AGV trundle with wheel body distance adjusting and speed adjusting mechanism and AGV mobile equipment

Abstract

The invention discloses an AGV trundle with a wheel body distance adjusting and speed adjusting mechanism and AGV mobile equipment, the AGV trundle comprises a wheel frame, two wheel bodies are arranged on the wheel frame in a left-right movable mode, and a distance adjusting frame capable of driving the wheel bodies in a rotating state to move left and right is arranged on the wheel bodies. A screw adjusting part used for being close to or away from the two wheel bodies is arranged on the wheel frame, a distance adjusting connecting rod assembly used for controlling the distance between the two wheel bodies is arranged between the screw adjusting part and the two distance adjusting frames, piston assemblies are arranged on the distance adjusting frames, one end of each piston assembly is provided with an air hole, and the other end of each piston assembly is provided with an air outlet. An air valve adjusting device used for adjusting the size of the air hole is arranged on one side of the piston assembly, a reciprocating transmission assembly used for controlling the piston assembly to reciprocate is arranged on the distance adjusting frame, and a gear transmission mechanism is arranged between the wheel body and the reciprocating transmission assembly. Dynamic adjustment of the wheel body distance and accurate speed adjustment are achieved through the integrated design.

Description

Technical Field

[0001] This invention relates to the field of AGV caster components, and particularly to an AGV caster and AGV mobile equipment equipped with a wheel spacing adjustment and speed regulation mechanism. Background Technology

[0002] As a core material handling device in intelligent logistics and industrial automation, the caster structure of AGVs directly determines their load-bearing capacity, mobility, and operational precision. With the continuous upgrading of functional requirements for AGVs in industrial scenarios, traditional AGV casters have gradually revealed the following technical shortcomings, making it difficult to meet diverse handling needs: Existing AGV casters mostly have wheels fixedly connected to the wheel frame, and the wheel spacing cannot be adjusted. However, in practical applications, AGVs need to handle goods of different sizes and weights: when handling wide goods, the fixed wheel spacing can easily cause the AGV's center of gravity to shift, increasing the risk of tipping over; when handling narrow and precision goods, an excessively wide wheel spacing will limit the AGV's turning flexibility in narrow passages. While some improvement solutions attempt to adjust the spacing by disassembling and reinstalling the wheels, this operation is cumbersome and requires downtime, severely impacting the continuous working efficiency of the AGV and failing to achieve dynamic adaptation. Traditional AGVs rely heavily on independent motor speed control systems or braking devices for speed regulation, which not only increases the overall size and weight of the AGV but also suffers from lag in speed control response. Some solutions employ pneumatic damping speed regulation, but because they are not deeply integrated with the wheel rotation structure, the damping force is easily affected by wheel vibration, resulting in poor speed regulation stability and an inability to dynamically adjust damping according to changes in wheel load, thus limiting their applicability. In existing technologies, if wheel spacing adjustment and speed regulation structures are simultaneously implemented, functional conflicts between the two are likely to occur.

[0003] To address the aforementioned issues, there is an urgent need to design an AGV caster structure that integrates wheel spacing adjustment and speed regulation functions, with both working in tandem, in order to improve the AGV's adaptability to different scenarios, operational stability, and durability.

[0004] Therefore, the existing AGV caster component technology field needs further improvement. Summary of the Invention

[0005] The purpose of this invention is to provide an AGV caster with a wheel spacing adjustment and speed regulation mechanism, which achieves dynamic adjustment of wheel spacing and precise speed regulation through integrated design.

[0006] To achieve the above objectives, the present invention adopts the following solution:

[0007] An AGV caster with a wheel spacing adjustment and speed regulation mechanism includes a wheel frame, two wheels movably mounted on the wheel frame, a spacing adjustment frame on each wheel capable of moving the rotating wheel left and right, a screw adjustment component on the wheel frame for moving closer to or further away from the two wheels, a spacing adjustment linkage assembly for controlling the spacing between the two wheels between the screw adjustment component and the two spacing adjustment frames, a piston assembly on the spacing adjustment frame, an air hole at one end of the piston assembly, a valve adjustment device for adjusting the size of the air hole on one side of the piston assembly, a reciprocating transmission assembly on the spacing adjustment frame for controlling the reciprocating motion of the piston assembly, and a gear transmission mechanism between the wheels and the reciprocating transmission assembly.

[0008] Furthermore, the wheel frame includes a connecting frame, a rotating frame is provided at the bottom of the connecting frame, and a wheel mounting shaft is provided on the rotating frame;

[0009] The wheel body has an axle hole in the middle, and the axle hole of the wheel body is rotatably mounted on the wheel body mounting shaft.

[0010] Furthermore, the spacing adjustment frame includes an annular boss disposed on the end face of the wheel body, the annular boss having an annular groove on its outer circumference, and also includes an adjustment frame, the inner end of which has an annular frame, which is engaged in the annular groove and can drive the wheel body to move axially left and right.

[0011] Furthermore, the screw adjusting component includes an outer extension component disposed on the rotating frame, a fixing sleeve disposed on the outer extension component, an adjusting screw being inserted into the fixing sleeve, the adjusting screw being threadedly connected to the fixing sleeve, a synchronous annular groove being disposed at the end of the adjusting screw, and a synchronous control ring being installed in the synchronous annular groove.

[0012] Furthermore, the spacing adjustment linkage assembly includes a first hinge seat disposed on both sides of the synchronous control ring, a second hinge seat disposed on the adjustment frame, and a control linkage is hinged between the first hinge seat and the second hinge seat on the corresponding side.

[0013] Furthermore, the piston assembly includes a piston cylinder disposed on the adjusting frame, a piston shaft through hole is provided at the bottom of the piston cylinder, a piston shaft is movably disposed in the piston shaft through hole and extends into the piston cylinder, and a piston is disposed at the inner end of the piston shaft.

[0014] Furthermore, the valve regulating device includes a transverse cylinder disposed on one side of the piston cylinder, the inner wall of the transverse cylinder is provided with internal threads, a rotating valve rod is installed inside the transverse cylinder, the outer circumference of the rotating valve rod is provided with external threads, and the internal threads and external threads are threadedly connected.

[0015] Furthermore, the reciprocating transmission assembly includes a rotating shaft hole disposed at the outer end of the adjusting frame, a rotating shaft body rotatably disposed within the rotating shaft hole, a rotating disk disposed at the outer end of the rotating shaft body, an eccentric hinge portion disposed on the rotating disk, a driving hinge portion disposed at the lower end of the piston shaft, and a reciprocating connecting rod hinged between the eccentric hinge portion and the driving hinge portion.

[0016] Furthermore, the gear transmission mechanism includes a ring gear disposed on the outer end face of the wheel body, and a transmission gear disposed on the inner end of the rotating shaft body, wherein the ring gear and the transmission gear mesh and transmit power.

[0017] An AGV mobile device includes a device body, a plurality of lateral adjustment rails at the bottom of the device body, control sliders on the lateral adjustment rails, a lead screw adjustment assembly between the lateral adjustment rails and the control sliders, and AGV casters on the control sliders.

[0018] In summary, the advantages of this invention over the prior art are:

[0019] This invention addresses the shortcomings of existing AGV caster component technology. Through its structural design, it offers the following advantages: The screw adjustment component and the spacing adjustment linkage assembly allow for precise and synchronous adjustment of the wheel spacing. This eliminates the need for disassembly, adapting to the handling needs of goods of different sizes and weights. For example, increasing the spacing improves stability when handling wide goods, while decreasing it enhances flexibility, and the adjustment process does not affect the continuous operation of the AGV. The gear transmission mechanism directly transmits the wheel rotational power to the reciprocating transmission assembly, driving the piston assembly to generate pneumatic damping. Combined with the air valve adjustment device, the air orifice size is precisely controlled, shortening the speed adjustment response time and allowing adjustment of the wheel's maximum speed according to the actual usage scenario. The annular frame and annular groove of the spacing adjustment bracket ensure that the wheel's left and right movement does not interfere with rotation or gear transmission. The synchronous adjustment characteristics of the synchronous control ring prevent the wheel's center of gravity shift from the spacing adjustment from affecting the speed adjustment damping, achieving coordinated operation of spacing adjustment and speed regulation. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present invention;

[0021] Figure 2 This is a first-state main view of the present invention;

[0022] Figure 3 This is a front view of the second state of the present invention;

[0023] Figure 4 For the present invention Figure 2 Sectional view along line DD;

[0024] Figure 5 For the present invention Figure 4 A magnified view of a portion at point E;

[0025] Figure 6 This is the left view of the present invention;

[0026] Figure 7 For the present invention Figure 6 Sectional view along line AA;

[0027] Figure 8 This is a rear view of the present invention;

[0028] Figure 9 For the present invention Figure 8 Sectional view along line BB;

[0029] Figure 10 For the present invention Figure 9 A magnified view of a portion at point C;

[0030] Figure 11 This is a schematic diagram of the AGV mobile device structure of the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figures 1-11This invention provides an AGV caster with a wheel spacing adjustment and speed regulation mechanism, including a wheel frame 1. Two wheels 2 are movably mounted on the wheel frame 1. Each wheel 2 has a spacing adjustment frame 3 that can move left and right while rotating. The wheel frame 1 has a screw adjustment component 4 for moving closer to or further away from the two wheels 2. A spacing adjustment linkage assembly 5 for controlling the spacing between the two wheels 2 is located between the screw adjustment component 4 and the two spacing adjustment frames 3. A piston assembly 6 is mounted on the spacing adjustment frame 3. The piston assembly 6 has an air hole 7 at one end, and a valve adjusting device 8 for adjusting the size of the air hole 7 is provided on one side of the piston assembly 6. The spacing adjustment frame 3 is provided with a reciprocating transmission assembly 9 for controlling the reciprocating motion of the piston assembly 6. A gear transmission mechanism 10 is provided between the wheel body 2 and the reciprocating transmission assembly 9. The wheel frame 1 is the basic load-bearing structure, and the two wheels 2 can move left and right in the rotating state through the spacing adjustment frame 3. The rotating screw adjusting component 4 pushes and pulls the spacing adjustment frame 3 through the spacing adjustment connecting rod assembly 5, and synchronously controls the spacing between the two wheels 2. In terms of speed regulation, when the wheel 2 rotates, it drives the reciprocating transmission assembly 9 through the gear transmission mechanism 10, causing the piston 604 of the piston assembly 6 to reciprocate within the piston cylinder 601. The regulating valve regulating device 8 changes the size of the air hole 7: the smaller the opening of the air hole 7, the greater the resistance to gas entering and exiting the piston cylinder 601, the stronger the reciprocating damping of the piston 604, which in turn restricts the rotation of the wheel 2 and reduces the maximum speed; conversely, the larger the opening of the air hole 7, the weaker the damping, and the higher the maximum speed of the wheel 2.

[0033] The wheel frame 1 of the present invention includes a connecting frame 101, a rotating frame 102 is provided at the bottom of the connecting frame 101, and a wheel mounting shaft 103 is provided on the rotating frame 102;

[0034] The wheel body 2 has a shaft hole 201 in the middle, and the shaft hole 201 of the wheel body 2 is rotatably mounted on the wheel body mounting shaft 103; the connecting frame 101 of the wheel frame 1 is used to connect with the AGV body, and the wheel body mounting shaft 103 on the rotating frame 102 provides an installation reference for the wheel body 2; the wheel body 2 is sleeved on the wheel body mounting shaft 103 through the shaft hole 201, which not only ensures the stable rotation of the wheel body 2, but also allows it to slide left and right along the mounting shaft axis, providing structural support for spacing adjustment, and ensuring that the rotational power of the wheel body 2 is stably transmitted to the subsequent speed adjustment mechanism.

[0035] The spacing adjustment frame 3 of the present invention includes an annular boss 301 disposed on the end face of the wheel body 2, and an annular groove 302 disposed on the outer circumference of the annular boss 301. It also includes an adjustment frame 303, and an annular frame 304 disposed on the inner end of the adjustment frame 303. The annular frame 304 is engaged in the annular groove 302 and can drive the wheel body 2 to move axially left and right without interfering with the rotational movement of the wheel body 2. The annular boss 301 on the end face of the wheel body 2 and the annular frame 304 of the adjustment frame 303 are engaged through the annular groove 302. When the adjustment frame 303 moves left and right, the annular frame 304 slides along the annular groove 302, which can drive the wheel body 2 to move axially synchronously to achieve spacing adjustment. Moreover, the cooperation between the annular groove 302 and the annular frame 304 does not restrict the rotation of the wheel body 2 around the axis, ensuring that the gear transmission drive speed adjustment mechanism does not affect the rotation of the wheel body 2.

[0036] The screw adjusting component 4 of the present invention includes an outer extension 401 disposed on the rotating frame 102. A fixing sleeve 402 is disposed on the outer extension 401. An adjusting screw 403 is inserted into the fixing sleeve 402. The adjusting screw 403 and the fixing sleeve 402 are threadedly connected. A synchronous annular groove 404 is disposed at the end of the adjusting screw 403. A synchronous control ring 405 is installed in the synchronous annular groove 404. The synchronous control ring 405 can follow the synchronous annular groove 404 to move along the axial direction of the adjusting screw 403. The adjustment screw 403 rotates without interfering with its rotational movement. The outer extension 401 of the rotating frame 102 is fitted with a fixing sleeve 402, and the adjustment screw 403 is threadedly engaged with the fixing sleeve 402. When the adjustment screw 403 is rotated, the threaded transmission converts the rotational motion into the axial movement of the adjustment screw 403, which drives the axial movement of the synchronous control ring 405 in the end synchronous annular groove 404. The synchronous control ring 405 only moves axially with the adjustment screw 403 and does not rotate with it, providing stable pitch adjustment power for the subsequent connecting rod assembly and ensuring that the pitch between the two wheel bodies 2 changes synchronously.

[0037] The spacing adjustment linkage assembly 5 of the present invention includes a first hinge seat 501 disposed on both sides of the synchronous control ring 405, and a second hinge seat 502 disposed on the adjustment frame 303. A control linkage 503 is hinged between the first hinge seat 501 and the second hinge seat 502 on the corresponding side. The first hinge seat 501 on both sides of the synchronous control ring 405 and the second hinge seat 502 of the adjustment frame 303 are hinged through the control linkage 503. When the synchronous control ring 405 moves axially, the control linkage 503 pushes and pulls the adjustment frames 303 on both sides, so that the wheels 2 on both sides move closer or further away synchronously, thereby achieving symmetrical spacing adjustment. This avoids uneven force on the rotation of the wheels due to the offset of one side of the wheels, and ensures stable rotation speed of the wheels 2.

[0038] The piston assembly 6 of the present invention includes a piston cylinder 601 disposed on the adjusting frame 303. The bottom of the piston cylinder 601 is provided with a piston shaft through hole 602. A piston shaft 603 is movably disposed in the piston shaft through hole 602 and extends into the piston cylinder 601. A piston 604 is disposed at the inner end of the piston shaft 603. The piston cylinder 601 on the adjusting frame 303 provides movement space for the piston 604. The piston shaft 603 passes through the piston shaft through hole 602 and connects to the piston 604. When the reciprocating transmission assembly 9 drives the piston shaft 603 to reciprocate, the piston 604 compresses or draws in gas in the piston cylinder 601. The gas needs to enter and exit the piston cylinder 601 through the air hole 7. The size of the air hole 7 directly determines the gas flow resistance, thereby forming damping forces of different intensities, providing a core damping source for limiting the maximum speed of the wheel 2.

[0039] The air valve adjusting device 8 of the present invention includes a transverse cylinder 801 disposed on one side of the piston cylinder 601. The inner wall of the transverse cylinder 801 is provided with an internal thread. A rotating valve rod 802 is installed inside the transverse cylinder 801. The outer circumference of the rotating valve rod 802 is provided with an external thread. The internal thread and the external thread are threadedly connected. The size of the air hole 7 is opened and closed by adjusting the axial position of the rotating valve rod 802. Inside the transverse cylinder 801 on one side of the piston cylinder 601, the rotating valve rod 802 is threadedly engaged with the transverse cylinder 801: rotating the rotating valve rod 802 causes the threaded transmission to drive its axial movement, changing the degree of obstruction of the air hole 7 by the rotating valve rod 802. When the rotating valve rod 802 is close to the air hole 7, the opening of the air hole 7 decreases, the gas flow resistance increases, the reciprocating damping of the piston 604 increases, and the maximum speed of the wheel 2 decreases. Conversely, when the rotating valve rod 802 is away from the air hole 7, the opening of the air hole 7 increases, the damping decreases, and the maximum speed of the wheel 2 increases, thereby achieving precise control of the maximum speed.

[0040] The reciprocating transmission assembly 9 of the present invention includes a rotating shaft hole disposed at the outer end of the adjusting frame 303, a rotating shaft body 902 rotatably disposed within the rotating shaft hole, a rotating disk 903 disposed at the outer end of the rotating shaft body 902, an eccentric hinge portion 904 disposed on the rotating disk 903, a driving hinge portion 905 disposed at the lower end of the piston shaft 603, and a reciprocating connecting rod 906 hinged between the eccentric hinge portion 904 and the driving hinge portion 905; the rotating shaft hole of the adjusting frame 303 supports the rotation of the rotating shaft body 902, and the rotating shaft... The rotating disk 903 at the outer end of the body 902 rotates synchronously with it; the eccentric hinge 904 of the rotating disk 903 is connected to the drive hinge 905 of the piston shaft 603 through the reciprocating connecting rod 906: when the eccentric hinge 904 moves in a circular motion with the rotating disk 903, the reciprocating connecting rod 906 converts the circular motion into the reciprocating linear motion of the piston shaft 603, driving the piston 604 to move in the piston cylinder 601, ensuring that when the air hole 7 adjusts the damping, there is a stable piston motion to provide damping force, thereby stabilizing and controlling the maximum speed of the wheel body.

[0041] The gear transmission mechanism 10 of the present invention includes an annular gear 1001 disposed on the outer end face of the wheel body 2, and a transmission gear 1002 disposed on the inner end of the rotating shaft body 902, wherein the annular gear 1001 and the transmission gear 1002 mesh and transmit power.

[0042] An AGV mobile device includes a device body 1000, a plurality of horizontal adjustment rails 2000 are provided at the bottom of the device body 1000, a control slider 3000 is provided on the horizontal adjustment rails 2000, a lead screw adjustment assembly 4000 is provided between the horizontal adjustment rails 2000 and the control slider 3000, and AGV casters are provided on the control slider 3000.

[0043] The foregoing has shown and described the basic principles and main features of the present invention, as well as its advantages. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An AGV caster with a wheel spacing adjustment and speed regulation mechanism, comprising a wheel frame (1), characterized in that: Two wheels (2) are movably arranged on the wheel frame (1). A spacing adjustment frame (3) is provided on the wheel (2) to drive the rotating wheel (2) to move left and right. A screw adjustment component (4) is provided on the wheel frame (1) to move closer to or further away from the two wheels (2). A spacing adjustment linkage assembly (5) for controlling the spacing between the two wheels (2) is provided between the screw adjustment component (4) and the two spacing adjustment frames (3). A piston assembly (6) is provided on the spacing adjustment frame (3). An air hole (7) is provided at one end of the piston assembly (6). An air valve adjustment device (8) for adjusting the size of the air hole (7) is provided on one side of the piston assembly (6). A reciprocating transmission assembly (9) for controlling the reciprocating motion of the piston assembly (6) is provided on the spacing adjustment frame (3). A gear transmission mechanism (10) is provided between the wheel (2) and the reciprocating transmission assembly (9).

2. An AGV caster with wheel spacing adjustment and speed regulation mechanism according to claim 1, characterized in that: The wheel frame (1) includes a connecting frame (101), a rotating frame (102) is provided at the bottom of the connecting frame (101), and a wheel mounting shaft (103) is provided on the rotating frame (102). The wheel body (2) has a shaft hole (201) in the middle, and the shaft hole (201) of the wheel body (2) is rotatably mounted on the wheel body mounting shaft (103).

3. An AGV caster with wheel spacing adjustment and speed regulation mechanism according to claim 2, characterized in that: The spacing adjustment frame (3) includes an annular boss (301) disposed on the end face of the wheel body (2), and an annular groove (302) is provided on the outer circumference of the annular boss (301). It also includes an adjustment frame (303), and an annular frame (304) is provided at the inner end of the adjustment frame (303). The annular frame (304) is engaged in the annular groove (302) and can drive the wheel body (2) to move left and right axially.

4. An AGV caster with wheel spacing adjustment and speed regulation mechanism according to claim 3, characterized in that: The screw adjusting component (4) includes an outer extension (401) disposed on the rotating frame (102), a fixing sleeve (402) disposed on the outer extension (401), an adjusting screw (403) inserted in the fixing sleeve (402), the adjusting screw (403) and the fixing sleeve (402) being threadedly connected, a synchronous annular groove (404) disposed at the end of the adjusting screw (403), and a synchronous control ring (405) installed in the synchronous annular groove (404).

5. An AGV caster with wheel spacing adjustment and speed regulation mechanism according to claim 4, characterized in that: The spacing adjustment linkage assembly (5) includes a first hinge seat (501) disposed on both sides of the synchronous control ring (405), and a second hinge seat (502) disposed on the adjustment frame (303). A control linkage (503) is hinged between the first hinge seat (501) and the second hinge seat (502) on the corresponding side.

6. An AGV caster with wheel spacing adjustment and speed regulation mechanism according to claim 5, characterized in that: The piston assembly (6) includes a piston cylinder (601) disposed on the adjusting frame (303). The bottom of the piston cylinder (601) is provided with a piston shaft through hole (602). A piston shaft (603) is movably disposed in the piston shaft through hole (602) and extends into the piston cylinder (601). A piston (604) is disposed at the inner end of the piston shaft (603).

7. An AGV caster with wheel spacing adjustment and speed regulation mechanism according to claim 6, characterized in that: The valve regulating device (8) includes a transverse cylinder (801) disposed on one side of the piston cylinder (601). The inner wall of the transverse cylinder (801) is provided with an internal thread. A rotating valve rod (802) is installed inside the transverse cylinder (801). The outer circumference of the rotating valve rod (802) is provided with an external thread. The internal thread and the external thread are connected by a thread.

8. An AGV caster with a wheel spacing adjustment and speed regulation mechanism according to claim 7, characterized in that: The reciprocating transmission assembly (9) includes a rotating shaft hole at the outer end of the adjusting frame (303), a rotating shaft body (902) rotatably disposed in the rotating shaft hole, a rotating disk (903) at the outer end of the rotating shaft body (902), an eccentric hinge part (904) on the rotating disk (903), a driving hinge part (905) at the lower end of the piston shaft (603), and a reciprocating connecting rod (906) hinged between the eccentric hinge part (904) and the driving hinge part (905).

9. An AGV caster with wheel spacing adjustment and speed regulation mechanism according to claim 8, characterized in that: The gear transmission mechanism (10) includes a ring gear (1001) disposed on the outer end face of the wheel body (2), and a transmission gear (1002) disposed on the inner end of the rotating shaft body (902). The ring gear (1001) and the transmission gear (1002) mesh and transmit power.

10. An AGV mobile device, comprising the AGV casters as described in any one of claims 1-9, characterized in that, The device includes a main body (1000), and multiple sets of horizontal adjustment rails (2000) are provided at the bottom of the main body (1000). A control slider (3000) is provided on the horizontal adjustment rail (2000). A screw adjustment assembly (4000) is provided between the horizontal adjustment rail (2000) and the control slider (3000). An AGV caster is provided on the control slider (3000).

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