Driving universal trundle special for AGV automation and machining method of driving universal trundle

Abstract

The invention discloses a driving universal trundle special for AGV automation and a machining method of the driving universal trundle. The driving universal trundle comprises a mounting plate, and the top face of the mounting plate and the bottom face of an external AGV are fixedly mounted; the linkage mechanism fixedly penetrates through the bottom surface of the mounting plate, and a roller is rotationally arranged on one side of the linkage mechanism; the steering mechanism comprises a stabilizing seat, the bottom surface of the stabilizing seat is fixedly connected with the top surface of the mounting plate, a first servo motor is fixedly arranged on the top surface of the stabilizing seat, the output end of the first servo motor rotationally penetrates through the bottom surface of the mounting plate and is fixedly provided with a gear disc, and the gear disc is meshed with the linkage mechanism; and the control mechanism comprises a second servo motor, and a fixed seat is fixedly arranged on the top surface of the second servo motor. The driving universal caster special for AGV automation is convenient to install, can drive an AGV to automatically run, and is convenient to use, and the running direction of the universal caster can be flexibly adjusted.

Description

Technical Field

[0001] The invention relates to the technical field of AGV trolleys, and in particular to a special-purpose driving universal caster for AGV automation and a processing method thereof. Background Art

[0002] AGV, or automatic guided vehicle, is a transport vehicle equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guide path, with safety protection and various transfer functions. AGV belongs to the category of wheeled mobile robots, and is an unmanned intelligent vehicle that can realize functions such as loading, unloading, handling, and transportation through programming and remote control, and can work in a variety of environments. During work, universal casters that can automatically turn and travel are particularly important, and can drive the AGV to the target location.

[0003] The applicant has searched the existing universal casters for AGV trolleys and found that the common center-driven AGV chassis on the market is a chassis arrangement of dual drive plus four universal wheels. For example, the patent application number CN111873710B discloses a lockable universal wheel and AGV chassis, which includes a frame and a rotating shaft, which is rotatably connected to the frame and arranged in the vertical direction. The lower end of the frame is rotatably connected to a walking wheel, and the upper end is provided with a quadrangular prism structure; two clamping blocks are arranged side by side, and the upper end of the rotating shaft is located between the two clamping blocks. A triangular limiting groove compatible with the quadrangular prism structure is provided on the side of the clamping block close to the rotating shaft, and the two triangular limiting grooves are arranged opposite to each other; and a locking power mechanism, which is connected to the two clamping blocks and can drive the two clamping blocks to move toward each other to clamp the quadrangular prism structure. The lockable universal wheel provided by the mechanism can switch between a directional state and a non-directional state, and has high versatility.

[0004] However, during use, the driving direction of the universal wheel needs to be adjusted in a locked state. When the universal wheel is in operation, frequent changes in the state of the universal wheel will easily damage the universal wheel, and the driving direction of the universal wheel is not flexible and inconvenient to use.

[0005] Therefore, in view of the above problems, it is necessary for the applicant to design a AGV automation-specific drive universal caster to solve the problem. Summary of the invention

[0006] The object of the present invention is to provide a universal caster specially driven for AGV automation and a processing method thereof, so as to solve the problems raised by the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions: a universal caster specially driven for AGV automation and a processing method thereof, comprising a mounting plate, and the top surface of the mounting plate is fixedly mounted to the bottom surface of an external AGV trolley;

[0008] Also includes:

[0009] A linkage mechanism is fixedly provided on the bottom surface of the mounting plate, and a roller is rotatably provided on one side of the linkage mechanism;

[0010] A steering mechanism, wherein the steering mechanism comprises a stabilizing seat, and the bottom surface of the stabilizing seat is fixedly connected to the top surface of the mounting plate, a first servo motor is fixedly arranged on the top surface of the stabilizing seat, an output end of the first servo motor rotates through the bottom surface of the mounting plate and is fixedly arranged with a gear plate, and the gear plate is meshed with the linkage mechanism;

[0011] The control mechanism includes a second servo motor, and a fixing seat is fixedly arranged on the top surface of the second servo motor.

[0012] Preferably, the linkage mechanism includes a fixed block, and the fixed block is embedded in the bottom side of the mounting plate, a connecting block is fixedly provided on the bottom surface of the fixed block, and a connecting disk is fixedly provided on the bottom surface of the connecting block, a fixing plate is fixedly provided on the bottom surface of the connecting disk, and a ball bearing is fixedly provided on the bottom surface of the fixing plate, a linkage gear is fixedly provided on the outer surface of the ball bearing, and the linkage gear and the gear disk are meshed with each other.

[0013] Preferably, a connecting piece is fixedly provided on the bottom surface of the ball bearing, a mounting piece is provided on the bottom surface of the connecting piece, and the mounting piece is rotatably connected to the roller.

[0014] Preferably, a connecting column is fixedly provided on the top surface of the fixed seat, and a slider is fixedly provided on the end of the connecting column away from the fixed seat, a connecting rod is fixedly provided on the outer surface of the slider, and the end of the connecting rod away from the slider is fixedly connected to the outer surface of the linkage mechanism.

[0015] Preferably, a guide rail is fixedly provided on the bottom surface of the mounting plate, and the inner surface of the guide rail is slidably connected to the outer surface of the slider, and the slider and the ball bearing rotate in the same circle.

[0016] Preferably, the output end of the second servo motor is integrally connected to a main shaft, and an end of the main shaft away from the second servo motor is fixedly connected to a rotating wheel, an outer surface of the rotating wheel is coupled to a belt, and an inner surface of the belt is coupled to a linkage wheel, an extension column is fixedly provided on one side of the linkage wheel, and one side of the extension column is fixedly connected to one side of the roller.

[0017] A method for processing a universal caster specially driven for AGV automation, the steps of which are as follows:

[0018] S1. During processing, connect the linkage mechanism to the mounting plate through screws, and snap the control mechanism into the guide rail;

[0019] S2. After the linkage mechanism and the control mechanism are installed, the stabilizing seat provided with the first servo motor is installed on the mounting plate by screws, and the gear plate and the linkage mechanism are meshed with each other. After the stabilizing seat is installed, the mounting plate is firmly installed on the bottom side of the AGV trolley by screws;

[0020] S3. When in use, start the second servo motor, the second servo motor will drive the main shaft to rotate, the rotation of the main shaft will drive the rotating wheel to rotate, the rotation of the rotating wheel will use the belt to drive the linkage wheel to rotate, the rotation of the linkage wheel will drive the roller to rotate, so as to drive the AGV trolley to move, which is convenient to use;

[0021] S4. When it is necessary to adjust the moving angle of the AGV trolley, start the first servo motor, which will drive the gear plate to rotate. The rotation of the gear plate will drive the linkage gear to rotate. The rotation of the linkage gear will drive the connecting piece to rotate. The rotation of the connecting piece will drive the mounting piece to rotate. The rotation of the mounting piece will drive the roller to rotate, which will facilitate the adjustment of the movement direction of the roller, thereby adjusting the moving angle of the AGV trolley. It is easy to use.

[0022] Compared with the prior art, the beneficial effects of the present invention are: the AGV automation dedicated driving universal caster is easy to install, can drive the AGV trolley to travel automatically, and the universal caster is convenient for flexibly adjusting the travel direction and is easy to use. The specific contents are as follows;

[0023] 1. A linkage mechanism and a control mechanism are set. When in use, start the second servo motor, the second servo motor will drive the main shaft to rotate, the rotation of the main shaft will drive the rotating wheel to rotate, the rotation of the rotating wheel will use the belt to drive the linkage wheel to rotate, the rotation of the linkage wheel will drive the roller to rotate, so as to facilitate the automatic movement of the AGV trolley, which is easy to use.

[0024] 2. A linkage mechanism and a steering mechanism are provided. When the moving angle of the AGV trolley needs to be adjusted, the first servo motor is started, and the first servo motor will drive the gear plate to rotate. The rotation of the gear plate is convenient for driving the linkage gear to rotate. The rotation of the linkage gear is convenient for driving the connecting piece to rotate. The rotation of the connecting piece is convenient for driving the mounting piece to rotate. The rotation of the mounting piece is convenient for driving the roller to rotate, which will facilitate the adjustment of the movement direction of the roller, thereby adjusting the moving angle of the AGV trolley. It is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the meshing connection structure of the linkage mechanism and the steering mechanism of the present invention;

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the linkage mechanism of the present invention;

[0028] Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle;

[0029] Figure 5 It is a schematic diagram of the three-dimensional structure of the steering mechanism of the present invention;

[0030] Figure 6 It is a schematic diagram of the three-dimensional structure of the control mechanism of the present invention.

[0031] In the figure: 1. mounting plate; 2. linkage mechanism; 3. steering mechanism; 4. control mechanism; 10. roller; 11. guide rail; 20. fixing block; 21. connecting block; 22. connecting plate; 23. fixing plate; 24. ball bearing; 25. linkage gear; 26. connecting piece; 27. mounting piece; 30. stabilizing seat; 31. first servo motor; 32. gear plate; 40. second servo motor; 41. fixing seat; 42. connecting column; 43. slider; 44. main shaft; 45. rotating wheel; 46. belt; 47. linkage wheel; 48. extension column; 49. connecting rod. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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] See also Figure 1-6 The present invention provides a technical solution: a universal caster specially driven for AGV automation and a processing method thereof, comprising a mounting plate (1), wherein the top surface of the mounting plate (1) is fixedly mounted to the bottom surface of an external AGV trolley;

[0034] It also includes: a linkage mechanism 2, which is fixed and passes through the bottom surface of the mounting plate 1, a roller 10 is rotatably arranged on one side of the linkage mechanism 2, the linkage mechanism 2 includes a fixed block 20, and the fixed block 20 is embedded in the bottom side of the mounting plate 1, a connecting block 21 is fixedly arranged on the bottom surface of the fixed block 20, and a connecting disk 22 is fixedly arranged on the bottom surface of the connecting block 21, a fixing plate 23 is fixedly arranged on the bottom surface of the connecting disk 22, and a ball bearing 24 is fixedly arranged on the bottom surface of the fixing plate 23, a linkage gear 25 is fixedly arranged on the outer surface of the ball bearing 24, and the linkage gear 25 and the gear disk 32 are meshed with each other, a connecting member 26 is fixedly arranged on the bottom surface of the ball bearing 24, a mounting member 27 is arranged on the bottom surface of the connecting member 26, and the mounting member 27 is rotatably connected to the roller 10.

[0035] The control mechanism 4 includes a second servo motor 40, and a fixing seat 41 is fixedly provided on the top surface of the second servo motor 40, a connecting column 42 is fixedly provided on the top surface of the fixing seat 41, and a slider 43 is fixedly provided on the end of the connecting column 42 away from the fixing seat 41, a connecting rod 49 is fixedly provided on the outer surface of the slider 43, and the end of the connecting rod 49 away from the slider 43 is fixedly connected to the outer surface of the linkage mechanism 2, a guide rail 11 is fixedly provided on the bottom surface of the mounting plate 1, and the inner surface of the guide rail 11 is slidably connected to the outer surface of the slider 43, the slider 43 and the ball bearing 24 rotate in the same circle, the output end of the second servo motor 40 is integrally connected with a main shaft 44, and the end of the main shaft 44 away from the second servo motor 40 is fixedly connected with a rotating wheel 45, the outer surface of the rotating wheel 45 is coupled with a belt 46, and the inner surface of the belt 46 is coupled with a linkage wheel 47, an extension column 48 is fixedly provided on one side of the linkage wheel 47, and one side of the extension column 48 is fixedly connected to one side of the roller 10.

[0036] The steering mechanism 3 includes a stabilizing seat 30, and the bottom surface of the stabilizing seat 30 is fixedly connected to the top surface of the mounting plate 1, and a first servo motor 31 is fixedly arranged on the top surface of the stabilizing seat 30. The output end of the first servo motor 31 rotates through the bottom surface of the mounting plate 1 and is fixedly arranged with a gear plate 32, and the gear plate 32 is meshed with the linkage mechanism 2.

[0037] Through the above structural design, when in use, the second servo motor 40 is started, the second servo motor 40 will drive the main shaft 44 to rotate, the rotation of the main shaft 44 will drive the rotating wheel 45 to rotate, the rotation of the rotating wheel 45 will use the belt 46 to drive the interlocking wheel 47 to rotate, the rotation of the interlocking wheel 47 will drive the roller 10 to rotate, and when the moving angle of the AGV trolley needs to be adjusted, the first servo motor 31 is started, the first servo motor 31 will drive the gear plate 32 to rotate, the rotation of the gear plate 32 is convenient to drive the interlocking gear 25 to rotate, the rotation of the interlocking gear 25 is convenient to drive the connecting member 26 to rotate, the rotation of the connecting member 26 is convenient to drive the mounting member 27 to rotate, the rotation of the mounting member 27 is convenient to drive the roller 10 to rotate, it will be convenient to adjust the movement direction of the roller 10, thereby adjusting the moving angle of the AGV trolley, and it is easy to use.

[0038] A method for processing a universal caster specially driven for AGV automation, the steps of which are as follows:

[0039] S1. During processing, the linkage mechanism 2 is connected to the mounting plate 1 by screws, and the control mechanism 4 is engaged with the guide rail 11;

[0040] S2. After the linkage mechanism 2 and the control mechanism 4 are installed, the stabilizing seat 30 provided with the first servo motor 31 is installed on the mounting plate 1 by screws, and the gear plate 32 is meshed with the linkage mechanism 2. After the stabilizing seat 30 is installed, the mounting plate 1 is firmly installed on the bottom side of the AGV trolley by screws;

[0041] S3. When in use, start the second servo motor 40, the second servo motor 40 will drive the main shaft 44 to rotate, the rotation of the main shaft 44 will drive the rotating wheel 45 to rotate, the rotation of the rotating wheel 45 will use the belt 46 to drive the linkage wheel 47 to rotate, the rotation of the linkage wheel 47 will drive the roller 10 to rotate, so as to facilitate the movement of the AGV trolley, which is convenient to use;

[0042] S4. When it is necessary to adjust the moving angle of the AGV trolley, start the first servo motor 31. The first servo motor 31 will drive the gear plate 32 to rotate. The rotation of the gear plate 32 is convenient for driving the linkage gear 25 to rotate. The rotation of the linkage gear 25 is convenient for driving the connecting member 26 to rotate. The rotation of the connecting member 26 is convenient for driving the mounting member 27 to rotate. The rotation of the mounting member 27 is convenient for driving the roller 10 to rotate, which will facilitate the adjustment of the movement direction of the roller 10, thereby adjusting the moving angle of the AGV trolley, and is easy to use.

[0043] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0044] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A universal caster specially driven for AGV automation, comprising a mounting plate (1), wherein the top surface of the mounting plate (1) is fixedly mounted to the bottom surface of an external AGV trolley; It is characterized in that Also includes: A linkage mechanism (2) is fixedly connected to and passes through the bottom surface of the mounting plate (1), and a roller (10) is rotatably provided on one side of the linkage mechanism (2); A steering mechanism (3), the steering mechanism (3) comprising a stabilizing seat (30), wherein the bottom surface of the stabilizing seat (30) is fixedly connected to the top surface of the mounting plate (1), a first servo motor (31) is fixedly arranged on the top surface of the stabilizing seat (30), an output end of the first servo motor (31) rotates through the bottom surface of the mounting plate (1) and is fixedly arranged with a gear plate (32), and the gear plate (32) is meshed with the linkage mechanism (2); A control mechanism (4), wherein the control mechanism (4) comprises a second servo motor (40), and a fixing seat (41) is fixedly arranged on the top surface of the second servo motor (40).

2. The AGV automation dedicated drive universal caster according to claim 1, characterized in that: The linkage mechanism (2) comprises a fixed block (20), and the fixed block (20) is embedded in the bottom side of the mounting plate (1), a connecting block (21) is fixedly arranged on the bottom surface of the fixed block (20), and a connecting disk (22) is fixedly arranged on the bottom surface of the connecting block (21), a fixing plate (23) is fixedly arranged on the bottom surface of the connecting disk (22), and a ball bearing (24) is fixedly arranged on the bottom surface of the fixing plate (23), a linkage gear (25) is fixedly arranged on the outer surface of the ball bearing (24), and the linkage gear (25) and the gear disk (32) are meshed with each other.

3. The AGV automation dedicated drive universal caster according to claim 2, characterized in that: A connecting piece (26) is fixedly arranged on the bottom surface of the ball bearing (24), a mounting piece (27) is arranged on the bottom surface of the connecting piece (26), and the mounting piece (27) is rotatably connected to the roller (10).

4. The AGV automation dedicated drive universal caster according to claim 1, characterized in that: A connecting column (42) is fixedly provided on the top surface of the fixing seat (41), and a slider (43) is fixedly provided on one end of the connecting column (42) away from the fixing seat (41), a connecting rod (49) is fixedly provided on the outer surface of the slider (43), and one end of the connecting rod (49) away from the slider (43) is fixedly connected to the outer surface of the linkage mechanism (2).

5. The AGV automation dedicated drive universal caster according to claim 4, characterized in that: A guide rail (11) is fixedly arranged on the bottom surface of the mounting plate (1), and the inner surface of the guide rail (11) is slidably connected to the outer surface of the slider (43), and the slider (43) and the ball bearing (24) rotate in the same circle.

6. The AGV automation dedicated drive universal caster according to claim 5, characterized in that: The output end of the second servo motor (40) is integrally connected to a main shaft (44), and one end of the main shaft (44) away from the second servo motor (40) is fixedly connected to a rotating wheel (45), the outer surface of the rotating wheel (45) is coupled to a belt (46), and the inner surface of the belt (46) is coupled to a linkage wheel (47), an extension column (48) is fixedly provided on one side of the linkage wheel (47), and one side of the extension column (48) is fixedly connected to one side of the roller (10).

7. The method for processing a universal caster specially driven for AGV automation according to claim 1, characterized in that: The specific steps are: S1. During processing, the linkage mechanism (2) is connected to the mounting plate (1) by screws, and the control mechanism (4) is snapped into the guide rail (11); S2. After the linkage mechanism (2) and the control mechanism (4) are installed, a stabilizing seat (30) provided with a first servo motor (31) is installed on the mounting plate (1) by means of screws, and the gear plate (32) and the linkage mechanism (2) are meshed with each other. After the stabilizing seat (30) is installed, the mounting plate (1) is firmly installed on the bottom side of the AGV trolley by means of screws; S3. When in use, the second servo motor (40) is started, and the second servo motor (40) drives the main shaft (44) to rotate. The rotation of the main shaft (44) drives the rotating wheel (45) to rotate. The rotation of the rotating wheel (45) drives the linkage wheel (47) to rotate by means of the belt (46). The rotation of the linkage wheel (47) drives the roller (10) to rotate, thereby facilitating the movement of the AGV trolley, which is convenient to use. S4. When it is necessary to adjust the moving angle of the AGV trolley, start the first servo motor (31). The first servo motor (31) will drive the gear plate (32) to rotate. The rotation of the gear plate (32) is convenient for driving the linkage gear (25) to rotate. The rotation of the linkage gear (25) is convenient for driving the connecting member (26) to rotate. The rotation of the connecting member (26) is convenient for driving the mounting member (27) to rotate. The rotation of the mounting member (27) is convenient for driving the roller (10) to rotate, which will facilitate the adjustment of the movement direction of the roller (10), thereby adjusting the moving angle of the AGV trolley. The use is convenient.

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