Vertical damping driving steering wheel system structure for AGV (Automatic Guided Vehicle)

Abstract

The invention relates to the technical field of storage equipment, and discloses a vertical damping driving steering wheel system structure for an AGV, the vertical damping driving steering wheel system structure for the AGV comprises a mounting plate, an adjusting spring is fixedly connected to the mounting plate, a pre-tightening pressing block is arranged above the adjusting spring, the pre-tightening pressing block is connected with a pre-tightening driving piece, and the pre-tightening driving piece is fixedly connected with the mounting plate. The pre-tightening pressing block comprises a pressing block capable of moving up and down relative to the upper fixing plate, the pre-tightening driving part comprises a pre-tightening oil cylinder, a transmission part is arranged between the pre-tightening oil cylinder and the pressing block, the pre-tightening oil cylinder drives the pressing block to move vertically, the transmission ratio of the transmission part can be adjusted, and the pre-tightening oil cylinder is communicated with a hydraulic power unit of the AGV. According to the AGV loading the vertical damping driving steering wheel system, the damping spring can be automatically adjusted according to the weights of different cargoes, so that the AGV can stably execute various action instructions, meanwhile, the damping capacity relative to the gravity of the cargoes can be flexibly set in different application scenes, and high flexibility is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of storage equipment, and in particular to a vertical shock-absorbing driving steering wheel system structure for AGV. Background Art

[0002] AGV stands for Automated Guided Vehicle, and its most common applications are currently AGV handling robots or AGV carts. Their main functions are concentrated in automatic logistics handling and transportation. AGV handling robots automatically transport items to designated locations through special landmark navigation. The most common guidance methods are magnetic strip guidance, laser guidance, RFID guidance, etc. AGV carts are products with very high requirements for driving and stopping accuracy. The higher the accuracy, the better the product performance.

[0003] With the rapid development of the logistics industry, the demand for logistics warehouse environment is getting higher and higher, and the types of goods are also increasing. For the stacking of special goods, the traditional method is adopted. After the goods are placed on the pallet, they are stacked, which is troublesome and may pose a safety hazard. The vertical shock-absorbing drive steering wheel system is loaded on the AGV trolley. It can enable the AGV trolley to stably execute the corresponding action instructions when it is not loaded or loaded. The AGV trolley can automatically perform adaptive adjustments according to the weight of different goods picked up by the fork, thereby ensuring the stable operation of the AGV trolley. The AGV trolley with a vertical shock-absorbing drive steering wheel system is widely used in machinery manufacturing, pharmaceutical industry, supermarkets, shopping malls, food lifting storage cold storage and other venues for loading and unloading, storage, and handling operations.

[0004] However, for different application scenarios, the types of AGVs vary greatly, and the number of steering wheels and load-bearing wheels required is different. The shock absorption system usually transmits the weight of the goods through hydraulics, and the hydraulic oil pressure drives the cylinder for adaptive adjustment. The cylinder diameter is usually fixed, resulting in poor flexibility in adaptive adjustment and difficulty in meeting the shock absorption adjustment requirements of the steering wheel system used in different scenarios. Summary of the invention

[0005] The present application proposes a vertical shock-absorbing driving steering wheel system structure for AGV. An AGV trolley equipped with the vertical shock-absorbing driving steering wheel system can automatically adjust the shock-absorbing spring according to the weight of different goods, so that the AGV trolley can stably perform various actions.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a vertical shock-absorbing driving steering wheel system structure for AGV, comprising an upper fixing plate and a lower fixing plate, a mounting plate is arranged between the upper fixing plate and the lower fixing plate, the mounting plate is connected with a guide rod, the guide rod passes through the upper fixing plate and the lower fixing plate, the guide rod passes through the mounting plate, a shock-absorbing spring is arranged between the mounting plate and the upper fixing plate, a steering gear is arranged on the mounting plate, a driving motor is arranged on the steering gear, the driving motor is connected with a driving wheel and drives the driving wheel to rotate, a steering motor is arranged on one side of the mounting plate, and the steering motor drives the steering gear Rotation, characterized in that an adjustment spring is fixedly connected to the mounting plate, a pre-tightening block is provided above the adjustment spring, the pre-tightening block is connected to a pre-tightening driving member, the pre-tightening block includes a clamping block that can move up and down relative to the upper fixed plate, the clamping block is located directly above the adjusting spring, the pre-tightening driving member includes a fixing frame fixedly connected to the upper fixed plate, the fixing frame is fixedly connected to a pre-tightening cylinder, a transmission member is provided between the pre-tightening cylinder and the clamping block, the pre-tightening cylinder drives the clamping block to move vertically, and the transmission ratio of the transmission member can be adjusted, and the pre-tightening cylinder is connected to the hydraulic power unit of the AGV.

[0007] Furthermore, the preload cylinder is placed transversely, the transmission member is a transmission block, the transmission block has an inclined surface, the slope of the inclined surface can be adjusted, and the pressure block is provided with a pressure wheel corresponding to the inclined surface.

[0008] Furthermore, the transmission block is a detachable and replaceable wedge block, and there are multiple groups of wedge blocks. Different wedge blocks have different inclined surfaces, and the pressure wheel contacts the inclined surface of the wedge block.

[0009] Furthermore, the transmission block is a strip-shaped driving plate, the angle of the driving plate relative to the preload cylinder can be adjusted, the side wall of the driving plate is a slope, the driving plate is hinged to the end of the preload cylinder, and the driving plate is connected to an angle adjustment component for adjusting the angle of the driving plate.

[0010] Furthermore, the angle adjustment assembly includes a locking rack fixedly connected to the bottom of the driving plate, the fixed frame movably connected to the sliding shaft, the fixed frame is provided with a transverse groove for the sliding shaft to slide, the sliding shaft is provided with a locking gear, the locking gear is meshed with the locking rack, the sliding shaft is provided with a limit arm, the limit arm is provided with a limit slider that can be axially moved, the locking rack is provided with a limit block corresponding to the limit arm, the limit block is parallel to the side wall of the locking rack, and the limit slider can be stuck on the limit block.

[0011] Furthermore, the angle adjustment component is a steering gear, which directly drives the driving plate to rotate.

[0012] Furthermore, a resistance tooth 1 is provided on the pressure wheel, a resistance rack is provided on the side of the drive plate in contact with the pre-tightening block, a resistance tooth 2 is provided on the resistance rack, resistance tooth 2 and resistance tooth 1 are meshed with each other, and the pressure wheel is connected to a locking assembly, and after the locking assembly is locked, the pressure wheel cannot rotate.

[0013] Furthermore, the locking assembly includes a central axis, pistons are provided at both ends of the central axis, a limit block is provided between the two pistons, the two pistons are connected to the limit blocks, a through groove is provided in the middle of the central axis, the limit block on the limit block extends from the through groove, and a matching block corresponding to the limit block is provided on the inner wall of the pressure wheel. When the limit block contacts the matching block, the pressure wheel cannot rotate, and the driving oil chamber corresponding to the piston that pushes the limit block toward the matching block is connected to the return oil port connected to the AGV hydraulic power unit, and the other driving oil chamber is connected to the oil inlet connected to the AGV hydraulic power unit.

[0014] Beneficial effects of the present invention:

[0015] The present application provides a vertical shock-absorbing driving steering wheel system structure for AGV. An AGV trolley equipped with the vertical shock-absorbing driving steering wheel system can automatically adjust the shock-absorbing spring according to the weight of different goods, so that the AGV trolley can stably execute various action instructions.

[0016] In different application scenarios, the shock-absorbing capacity relative to the gravity of the cargo can be flexibly set, which has high flexibility. At the same time, when moving, the rotational resistance is increased, the impact of the shock-absorbing cylinder on the hydraulic pressure is reduced, and the stability of operation is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute a part of the specification, illustrate the embodiments disclosed in the present application and, together with the description, serve to explain the principles of the embodiments disclosed in the present application.

[0018] The embodiments disclosed in the present application may be more clearly understood according to the following detailed description with reference to the accompanying drawings, in which:

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the first embodiment of the present invention;

[0020] Figure 2 Schematic diagram of a pre-tightening pressing block and a pre-tightening driving member in Embodiment 1 of the present invention;

[0021] Figure 3 For the present invention Figure 2 A front view of

[0022] Figure 4 Schematic diagram of the pre-tightening pressing block and the pre-tightening driving member in the second embodiment of the present invention;

[0023] Figure 5is a schematic diagram of a locking assembly in Embodiment 2 of the present invention;

[0024] Figure 6 Schematic diagram of the pre-tightening pressing block and the pre-tightening driving member in the third embodiment of the present invention.

[0025] In the figure: 1. upper fixing plate; 2. lower fixing plate; 3. mounting plate; 4. guide rod; 5. shock absorbing spring; 6. steering gear; 7. driving motor; 8. steering motor; 9. driving wheel; 10. gearbox; 11. adjustment spring; 12. preload block; 121. guide cylinder; 122. pressure block; 123. pressure wheel; 124. resistance tooth 1; 125. locking assembly; 1251. center shaft; 1252. piston ; 1253, limit block; 1254, through groove; 1255, matching block 13, preload drive member; 131, fixed frame; 132, preload cylinder; 133, wedge block; 134, drive plate; 135, resistance tooth 2; 136, resistance rack; 137, angle adjustment assembly; 1371, locking rack; 1372, sliding shaft; 1373, telescopic block; 1374, limit arm; 1375, limit block. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] Embodiment 1

[0028] See also Figure 1 A vertical shock-absorbing driving steering wheel system structure for AGV includes an upper fixing plate 1 and a lower fixing plate 2. The upper fixing plate 1 and the lower fixing plate 2 are fixedly installed at corresponding positions of the AGV trolley. A mounting plate 3 is provided between the upper fixing plate 1 and the lower fixing plate 2. The mounting plate 3 is connected with a guide rod 4. The guide rod 4 is provided with a plurality of guide rods. The guide rod 4 passes through the upper fixing plate 1 and the lower fixing plate 2. Both ends of the guide rod 4 are fixedly connected with a limited block to prevent the upper fixing plate 1 and the lower fixing plate 2 from sliding off the guide rod 4. The guide rod 4 passes through the mounting plate 3. The mounting plate 3 and the upper fixing plate A shock-absorbing spring 5 is provided between the fixed plates 1, a steering gear 6 is installed on the mounting plate 3, a driving motor 7 is installed on the steering gear 6, the driving motor 7 is connected to a driving wheel 9 and drives the driving wheel 9 to rotate, the driving motor 7 and the driving wheel 9 are provided with a gearbox 10, a steering motor 8 is installed on one side of the mounting plate 3, the steering motor 8 drives the steering gear 6 to rotate, and then drives the driving motor 7 and the driving wheel 9 to rotate, an adjusting spring 11 is fixedly connected to the mounting plate 3, a pre-tightening block 12 is provided above the adjusting spring 11, and the pre-tightening block 12 is connected to a pre-tightening driving member 13.

[0029] See also Figure 2 and Figure 3 The pre-tightening pressure block 12 includes a guide cylinder 121 fixedly connected to the upper fixed plate 1 and a pressure block 122 that can move up and down relative to the upper fixed plate 1. The pressure block 122 is located directly above the adjustment spring 11. The pressure block 122 is arranged in the guide cylinder 121. The guide cylinder 121 constrains the pressure block 122 to move vertically. The pre-tightening driving member 13 includes a fixed frame 131 fixedly connected to the upper fixed plate 1. The fixed frame 131 is fixedly connected with a pre-tightening cylinder 132. A transmission member is provided between the pre-tightening cylinder 132 and the pressure block 122. The pre-tightening cylinder 132 drives the pressure block 122 to move vertically. The transmission ratio of the transmission member can be adjusted. The pre-tightening cylinder 132 is connected to the hydraulic power unit of the AGV.

[0030] When the AGV is powered on and is not loaded, the shock-absorbing spring 5 ensures the stable operation of the AGV. When the AGV receives an instruction to pick up goods, the hydraulic power system starts to work and the AGV fork starts to rise. At the moment when the fork contacts the goods, the hydraulic system generates working pressure, which is transmitted through the oil circuit to the preload cylinder 132, thereby driving the clamping block 122 to move. The clamping block 122 acts on the adjustment spring 11, and the adjustment spring 11 generates a force acting on the mounting plate 3 and finally on the driving wheel 9, so that the AGV can stably execute relevant command actions when loaded. The pressure of the adjustment spring 11 is adjusted by the transmission ratio of the transmission member, and the relationship between the compression amount of the adjustment spring 11 and the weight of the goods can be flexibly adjusted.

[0031] The preload cylinder 132 is placed horizontally, and the transmission member is a transmission block. The transmission block has an inclined surface. The transmission block is a detachable and replaceable wedge block 133. The wedge block 133 is detachably connected to the end of the preload cylinder 132. Different wedge blocks 133 have different inclined surfaces. The transmission ratio is adjusted by replacing the wedge block 133. In order to better transmit, a pressure wheel 123 is provided on the clamping block 122, which contacts the inclined surface of the wedge block 133 through the pressure wheel 123.

[0032] Embodiment 2

[0033] On the basis of the first embodiment, the wedge block 133 is replaced by the driving plate 134. Figure 4 The transmission block is a driving plate 134, and the angle of the driving plate 134 relative to the preload cylinder 132 can be adjusted. The side wall of the driving plate 134 is an inclined surface, and adjusting the angle of the driving plate 134 adjusts the slope of the inclined surface.

[0034] The driving plate 134 is hinged to the end of the preload cylinder 132, and the driving plate 134 is connected to an angle adjustment assembly 137 for adjusting the angle of the driving plate 134. The angle adjustment assembly 137 includes a locking rack 1371 fixedly connected to the bottom of the driving plate 134, a fixed frame 131 movably connected to a sliding shaft 1372, a transverse groove for sliding the sliding shaft 1372 is provided on the fixed frame 131, and a locking gear 1373 is provided on the sliding shaft 1372. The locking gear 1373 is meshed with the locking rack 1371, and the sliding shaft 1372 is provided with a locking gear 1373. A limiting arm 1374 is provided on 372, and a limiting slider is provided on the limiting arm 1374. A limiting block 1375 corresponding to the limiting arm 1374 is provided on the locking rack 1371. The limiting block 1375 is parallel to the side wall of the locking rack 1371. When the limiting arm 1374 is pressed in, the limiting arm 1374 is stuck on the limiting block 1375, and the distance between the locking rack 1371 and the locking gear 1373 is kept fixed. When the limiting arm 1374 is pulled out, the locking rack 1371 can be away from the locking gear 1373.

[0035] When adjusting the angle of the driving plate 134, pull out the limiting arm 1374, slide the sliding shaft 1372, move the locking rack 1371 to engage with the locking gear 1373, and then press the limiting arm 1374. At this time, the locking gear 1373 and the locking rack 1371 are stuck to each other and cannot move relative to each other. The driving plate 134 is fixed at an angle relative to the pre-tightening cylinder 132. At the same time, under the thrust of the pre-tightening cylinder 132, the locking gear 1373 and the locking rack 1371 can slide horizontally as a whole.

[0036] Since the preload cylinder 132 is connected to the AGV hydraulic power unit, when the driving wheel 9 and the mounting plate 3 move up and down, the compression amount of the adjustment spring 11 will change, and then the hydraulic oil pressure in the preload cylinder 132 will change, which may affect the stability of the fork. For this reason, a resistance tooth 124 is provided on the pressure wheel 123, and a resistance rack 136 is provided on the side of the driving plate 134 that contacts the preload block 12. A resistance tooth 2 135 is provided on the resistance rack 136. The resistance tooth 2 135 and the resistance tooth 1 124 are meshed with each other. The pressure wheel 123 is connected to a locking assembly 125. After the locking assembly 125 is locked, the pressure wheel 123 cannot rotate. Since the pressure wheel 123 cannot rotate at this time, the transmission resistance between the pressure wheel 123 and the driving plate 134 increases, and the pressure change on the adjustment spring 11 will not drive the driving plate 134 to move, thereby ensuring the stability of the hydraulic pressure.

[0037] See also Figure 5The locking assembly 125 includes a central shaft 1251, pistons 1252 are provided at both ends of the central shaft 1251, a limit block 1253 is provided between the two pistons 1252, the two pistons 1252 are connected to the limit block 1253, a through groove 1254 is provided in the middle of the central shaft 1251, the limit block on the limit block 1253 extends from the through groove 1254, and a matching block 1255 corresponding to the limit block 1253 is provided on the inner wall of the pressure wheel 123. When the limit block 1253 contacts the matching block 1255, the pressure wheel 123 cannot rotate, and when the two are away from each other, It can rotate, and the driving oil chamber 1256 corresponding to the piston 1252 of the limit block 1253 is connected to the oil return port connected to the AGV hydraulic power unit. The AGV hydraulic power unit is connected to the oil cylinder that drives the fork to move, that is, when the fork descends, the driving oil chamber 1256 is connected, and the limit block 1253 is driven to move, so that the pressure wheel 123 cannot rotate. The other driving oil chamber 1256 is connected to the oil inlet connected to the AGV hydraulic power unit, that is, when the fork rises, it is connected. At this time, the limit block 1253 is pushed open and the pressure wheel 123 can rotate freely.

[0038] When lifting the cargo, the pressure wheel 123 can rotate freely, the transmission member can transmit the power well, and the preload pressure of the adjustment spring 11 is adjusted. When the fork descends and starts to move, the pressure wheel 123 is locked, which increases the transmission resistance of the transmission member and improves the stability of the fork when the cargo AGV moves.

[0039] Embodiment 3

[0040] See also Figure 6 On the basis of the second embodiment, the angle adjustment component 137 is replaced. The angle adjustment component 137 is a steering gear. The driving plate 134 is directly driven to rotate by the steering gear to adjust the angle of the driving plate 134. In some special scenarios, it may be necessary to adjust the load-bearing and shock-absorbing capacity of each steering wheel. At this time, the angle of the driving plate 134 can be directly adjusted by the steering gear.

Claims

1. A vertical damping driving steering wheel system structure for AGV, comprising an upper fixing plate (1) and a lower fixing plate (2), a mounting plate (3) is arranged between the upper fixing plate (1) and the lower fixing plate (2), the mounting plate (3) is connected with a guide rod (4), the guide rod (4) passes through the upper fixing plate (1) and the lower fixing plate (2), the guide rod (4) passes through the mounting plate (3), a damping spring (5) is arranged between the mounting plate (3) and the upper fixing plate (1), a steering gear (6) is arranged on the mounting plate (3), a driving motor (7) is arranged on the steering gear (6), the driving motor (7) is connected with a driving wheel (9) and drives the driving wheel (9) to rotate, a steering motor (8) is arranged on one side of the mounting plate (3), the steering motor (8) drives the steering gear (6) to rotate, characterized in that: An adjustment spring (11) is fixedly connected to the mounting plate (3), a pre-tightening block (12) is provided above the adjustment spring (11), and the pre-tightening block (12) is connected to a pre-tightening driving member (13); The pre-tightening pressure block (12) comprises a pressure block (122) which can move up and down relative to the upper fixed plate (1), and the pressure block (122) is located directly above the adjustment spring (11). The pre-tightening driving member (13) comprises a fixing frame (131) fixedly connected to the upper fixed plate (1), and the fixing frame (131) is fixedly connected to a pre-tightening cylinder (132). A transmission member is provided between the pre-tightening cylinder (132) and the pressure block (122), and the pre-tightening cylinder (132) drives the pressure block (122) to move vertically, and the transmission ratio of the transmission member can be adjusted. The pre-tightening cylinder (132) is connected to the hydraulic power unit of the AGV.

2. The vertical shock-absorbing driving steering wheel system structure for AGV according to claim 1 is characterized in that: The preload oil cylinder (132) is placed transversely, the transmission member is a transmission block, the transmission block has an inclined surface, the slope of the inclined surface can be adjusted, and the pressing block (122) is provided with a pressure wheel (123) corresponding to the inclined surface.

3. The vertical shock-absorbing driving steering wheel system structure for AGV according to claim 2 is characterized in that: The transmission block is a detachable and replaceable wedge block (133), and a plurality of groups of wedge blocks (133) are provided. Different wedge blocks (133) have different inclined surfaces, and the pressure wheel (123) contacts the inclined surface of the wedge block (133).

4. The vertical shock-absorbing driving steering wheel system structure for AGV according to claim 2 is characterized in that: The transmission block is a strip-shaped driving plate (134); the angle of the driving plate (134) relative to the preload cylinder (132) can be adjusted; the side wall of the driving plate (134) is an inclined surface; the driving plate (134) is hinged to the end of the preload cylinder (132); and the driving plate (134) is connected to an angle adjustment component (137) for adjusting the angle of the driving plate (134).

5. The vertical shock-absorbing driving steering wheel system structure for AGV according to claim 4 is characterized in that: The angle adjustment assembly (137) comprises a locking rack (1371) fixedly connected to the bottom of the driving plate (134); the fixing frame (131) is movably connected to the sliding shaft (1372); the fixing frame (131) is provided with a transverse groove for the sliding shaft (1372) to slide; the sliding shaft (1372) is provided with a locking gear (1373); the locking gear (1373) is meshed with the locking rack (1371); the sliding shaft (1372) is provided with a limiting arm (1374); the limiting arm (1374) is provided with a limiting slider that can be axially shifted; the locking rack (1371) is provided with a limiting block (1375) corresponding to the limiting arm (1374); the limiting block (1375) is parallel to the side wall of the locking rack (1371); and the limiting slider can be stuck on the limiting block (1375).

6. The vertical shock-absorbing driving steering wheel system structure for AGV according to claim 4 is characterized in that: The angle adjustment component (137) is a steering gear, which directly drives the driving plate (134) to rotate.

7. The vertical shock-absorbing driving steering wheel system structure for AGV according to any one of claims 1 to 6, characterized in that: The pressure wheel (123) is provided with a resistance tooth 1 (124); the side of the driving plate (134) in contact with the pre-tightening block (12) is provided with a resistance rack (136); the resistance rack (136) is provided with a resistance tooth 2 (135); the resistance tooth 2 (135) and the resistance tooth 1 (124) are meshed with each other; the pressure wheel (123) is connected with a locking assembly (125); after the locking assembly (125) is locked, the pressure wheel (123) cannot rotate.

8. The vertical shock-absorbing driving steering wheel system structure for AGV according to claim 7 is characterized in that: The locking assembly (125) comprises a central shaft (1251), pistons (1252) are provided at both ends of the central shaft (1251), a stop block (1253) is provided between the two pistons (1252), the two pistons (1252) are connected to the stop block (1253), a through groove (1254) is provided in the middle of the central shaft (1251), the stop block (1253) extends out from the through groove (1254), and the pressure wheel (123 ) is provided with a matching block (1255) corresponding to the limit block (1253) on the inner wall. When the limit block (1253) contacts the matching block (1255), the pressure wheel (123) cannot rotate, and the driving oil chamber (1256) corresponding to the piston (1252) that pushes the limit block (1253) toward the matching block (1255) is connected to the return oil port connected to the AGV hydraulic power unit, and the other driving oil chamber (1256) is connected to the oil inlet connected to the AGV hydraulic power unit.

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