A vertical damping driving rudder wheel system structure for AGV

Abstract

The application relates to the technical field of warehouse equipment, and discloses a vertical damping driving rudder wheel system structure for AGV, which 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, the pre-tightening pressing block comprises a pressing block capable of moving up and down relative to the upper fixed plate, the pre-tightening driving piece comprises a pre-tightening oil cylinder, a transmission piece 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 piece can be adjusted, and the pre-tightening oil cylinder is communicated with a hydraulic power unit of the AGV. The AGV trolley loaded with the vertical damping driving rudder wheel system can automatically adjust the damping spring according to the weight of different goods, so that the AGV trolley can stably execute various action instructions; meanwhile, the damping capacity relative to the gravity of the goods can be flexibly set in different application scenarios, and the AGV trolley has high flexibility.

Description

Technical Field

[0001] This application relates to the field of warehousing equipment technology, and in particular to a vertical shock-absorbing drive steering wheel system structure for AGVs. Background Technology

[0002] AGV stands for Automated Guided Vehicle. The most common applications of AGVs are as AGV handling robots or AGV carts. Their main function is to facilitate automated logistics and material handling. AGV handling robots automatically transport items to designated locations using special landmark navigation. The most common guidance methods are magnetic strip guidance, laser guidance, and RFID guidance. AGV carts are products that require high precision in both driving and stopping; higher precision indicates better product performance.

[0003] With the rapid development of the logistics industry, the demands on logistics warehouse environments are increasing, and the variety of goods is also growing. For the stacking of special goods, traditional methods—placing goods on pallets before stacking—are cumbersome and may pose safety hazards. A vertical shock-absorbing drive wheel system mounted on an AGV (Automated Guided Vehicle) allows the AGV to stably execute corresponding action commands under both unloaded and loaded conditions. The system automatically adapts to the weight of the goods being picked up, ensuring stable operation. AGVs equipped with this system are widely used in loading, unloading, storage, and handling operations in machinery manufacturing, pharmaceutical industries, supermarkets, food lifting warehouses, and cold storage facilities.

[0004] However, the types of AGVs vary greatly for different application scenarios, and the number of steering wheels and load-bearing wheels required are different. The shock absorption system usually transmits the weight of the goods hydraulically and the hydraulic oil pressure drives the cylinder to make adaptive adjustments. However, the cylinder diameter is usually fixed, which makes the flexibility of adaptive adjustment poor and difficult to meet the shock absorption adjustment requirements of the steering wheel system in different application scenarios. Summary of the Invention

[0005] This application proposes a vertical shock-absorbing drive steering wheel system structure for AGVs. AGVs equipped with this vertical shock-absorbing drive steering wheel system can automatically adjust the shock-absorbing springs according to the weight of different goods, enabling the AGVs to stably execute various action commands.

[0006] To achieve the above objectives, this application adopts the following technical solution: a vertical shock-absorbing drive steering wheel system structure for AGVs, comprising an upper fixed plate and a lower fixed plate, with a mounting plate between the upper and lower fixed plates. A guide rod is connected to the mounting plate, passing through the upper and lower fixed plates and the mounting plate. A shock-absorbing spring is provided between the mounting plate and the upper fixed plate. A steering gear is mounted on the mounting plate, and a drive motor is mounted on the steering gear. The drive motor is connected to a drive wheel and drives the drive wheel to rotate. A steering motor is mounted on one side of the mounting plate, driving the steering wheel. The gear rotation is characterized in that an adjusting spring is fixedly connected to the mounting plate, a pre-tightening block is provided above the adjusting spring, the pre-tightening block is connected to a pre-tightening drive, the pre-tightening block includes a pressing block that can move up and down relative to the upper fixed plate, the pressing block is located directly above the adjusting spring, the pre-tightening drive includes a fixing frame fixedly connected to the upper fixed plate, the fixing frame is fixedly connected to a pre-tightening cylinder, a transmission component is provided between the pre-tightening cylinder and the pressing block, the pre-tightening cylinder drives the pressing block to move vertically, and the transmission ratio of the transmission component can be adjusted, the pre-tightening cylinder is connected to the hydraulic power unit of the AGV.

[0007] Furthermore, the pre-tightening cylinder is placed horizontally, the transmission component is a transmission block, the transmission block has an inclined surface, the slope of the inclined surface can be adjusted, and the clamping block is provided with a pressure roller corresponding to the inclined surface.

[0008] Furthermore, the transmission block is a detachable and replaceable wedge block, with multiple sets of wedge blocks, each with a different inclined surface, and the pressure wheel contacts the inclined surface of the wedge block.

[0009] Furthermore, the transmission block is a strip-shaped drive plate, the angle of the drive plate relative to the pre-tightening cylinder is adjustable, the side wall of the drive plate is an inclined surface, the drive plate is hinged to the end of the pre-tightening cylinder, and the drive plate is connected to an angle adjustment component for adjusting the angle of the drive plate.

[0010] Furthermore, the angle adjustment assembly includes a locking rack fixedly connected to the bottom of the drive plate, a fixed frame movably connected to a sliding shaft, a horizontal groove for the sliding shaft to slide on the fixed frame, a locking gear on the sliding shaft that meshes with the locking rack, a limiting arm on the sliding shaft, a limiting slider axially movable on the limiting arm, a limiting block on the locking rack corresponding to the limiting arm, the limiting block being parallel to the side wall of the locking rack, and the limiting slider being able to be engaged with the limiting block.

[0011] Furthermore, the angle adjustment component is a servo motor, which directly drives the drive plate to rotate.

[0012] Furthermore, the pressure roller is provided with a first resistance tooth, and the side of the drive plate that contacts the pre-tightening block is provided with a resistance rack. The resistance rack is provided with a second resistance tooth. The second resistance tooth and the first resistance tooth mesh with each other. The pressure roller is connected to a locking assembly. After the locking assembly is locked, the pressure roller cannot rotate.

[0013] Furthermore, the locking assembly includes a central shaft with pistons at both ends and a limiting block between the two pistons. Both pistons are connected to the limiting block. A through groove is provided in the middle of the central shaft, and the limiting block on the limiting block extends out of the through groove. The inner wall of the pressure roller is provided with a mating block corresponding to the limiting block. When the limiting block contacts the mating block, the pressure roller cannot rotate. The driving oil chamber corresponding to the piston that pushes the limiting block against the mating block is connected to the return oil port of the AGV hydraulic power unit. The other driving oil chamber is connected to the oil inlet of the AGV hydraulic power unit.

[0014] The beneficial effects of this invention are:

[0015] This application provides a vertical shock-absorbing drive steering wheel system structure for AGVs. AGVs equipped with this vertical shock-absorbing drive steering wheel system can automatically adjust the shock-absorbing springs according to the weight of different goods, enabling the AGVs to stably execute various action commands.

[0016] In different application scenarios, the shock absorption capacity relative to the weight of the cargo can be flexibly set, which has a high degree of flexibility. At the same time, when moving, the rotational resistance is increased, the impact of the shock absorption cylinder on the hydraulic system is reduced, and the stability of operation is improved. Attached Figure Description

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

[0018] Referring to the accompanying drawings and the following detailed description, the embodiments disclosed in this application can be understood more clearly, wherein:

[0019] Figure 1 This is a three-dimensional structural diagram of Embodiment 1 of the present invention;

[0020] Figure 2 This is a schematic diagram of the pre-tightening block and the pre-tightening drive component in Embodiment 1 of the present invention;

[0021] Figure 3 For the present invention Figure 2 The front view;

[0022] Figure 4 This is a schematic diagram of the pre-tightening block and the pre-tightening drive component in Embodiment 2 of the present invention;

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

[0024] Figure 6 This is a schematic diagram of the pre-tightening block and the pre-tightening drive component in Embodiment 3 of the present invention.

[0025] In the diagram: 1. Upper fixing plate; 2. Lower fixing plate; 3. Mounting plate; 4. Guide rod; 5. Shock-absorbing spring; 6. Steering gear; 7. Drive motor; 8. Steering motor; 9. Drive wheel; 10. Gearbox; 11. Adjusting spring; 12. Preload block; 121. Guide cylinder; 122. Clamping block; 123. Pressure roller; 124. Resistance gear one; 125. Locking assembly; 1251. Central shaft; 1252. Piston ; 1253, Limiting block; 1254, Through slot; 1255, Mating block 13, Pre-tightening drive component; 131, Fixing frame; 132, Pre-tightening cylinder; 133, Wedge block; 134, Drive plate; 135, Resistance gear 2; 136, Resistance rack; 137, Angle adjustment assembly; 1371, Locking rack; 1372, Sliding shaft; 1373, Telescopic block; 1374, Limiting arm; 1375, Limiting block. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0027] Example 1

[0028] Please see Figure 1 A vertical shock-absorbing drive steering wheel system structure for an AGV includes an upper fixed plate 1 and a lower fixed plate 2, which are fixedly installed at corresponding positions on the AGV trolley. A mounting plate 3 is provided between the upper fixed plate 1 and the lower fixed plate 2, and guide rods 4 are connected to the mounting plate 3. Several guide rods 4 are provided, passing through the upper fixed plate 1 and the lower fixed plate 2. Limit blocks are fixedly connected to both ends of the guide rods 4 to prevent the upper fixed plate 1 and the lower fixed plate 2 from sliding off the guide rods 4. The guide rods 4 pass through the mounting plate 3, and the mounting plate 3 and the upper fixed plate 2... A shock-absorbing spring 5 is provided between the fixed plates 1. A steering gear 6 is installed on the mounting plate 3. A drive motor 7 is installed on the steering gear 6. The drive motor 7 is connected to a drive wheel 9 and drives the drive wheel 9 to rotate. A gearbox 10 is provided between the drive motor 7 and the drive wheel 9. 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, which in turn drives the drive motor 7 and the drive 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. A pre-tightening drive component 13 is connected to the pre-tightening block 12.

[0029] Please see Figure 2 and Figure 3 The pre-tightening block 12 includes a guide cylinder 121 fixedly connected to the upper fixed plate 1 and a pressing block 122 that can move up and down relative to the upper fixed plate 1. The pressing block 122 is located directly above the adjusting spring 11 and is disposed inside the guide cylinder 121. The guide cylinder 121 constrains the pressing block 122, causing it to move vertically. The pre-tightening drive component 13 includes a fixing frame 131 fixedly connected to the upper fixed plate 1. A pre-tightening cylinder 132 is fixedly connected to the fixing frame 131. A transmission component is provided between the pre-tightening cylinder 132 and the pressing block 122. The pre-tightening cylinder 132 drives the pressing block 122 to move vertically. The transmission ratio of the transmission component 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 not under load, it relies on the shock-absorbing spring 5 to ensure stable operation. When the AGV receives a command to pick up goods, the hydraulic power system starts working, and the AGV forks begin to rise. At the moment the forks contact the goods, the hydraulic system generates working pressure. This working pressure is transmitted through the oil circuit to the pre-tensioning cylinder 132, which in turn drives the clamping block 122 to move. The clamping block 122 acts on the adjusting spring 11, which generates force that acts on the mounting plate 3 and ultimately on the drive wheel 9. This allows the AGV to stably execute relevant commands even under load. The pressure of the adjusting spring 11 is adjusted by changing the transmission ratio of the transmission components, flexibly adjusting the relationship between the compression of the adjusting spring 11 and the weight of the goods.

[0031] The pre-tightening cylinder 132 is placed horizontally, and the transmission component is a transmission block with 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 pre-tightening 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 the signal, the clamping block 122 is provided with a pressure roller 123, which contacts the inclined surface of the wedge block 133.

[0032] Example 2

[0033] Based on Embodiment 1, the wedge block 133 is replaced with a drive board 134. Please refer to [link / reference]. Figure 4 The transmission block is a drive plate 134. The angle of the drive plate 134 relative to the pre-tightening cylinder 132 can be adjusted. The side wall of the drive plate 134 is an inclined plane. Adjusting the angle of the drive plate 134 adjusts the slope of the inclined plane.

[0034] The drive plate 134 is hinged to the end of the pre-tensioning cylinder 132. An angle adjustment assembly 137 for adjusting the angle of the drive plate 134 is connected to the drive plate 134. The angle adjustment assembly 137 includes a locking rack 1371 fixedly connected to the bottom of the drive plate 134. A sliding shaft 1372 is movably connected to the fixed frame 131. The fixed frame 131 has a transverse groove for the sliding shaft 1372 to slide. A locking gear 1373 is provided on the sliding shaft 1372, and the locking gear 1373 meshes with the locking rack 1371. The 372 is provided with a limiting arm 1374, and a limiting slider is provided on the limiting arm 1374. 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. When the limiting arm 1374 is pressed in, the limiting arm 1374 is locked on the limiting block 1375. The distance between the locking rack 1371 and the locking gear 1373 remains fixed. When the limiting arm 1374 is pulled out, the locking rack 1371 can move away from the locking gear 1373.

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

[0036] Since the preload cylinder 132 is connected to the AGV hydraulic power unit, when the drive wheel 9 and the mounting plate 3 move up and down, the compression of the adjusting spring 11 will change, which in turn will cause the hydraulic oil pressure in the preload cylinder 132 to change, potentially affecting the stability of the forks. To address this, the pressure wheel 123 is provided with a first resistance tooth 124, and the side of the drive plate 134 that contacts the preload block 12 is provided with a resistance rack 136. The resistance rack 136 is provided with a second resistance tooth 135, and the second resistance tooth 135 and the first resistance tooth 124 mesh 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 drive plate 134 increases, and the pressure change on the adjusting spring 11 will not cause the drive plate 134 to move, thereby ensuring the stability of the hydraulic system.

[0037] Please see Figure 5The locking assembly 125 includes a central shaft 1251, with pistons 1252 at both ends of the central shaft 1251. A limiting block 1253 is provided between the two pistons 1252, and both pistons 1252 are connected to the limiting block 1253. A through groove 1254 is provided in the middle of the central shaft 1251, and the limiting block on the limiting block 1253 extends out of the through groove 1254. The inner wall of the pressure roller 123 is provided with a mating block 1255 corresponding to the limiting block 1253. When the limiting block 1253 contacts the mating block 1255, the pressure roller 123 cannot rotate; when the two move away from each other, the limiting block 1253 cannot rotate. The limit block 1253 is pushed against the piston 1252 of the mating block 1255, and the corresponding drive oil chamber 1256 is connected to the return oil port of the AGV hydraulic power unit. The AGV hydraulic power unit is connected to the cylinder that drives the forks to move. That is, when the forks are lowered, the drive oil chamber 1256 is connected, driving the limit block 1253 to move, so that the pressure wheel 123 cannot rotate. Another drive oil chamber 1256 is connected to the inlet of the AGV hydraulic power unit, that is, when the forks are raised, it is connected. At this time, the limit block 1253 is pushed open, and the pressure wheel 123 can rotate freely.

[0038] When the cargo is lifted, the pressure roller 123 can rotate freely, and the transmission components can transmit power well. Adjusting the preload pressure of the adjustment spring 11, the pressure roller 123 is locked when the forks descend and begin to move, increasing the transmission resistance of the transmission components and improving the stability of the forks when the cargo AGV moves.

[0039] Example 3

[0040] Please see Figure 6 Based on Embodiment 2, the angle adjustment component 137 is replaced with a servo motor. The servo motor directly drives the drive plate 134 to rotate, thereby adjusting the angle of the drive plate 134. In some special scenarios, it may be necessary to adjust the load-bearing and shock absorption capabilities of each steering wheel. In this case, the angle of the drive plate 134 can be directly adjusted by the servo motor.

Claims

1. A vertical shock-absorbing drive steering wheel system structure for an AGV, comprising an upper fixed plate (1) and a lower fixed plate (2), wherein a mounting plate (3) is provided between the upper fixed plate (1) and the lower fixed plate (2), a guide rod (4) is connected to the mounting plate (3), the guide rod (4) passes through the upper fixed plate (1) and the lower fixed plate (2), the guide rod (4) passes through the mounting plate (3), a shock-absorbing spring (5) is provided between the mounting plate (3) and the upper fixed plate (1), a steering gear (6) is mounted on the mounting plate (3), a drive motor (7) is mounted on the steering gear (6), the drive motor (7) is connected to a drive wheel (9) and drives the drive wheel (9) to rotate, and a steering motor (8) is mounted on one side of the mounting plate (3), the steering motor (8) drives the steering gear (6) to rotate, characterized in that, An adjusting spring (11) is fixedly connected to the mounting plate (3), and a pre-tightening block (12) is provided above the adjusting spring (11). The pre-tightening block (12) is connected to a pre-tightening drive component (13). The pre-tightening block (12) includes a pressing block (122) that can move up and down relative to the upper fixed plate (1). The pressing block (122) is located directly above the adjusting spring (11). The pre-tightening drive (13) includes a fixing frame (131) fixedly connected to the upper fixed plate (1). A pre-tightening cylinder (132) is fixedly connected to the fixing frame (131). A transmission component is provided between the pre-tightening cylinder (132) and the pressing block (122). The drive clamping block (122) moves vertically, and the transmission ratio of the transmission component can be adjusted. The pre-tightening cylinder (132) is connected to the hydraulic power unit of the AGV, and the working pressure when the AGV lifts the goods can be transmitted to the pre-tightening cylinder (132) through the oil circuit. The pre-tightening cylinder (132) is placed horizontally, and the transmission component is a transmission block. The transmission block has an inclined surface, and the slope of the inclined surface can be adjusted. The clamping block (122) is provided with a pressure roller (123) corresponding to the inclined surface. The transmission block is a strip-shaped drive plate (134). The angle of the drive plate (134) relative to the pre-tightening cylinder (132) can be adjusted. The side wall of the drive plate (134) is an inclined surface. The drive plate (134) is hinged to the end of the pre-tightening cylinder (132). The drive plate (134) is connected to an angle adjustment component (137) for adjusting the angle of the drive plate (134). The pressure wheel (123) is provided with a first resistance tooth (124). The side of the drive plate (134) that contacts the pre-tightening block (12) is provided with a resistance rack (136). The resistance rack (136) is provided with a second resistance tooth (135). The second resistance tooth (135) and the first resistance tooth (124) mesh with each other. The pressure wheel (123) is connected to a locking component (125). After the locking component (125) is locked, the pressure wheel (123) cannot rotate.

2. The structure of the vertical shock-absorbing drive steering wheel system for AGV according to claim 1, characterized in that, The angle adjustment assembly (137) includes a locking rack (1371) fixedly connected to the bottom of the drive plate (134). The fixed frame (131) is movably connected to the sliding shaft (1372). The fixed 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), which meshes with the locking rack (1371). The sliding shaft (1372) is provided with a limiting arm (1374), which is provided with a limiting slider that can be axially moved. 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 locked on the limiting block (1375).

3. The structure of the vertical shock-absorbing drive steering wheel system for AGV according to claim 2, characterized in that, The angle adjustment component (137) is a servo motor, which directly drives the drive plate (134) to rotate.

4. The structure of the vertical shock-absorbing drive steering wheel system for AGV according to claim 1, characterized in that, The locking assembly (125) includes a central shaft (1251), with pistons (1252) at both ends of the central shaft (1251). A limiting block (1253) is provided between the two pistons (1252), and both pistons (1252) are connected to the limiting block (1253). A through groove (1254) is provided in the middle of the central shaft (1251), and the limiting block on the limiting block (1253) extends out from the through groove (1254). The pressure roller (123) The inner wall is provided with a mating block (1255) corresponding to the limiting block (1253). When the limiting block (1253) contacts the mating block (1255), the pressure wheel (123) cannot rotate. The piston (1252) that pushes the limiting block (1253) against the mating block (1255) is connected to the return oil port of the AGV hydraulic power unit. Another driving oil chamber (1256) is connected to the inlet of the AGV hydraulic power unit.

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