Submersible automated guided vehicle

Abstract

The invention relates to the technical field of submerged automated guided vehicles, in particular to a submerged automated guided vehicle which comprises a base, two pairs of mounting grooves are symmetrically formed in the two ends of the base, a moving assembly is mounted in each mounting groove in a limiting mode, and a buffer assembly is arranged in each mounting groove. An auxiliary assembly is further arranged at the lower end of the base. The buffer assembly is arranged on the upper portion of the mounting groove, when the device is bumpy during transportation and movement, a buffer spring can be compressed, recovered, absorb and disperse external force, stored energy is released, and unnecessary vibration is reduced; a rotating motor drives a threaded rod to rotate, under meshing of two toothed plates and a gear, a clamping block is separated from a clamping groove, a mounting block and a moving wheel are convenient to disassemble, when the rotating motor stops, the threaded rod can freely rotate, in the process that the mounting block is upwards mounted into the mounting groove, the clamping block and the clamping groove can be automatically clamped, operation is simple, and the practicability is high. And manpower is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of submersible automatic guided transporters, and in particular to a submersible automatic guided transporter. Background Art

[0002] As an important part of modern intelligent logistics and automation systems, submersible automated guided vehicles (AGVs) play a role in improving transportation efficiency, reducing manual intervention, reducing costs, improving safety and flexibility, etc. With the development of technology, AGVs will be more and more widely used in various industries, especially in efficient, accurate and safe automated material handling systems, submersible AGVs will continue to play an indispensable role.

[0003] The lower end of the submersible automatic guided vehicle is provided with moving wheels. The prior art lacks a buffer device for the moving wheels. During the operation of the AGV, especially when transporting goods, turning, accelerating or decelerating, vibrations or impacts of varying degrees may occur. These impact forces will be directly transmitted to the chassis, tires and carried goods of the vehicle, which may cause damage to the equipment or damage to the goods. In addition, tires, as key moving parts, bear the entire weight of the vehicle and directly affect its movement performance and service life. Damaged or worn tires will increase the risk of AGV failure or accidents, and the existing tire replacement operation for AGV is cumbersome and labor-intensive. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a submersible automated guided vehicle, which can effectively solve the problems of the prior art lacking a buffer device for the moving wheels and the troublesome operation of replacing the worn or damaged tires of the AGV.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: The present invention provides a submersible automatic guided vehicle, comprising a base, two pairs of mounting grooves are symmetrically provided at both ends of the base, a moving component is limitedly installed in each mounting groove, a buffer component is provided in each mounting groove, and an auxiliary component is also provided at the lower end of the base; The moving assembly includes a mounting block, a rotating groove is provided on the mounting block, a moving wheel is rotatably installed in the rotating groove, two clamping grooves are symmetrically provided at both ends of the mounting block, and two limit assemblies cooperating with the clamping grooves are symmetrically arranged in the base; The limit assembly includes two sliding grooves symmetrically opened at the end of the base with respect to the mounting groove, a through groove is opened in the base between the mounting groove and the sliding groove, the sliding groove and the through groove are slidably connected to a clamping block engaged with the clamping groove, and a plurality of limit springs are fixedly connected between the clamping block and the sliding groove; The buffer assembly includes a plurality of special-shaped grooves in the base and connected to the mounting grooves. The special-shaped grooves are limitedly and slidably connected with special-shaped blocks. One end of the special-shaped block away from the special-shaped grooves is fixedly connected with a buffer plate. A plurality of buffer springs are fixedly connected between the buffer plate and the mounting grooves.

[0006] According to the above-mentioned submersible automatic guided vehicle, the base is provided with a positioning groove connected to the mounting groove, and one end of the mounting block away from the moving wheel is fixedly connected to a positioning block slidably connected to the positioning groove.

[0007] According to the above-mentioned submersible automatic guided vehicle, the width of the positioning block at the end away from the mounting block is greater than the width at the end close to the mounting block, and the shape of the positioning groove is adapted to the shape of the positioning block.

[0008] According to the above-mentioned submersible automatic guided vehicle, the opposite ends of the two blocks are fixedly connected to a plurality of guide rods, a plurality of cylindrical grooves slidably connected to the guide rods are opened in the base, and the plurality of cylindrical grooves are connected to the sliding grooves, and the plurality of limit springs are sleeved on the outer sides of the guide rods.

[0009] According to the above-mentioned submersible automatic guided vehicle, a plurality of the clamping blocks are provided with oblique corners at one end close to the installation groove.

[0010] According to the above-mentioned submersible automatic guided vehicle, when the clamping block abuts against the clamping slot, the clamping block abuts against the inner top wall of the clamping slot, and the vertical width of the clamping slot is greater than the vertical width of the clamping block.

[0011] According to the above-mentioned submersible automatic guided vehicle, the width of the special-shaped block at one end close to the buffer plate is smaller than the width at one end away from the buffer plate, and the shape of the special-shaped groove is adapted to the shape of the special-shaped block.

[0012] According to the above-mentioned submersible automatic guided vehicle, the auxiliary component includes a groove opened at the lower end of the base, two tooth plates are slidably connected in the groove, the top wall of the groove is rotatably connected to a gear meshing with the two tooth plates, the opposite ends of the two blocking blocks are fixedly connected to a sliding rod, the base is also provided with two transverse grooves symmetrical about the installation groove, and the sliding rod is slidably connected to the transverse grooves, the opposite ends of the two tooth plates are fixedly connected to a connecting plate, and the two connecting plates are respectively fixedly connected to the two sliding rods, and a rotating motor is fixedly installed in the groove, the rotating motor adopts a one-way motor with a free wheel or a one-way clutch motor, the output end of the rotating motor is fixedly connected to a threaded rod, the rod body of the threaded rod is threadedly sleeved with a threaded sleeve block, the threaded sleeve block is fixedly connected to one of the tooth plates, and the threaded sleeve block is slidingly connected to the inner top wall of the groove.

[0013] According to the above-mentioned submersible automatic guided vehicle, two limit grooves connected to the upper side of the groove are provided in the base, and the upper ends of the two tooth plates are fixedly connected with limit blocks slidably connected to the limit grooves. The limit grooves are arranged to be wide at the top and narrow at the bottom, and the shape of the limit blocks is adapted to the shape of the limit grooves.

[0014] Compared with the known prior art, the technical solution provided by the present invention has the following beneficial effects: 1. The present invention arranges a buffer assembly on the upper part of the installation groove. When the device is bumped during transportation and movement, the buffer spring will be compressed, and each coil of the spring will be gradually squeezed and become tighter. The energy of the external force is consumed during the deformation of the buffer spring to absorb and disperse the external force. When the external force is released, the buffer spring will return to its original shape and release the stored energy through elastic rebound. The recovery process can also further stabilize the base, reduce unnecessary vibration, and protect equipment and goods.

[0015] 2. The present invention drives the threaded rod to rotate by a rotating motor, and the two tooth plates are engaged with the gear, so that the clamping block is disengaged from the clamping slot, which is convenient for disassembling the mounting block and the moving wheel. When the rotating motor stops, the threaded rod can rotate freely. During the process of installing the mounting block upward into the mounting slot, the clamping block and the clamping slot can be automatically engaged, and the threaded sleeve moves and resets on the rotating threaded rod. The operation is simple and manpower is saved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 for Figure 1 A schematic diagram of the structure of the lower end of the middle base; Figure 3 for Figure 1 The enlarged structural diagram of part A in the middle; Figure 4 for Figure 1 The enlarged structural diagram of part B in the middle; Figure 5 for Figure 2 The enlarged structural diagram of part C in the middle; Figure 6 for Figure 1 Schematic diagram of the structure of the installation block.

[0018] Figure numerals: 1, base; 2, mounting groove; 3, positioning groove; 4, mounting block; 5, positioning block; 6, moving wheel; 7, clamping groove; 8, sliding groove; 9, through groove; 10, clamping block; 11, limiting spring; 12, guide rod; 13, buffer plate; 14, buffer spring; 15, special-shaped groove; 16, special-shaped block; 17, groove; 18, tooth plate; 19, gear; 20, limiting groove; 21, connecting plate; 22, sliding rod; 23, rotating motor; 24, threaded rod; 25, threaded sleeve block. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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. 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.

[0020] The present invention will be further described below in conjunction with the embodiments.

[0021] Example: Refer to Figures 1 to 6 A submersible automatic guided vehicle comprises a base 1, two pairs of mounting grooves 2 are symmetrically provided at both ends of the base 1, and a moving component is limitedly installed in each mounting groove 2. Specifically, the moving component comprises a mounting block 4, and the base 1 is provided with a positioning groove 3 connected with the mounting groove 2. The end of the mounting block 4 away from the moving wheel 6 is fixedly connected with a positioning block 5 slidably connected with the positioning groove 3. By setting the positioning block 5 to slide with the positioning groove 3 on the base 1, it is convenient to position and install the mounting block 4, that is, to position and install the moving wheel 6.

[0022] A rotating groove is provided on the mounting block 4, and a moving wheel 6 is rotatably mounted in the rotating groove. The width of the positioning block 5 at one end away from the mounting block 4 is greater than the width at one end close to the mounting block 4, and the shape of the positioning groove 3 is adapted to the shape of the positioning block 5. The positioning groove 3 is narrow outside and wide inside, which can limit the positioning block 5, that is, limit the moving wheel 6 in the horizontal direction, thereby ensuring the stability of the installation of the moving wheel 6.

[0023] Two card slots 7 are symmetrically provided at both ends of the mounting block 4, and two limit assemblies cooperating with the card slots 7 are symmetrically arranged in the base 1. Specifically, the limit assemblies include two sliding slots 8 symmetrically provided at the end of the base 1 about the mounting slot 2, and a through slot 9 is provided between the mounting slot 2 and the sliding slot 8 in the base 1. The sliding slot 8 and the through slot 9 are slidably connected together with a card block 10 cooperating with the card slot 7. Multiple card blocks 10 are provided with oblique corners at one end close to the mounting slot 2. The oblique corners are provided by the card blocks 10, so that when the mounting block 4 is slidably installed into the mounting slot 2, the card block 10 can be easily engaged with the card slot 7 by itself, thereby completing the limited installation of the movable wheel 6, and the operation is simple.

[0024] When the block 10 abuts against the slot 7, the block 10 abuts against the inner top wall of the slot 7, and the vertical width of the slot 7 is greater than the vertical width of the block 10. The cavity between the block 10 and the inner bottom wall of the slot 7 is the buffer activity cavity when the installation block 4 buffers.

[0025] A plurality of limit springs 11 are fixedly connected between the block 10 and the sliding groove 8. The limit springs 11 are always in a compressed state, but the limit springs 11 are never in a state of extreme compression. The limit springs 11 are always in a compressed state to maintain a certain rigidity, so that the vehicle base has a certain stability, and will quickly return to its original state after being compressed, so it can restore the position of the base 1 in a relatively short time, can withstand a large load without excessive fatigue, has good long-term stability and durability, and can maintain a longer service life when facing continuous vibration or pressure, and is not prone to plastic deformation or damage, so it can improve the stability of the system to a certain extent and reduce the number of times the spring needs to be replaced frequently.

[0026] The opposite ends of the two blocks 10 are fixedly connected with multiple guide rods 12, and the base 1 is provided with multiple cylindrical grooves slidably connected to the guide rods 12, and the multiple cylindrical grooves are connected to the sliding grooves 8. Multiple limit springs 11 are all sleeved on the outside of the guide rods 12. The addition of guide rods 12 can provide guidance for the movement of the blocks 10. Sleeving the limit springs 11 on the outside of the guide rods 12 can effectively avoid the situation where the limit springs 11 are prone to elastic deformation, thereby increasing the service life of the limit springs 11.

[0027] A buffer assembly is provided in each mounting groove 2. Specifically, the buffer assembly includes a plurality of special-shaped grooves 15 opened in the base 1 and connected to the mounting groove 2. The special-shaped grooves 15 are limitedly and slidably connected with special-shaped blocks 16. The width of the special-shaped block 16 at one end close to the buffer plate 13 is smaller than the width at the end away from the buffer plate 13, and the shape of the special-shaped groove 15 is adapted to the shape of the special-shaped block 16. The special-shaped groove 15 limits the special-shaped block 16 to prevent the special-shaped block 16 from detaching from the special-shaped groove 15, that is, the buffer plate 13 is limited to prevent the buffer plate 13 from detaching from the mounting groove 2.

[0028] One end of the special-shaped block 16 away from the special-shaped groove 15 is fixedly connected with a buffer plate 13, and a plurality of buffer springs 14 are fixedly connected between the buffer plate 13 and the mounting groove 2. During the buffering process, the most direct reaction of the buffer spring 14 is compression or extension. When an external impact force is applied to the device, the buffer spring 14 will be compressed, and each coil of the spring will gradually be squeezed and become tighter. The energy of the external force is consumed during the deformation of the buffer spring 14 to absorb and disperse the external force. When the external force is released, the buffer spring 14 will return to its original shape. This process is an important part of the buffer spring 14. It releases the stored energy through elastic rebound. The recovery process can also further stabilize the base 1 and reduce unnecessary vibration.

[0029] The lower end of the base 1 is also provided with an auxiliary component. Specifically, the auxiliary component includes a groove 17 opened at the lower end of the base 1, and two tooth plates 18 are slidably connected in the groove 17. The top wall in the groove 17 is rotatably connected to a gear 19 meshing with the two tooth plates 18. The opposite ends of the two blocks 10 are fixedly connected with sliding rods 22. Two transverse grooves symmetrical about the mounting groove 2 are also opened in the base 1, and the sliding rods 22 are slidably connected to the transverse grooves. The opposite ends of the two tooth plates 18 are fixedly connected with connecting plates 21, and the two connecting plates 21 are respectively fixedly connected to the two sliding rods 22. A rotating motor 23 is fixedly installed in the groove 17. The rotating motor 23 adopts a one-way motor with a free wheel or a one-way clutch motor. The one-way motor with the free wheel can use a common motor to drive the shaft, and add a one-way clutch (One-Way Clutch) or a one-way bearing (One-Way Bearing) in the system. Bearing), when the motor is driven, the one-way clutch or one-way bearing will lock the direction of the shaft, so that the motor can only provide power in one direction. When the motor stops or reverses direction, the clutch will unlock and allow the shaft to rotate freely in the opposite direction. The one-way clutch motor contains a one-way clutch inside. When the motor is powered in the forward direction, the torque of the motor rotor is transmitted to the shaft through the one-way clutch, causing the shaft to rotate in the forward direction. When the motor is powered in the reverse direction, the one-way clutch will automatically disengage, cutting off the power transmission between the motor and the shaft. At this time, the shaft can rotate freely under the action of external loads or other forces without being restricted by the motor.

[0030] The common feature of the one-way motor combined with the free wheel or one-way clutch motor is that the motor can only provide power normally in one direction. When the motor stops, the shaft is allowed to rotate freely in the opposite direction. When the moving wheel 6 is disassembled, the rotating motor 23 drives the threaded rod 24 to rotate. Under the engagement of the two tooth plates 18 and the gear 19, the two tooth plates 18 slide back to back, so that the block 10 is disengaged from the slot 7, which is convenient for disassembling the moving wheel 6. When the rotating motor 23 stops, the shaft is allowed to rotate freely in the opposite direction, which is convenient for the installation of the mounting block 4 in the mounting slot 2. During installation, the block 10 can slide into the sliding slot 8 by itself under the abutment of the mounting block 4, and multiple limit springs 11 are compressed. When the mounting block 4 moves to a certain position, that is, the positioning block 5 on the mounting block 4 abuts against the inner top wall of the positioning slot 3, under the elastic force of multiple limit springs 11, the block 10 pops out by itself and engages with the slot 7 on the mounting block 4, completing the installation, and the operation is simple.

[0031] The output end of the rotating motor 23 is fixedly connected to a threaded rod 24, and the rod body of the threaded rod 24 is threadedly sleeved with a threaded sleeve block 25. The threaded sleeve block 25 is fixedly connected to one of the tooth plates 18, and the threaded sleeve block 25 is slidably connected to the inner top wall of the groove 17, ensuring that when the threaded rod 24 rotates, it can drive the threaded sleeve 25 to slide horizontally on the rod body of the threaded rod 24.

[0032] Two limit grooves 20 connected to the upper side of the groove 17 are provided in the base 1. The upper ends of the two tooth plates 18 are fixedly connected with limit blocks slidably connected to the limit grooves 20. The limit grooves 20 are wide at the top and narrow at the bottom, and the shape of the limit blocks is adapted to the shape of the limit grooves 20. The setting of the limit grooves 20 being wide at the top and narrow at the bottom can limit the limit blocks, that is, limit the two tooth plates 18, prevent the two tooth plates 18 from being separated from the grooves 17, and ensure the stability of the engagement between the two tooth plates 18 and the gears 19.

[0033] The specific working principle of the present invention is: By arranging a buffer assembly on the upper part of the installation groove 2, when the device is bumped during transportation and movement, the buffer spring 14 will be compressed, and each coil of the spring will be gradually squeezed and become tighter. The energy of the external force is consumed during the deformation of the buffer spring 14 to absorb and disperse the external force. When the external force is removed, the buffer spring 14 will return to its original shape and release the stored energy through elastic rebound. The recovery process can also further stabilize the base 1 and reduce unnecessary vibration. When the moving wheel 6 is seriously worn or needs to be replaced in other situations, the vehicle base 1 is first lifted using the equipment, and then the rotating motor 23 drives the threaded rod 24 to rotate. Under the meshing of the two tooth plates 18 and the gear 19, the two tooth plates 18 slide back to back, so that the block 10 is disengaged from the slot 7, which is convenient for disassembling the mounting block 4 and the moving wheel 6. During installation, the positioning block 5 on the mounting block 4 is slid upward along the positioning slot 3 on the base 1, and the block 10 can slide into the sliding slot 8 by itself under the abutment of the mounting block 4, multiple limit springs 11 are compressed, the mounting block 4 is pushed upward, and the top of the mounting block 4 pushes the buffer plate 13, driving the buffer plate 13 to move upward, and a part of the multiple buffer springs 14 are compressed. When the mounting block 4 moves to a certain position, that is, the positioning block 5 on the mounting block 4 abuts against the inner top wall of the positioning slot 3, under the elastic force of multiple limit springs 11, the block 10 pops out by itself and engages with the slot 7 on the mounting block 4, completing the installation, and the operation is simple.

[0034] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A submersible automatic guided vehicle, characterized in that: The base (1) comprises two pairs of mounting grooves (2) symmetrically formed at both ends of the base (1), a movable component being installed in a limited position in each of the mounting grooves (2), a buffer component being arranged in each of the mounting grooves (2), and an auxiliary component being arranged at the lower end of the base (1); The moving assembly comprises a mounting block (4), the mounting block (4) being provided with a rotation groove, a moving wheel (6) being rotatably mounted in the rotation groove, two clamping grooves (7) being symmetrically provided at both ends of the mounting block (4), and two limit assemblies cooperating with the clamping grooves (7) being symmetrically arranged in the base (1); The limit assembly comprises two sliding grooves (8) symmetrically formed at the end of the base (1) with respect to the mounting groove (2); a through groove (9) is formed in the base (1) between the mounting groove (2) and the sliding groove (8); a clamping block (10) that is engaged with the clamping groove (7) is slidably connected to the sliding groove (8) and the through groove (9); and a plurality of limit springs (11) are fixedly connected between the clamping block (10) and the sliding groove (8); The buffer assembly comprises a plurality of special-shaped grooves (15) provided in the base (1) and communicating with the mounting groove (2); the special-shaped grooves (15) are limitedly slidably connected to special-shaped blocks (16); one end of the special-shaped block (16) away from the special-shaped grooves (15) is fixedly connected to a buffer plate (13); and a plurality of buffer springs (14) are fixedly connected between the buffer plate (13) and the mounting groove (2).

2. The submersible automatic guided vehicle according to claim 1, characterized in that: The base (1) is provided with a positioning groove (3) communicating with the mounting groove (2), and one end of the mounting block (4) away from the moving wheel (6) is fixedly connected with a positioning block (5) slidably connected with the positioning groove (3).

3. The submersible automatic guided vehicle according to claim 2, characterized in that: The width of the positioning block (5) at one end away from the mounting block (4) is greater than the width of the end close to the mounting block (4), and the shape of the positioning groove (3) is adapted to the shape of the positioning block (5).

4. The submersible automatic guided vehicle according to claim 1, characterized in that: The opposite ends of the two clamping blocks (10) are fixedly connected to a plurality of guide rods (12), the base (1) is provided with a plurality of columnar grooves slidably connected to the guide rods (12), and the plurality of columnar grooves are communicated with the sliding grooves (8), and the plurality of limit springs (11) are sleeved on the outside of the guide rods (12).

5. The submersible automatic guided vehicle according to claim 4, characterized in that: The ends of the plurality of clamping blocks (10) close to the mounting slot (2) are all provided with oblique corners.

6. The submersible automatic guided vehicle according to claim 1, characterized in that: When the card block (10) abuts against the card slot (7), the card block (10) abuts against the inner top wall of the card slot (7), and the vertical width of the card slot (7) is greater than the vertical width of the card block (10).

7. The submersible automatic guided vehicle according to claim 1, characterized in that: The width of the end of the special-shaped block (16) close to the buffer plate (13) is smaller than the width of the end away from the buffer plate (13), and the shape of the special-shaped groove (15) is adapted to the shape of the special-shaped block (16).

8. The submersible automatic guided vehicle according to claim 1, characterized in that: The auxiliary component comprises a groove (17) formed at the lower end of the base (1), two tooth plates (18) are slidably connected in the groove (17), a gear (19) meshing with the two tooth plates (18) is rotatably connected to the top wall of the groove (17), the two clamping blocks (10) are fixedly connected to the opposite ends thereof with a sliding rod (22), the base (1) is further provided with two transverse grooves symmetrical with respect to the mounting groove (2), the sliding rod (22) is slidably connected to the transverse grooves, the opposite ends of the two tooth plates (18) are fixedly connected to the connecting plate (21), and the two The connecting plate (21) is fixedly connected to the two sliding rods (22) respectively. A rotating motor (23) is fixedly installed in the groove (17). The rotating motor (23) is a one-way motor with a free wheel or a one-way clutch motor. The output end of the rotating motor (23) is fixedly connected to a threaded rod (24). The rod body of the threaded rod (24) is threadedly sleeved with a threaded sleeve block (25). The threaded sleeve block (25) is fixedly connected to one of the tooth plates (18), and the threaded sleeve block (25) is slidably connected to the inner top wall of the groove (17).

9. The submersible automatic guided vehicle according to claim 8, characterized in that: The base (1) has two limit grooves (20) in communication with the upper side of the groove (17), and the upper ends of the two tooth plates (18) are fixedly connected with limit blocks slidably connected to the limit grooves (20), the limit grooves (20) are wider at the top and narrower at the bottom, and the shape of the limit blocks matches the shape of the limit grooves (20).

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