follows Figure 2 As shown, there are four driving mechanisms 010 , and the four driving mechanisms 010 are all installed on the frame 020 and arranged in two rows and two columns.

[0065] It should be noted that, in other embodiments of the present embodiment, the number of drive mechanisms 010 of the automatic guided transport vehicle is not limited to four, but can also be other numbers. The user can set the specific number of drive mechanisms 010 according to the weight of the goods to be transferred. For example, the automatic guided transport vehicle with four drive mechanisms 010 in the present embodiment can transfer 20 tons of goods. When the weight of the goods to be transferred is 30 tons, six drive mechanisms 010 can be set, and the arrangement of the six drive mechanisms 010 can be three rows and two columns or in a circle, etc. The user can make specific settings according to the external contour of the frame 020 and the shape of the goods to be transferred. That is, the present application does not impose specific restrictions on the number of drive mechanisms 010 in the automatic guided transport vehicle, nor does it impose specific restrictions on the arrangement of multiple drive mechanisms 010.

[0066] More specifically, in this embodiment, the inner ring of the turntable bearing 500 of the driving mechanism 010 is fixedly connected to the rod sleeve 220 of the driving mechanism 010 , and the outer ring of the turntable bearing 500 of the driving mechanism 010 is fixedly connected to the frame 020 .

[0067] In summary, the implementation process of the walking, steering and lifting functions of the automated guided transport vehicle provided in this embodiment can be summarized as follows:

[0068] After the goods are loaded onto the frame 020, if the driving direction of the driving wheel 130 is different from the set direction, the control component drives the eight driving wheels 130 to rotate by controlling the eight motors 110 of the four driving mechanisms 010, so as to realize the rotation of the four driving mechanisms 010 relative to the frame 020 around the vertical direction, and the four encoders detect in real time whether the rotation angle of the four driving mechanisms 010 reaches the target angle; when the four driving mechanisms 010 all turn to the set direction, the control component controls the eight driving wheels 130 of the four driving mechanisms 010 to rotate in the same direction, thereby realizing the automatic guided transport vehicle to travel along the set direction.

[0069] When it is necessary to lift the cargo, the control component controls the piston rod of the hydraulic cylinder 230 to rise, and the piston rod drives the rod sleeve 220 and then drives the frame 020 and the cargo thereon to rise as a whole; when it is not necessary to lift the cargo, the control component controls the piston rod of the hydraulic cylinder 230 to descend, and the piston rod drives the rod sleeve 220 and then drives the frame 020 and the cargo thereon to descend as a whole.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A driving mechanism, characterized in that: Used in an automatic guided transport vehicle, the driving mechanism comprises a driving assembly (100) and a lifting assembly (200), the lifting assembly (200) comprises a fixed part and a movable part, the fixed part is connected to the driving assembly (100), and the movable part is used to be connected to a frame of the automatic guided transport vehicle; The driving assembly (100) comprises a motor (110), a reducer (120) and a driving wheel (130); the motor (110), the reducer (120) and the driving wheel (130) are provided in the same number and are multiple; the multiple driving wheels (130) are arranged side by side along the axis direction thereof; each of the motors (110) drives one of the driving wheels (130) separately through one of the reducers (120); The driving assembly (100) further comprises a mounting seat (140), the plurality of reducers (120) are fixedly arranged on the mounting seat (140), the fixing portion is hingedly connected to the mounting seat (140), the mounting seat (140) extends in a horizontal direction relative to a swing axis of the fixing portion and forms an angle greater than 0° and less than 90° with the axis of the driving wheel (130); The fixed part comprises a cylinder (210), the movable part comprises a rod sleeve (220), the lifting assembly (200) further comprises a driving member, the cylinder (210) is connected to the driving assembly (100), the rod sleeve (220) is used to be connected to the vehicle frame, and the driving member is used to drive the rod sleeve (220) to rise and fall in a vertical direction relative to the cylinder (210); The driving member comprises a hydraulic cylinder (230), a cylinder body of the hydraulic cylinder (230) is fixedly disposed in the cylinder barrel (210), and a piston rod of the hydraulic cylinder (230) is fixedly disposed in the rod sleeve (220); The driving mechanism further comprises a limiter (300) and an encoder assembly, wherein the limiter (300) is used to limit the rotation of the rod sleeve (220) around the vertical direction; the encoder assembly is fixedly arranged on the rod sleeve (220), and the encoder assembly is used to detect the rotation angle of the driving mechanism relative to the frame.

2. The driving mechanism according to claim 1, characterized in that: In the driving assembly (100), the number of each of the motor (110), the reducer (120) and the driving wheel (130) is two, the two motors (110) and the two reducers (120) are located between the two driving wheels (130), and the four are distributed in a horizontal plane.

3. The driving mechanism according to claim 1 or 2, characterized in that: The mounting seat (140) comprises a first mounting plate (141) and a hinge plate (142) fixedly arranged on the first mounting plate (141), and the fixing portion is hingedly connected to the hinge plate (142) via a rotating shaft (143).

4. The driving mechanism according to claim 1 or 2, characterized in that: The driving mechanism further comprises a turntable bearing (500), wherein the turntable bearing (500) comprises an inner ring and an outer ring, wherein one of the inner ring and the outer ring is fixedly connected to the movable part, and the other of the inner ring and the outer ring is used for fixedly connecting to the vehicle frame.

5. An automated guided transport vehicle, characterized in that: It comprises a vehicle frame (020) and a driving mechanism (010) according to any one of claims 1 to 4, wherein the driving mechanism (010) is mounted on the vehicle frame (020).

6. The automated guided vehicle according to claim 5, characterized in that: The number of the driving mechanisms (010) is four, and the four driving mechanisms (010) are all mounted on the vehicle frame (020) and arranged in two rows and two columns.

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