Jacking AGV with moving wheel adjusting function

Abstract

The utility model discloses a jacking AGV (Automatic Guided Vehicle) with a moving wheel adjusting function, which belongs to the field of AGVs, adopts a three-point hinged wheel set structure and is matched with a corresponding damping structure to ensure that a driving wheel adapts to the fluctuation of the ground, the driving wheel has enough ground adhesive force, and meanwhile, bumping caused by uneven ground is buffered. The device mainly comprises a chassis, driving adjusting frames are symmetrically arranged on the two sides of the chassis through hinge seats, driving wheel assemblies are arranged at the front ends of the driving adjusting frames, driven universal guide wheels are arranged at the rear ends of the driving adjusting frames, rear damping and buffering structures are arranged on the driving adjusting frames at the driving wheel assemblies, and a front guide frame is arranged at the front end of the chassis through a hinge seat. Front universal guide wheels are symmetrically arranged at the two ends of the front guide frame, front damping and buffering structures are further symmetrically arranged on the front guide frame, a jacking mechanism is arranged on the chassis, and the jacking mechanism is connected with the jacking plate. The jacking AGV is mainly used for flexibly adjusting the distance between the moving wheels and the ground.

Description

Technical Field

[0001] The utility model relates to the field of AGV, in particular to a lifting AGV with a moving wheel adjustment function. Background Art

[0002] Nowadays, AGV (automatic guided vehicle) is more and more widely used in industrial production, especially in the production and transportation process. The application of AGV has become the main means for enterprises to reduce costs and increase efficiency, and has played a huge role in reducing the burden on enterprises. As the application of AGV increases, more and more requirements are also put forward for the functions of AGV.

[0003] For example, the AGV chassis structure with publication number CN111776073A can run stably when the ground is flat. However, when the ground is undulating, the unevenness of the ground will cause the preload force of the shock absorbing mechanism to decrease, which in turn will cause the adhesion of the driving wheel to decrease, resulting in the driving wheel slipping. After the driving wheel slips, the AGV will derail and become unusable. Summary of the invention

[0004] The purpose of the utility model is to provide a lifting AGV with a mobile wheel adjustment function, which adopts a three-point articulated wheel group structure, and is combined with a corresponding shock-absorbing structure to ensure that the driving wheel adapts to the ups and downs of the ground and has sufficient ground adhesion, while buffering the bumps caused by uneven ground.

[0005] The utility model is realized by the following technical solutions:

[0006] An AGV structure with a mobile wheel adjustment function comprises a chassis, drive adjustment frames are symmetrically provided on both sides of the chassis through an articulated seat, a drive wheel assembly is provided at the front end of the drive adjustment frame, a driven universal guide wheel is provided at the rear end of the drive adjustment frame, a rear shock absorbing and buffering structure is provided on the drive adjustment frame at the drive wheel assembly, a front guide frame is provided at the front end of the chassis through an articulated seat, front universal guide wheels are symmetrically provided at both ends of the front guide frame, a front shock absorbing and buffering structure is also symmetrically provided on the front guide frame between the articulated seat and the front universal guide wheel, a lifting mechanism is provided on the chassis, and the lifting mechanism is connected to a lifting plate.

[0007] Furthermore, the jacking mechanism includes four screw lifts symmetrically arranged on the chassis, the lifting ends of the screw lifts are connected to the jacking plates, the power input ends of the screw lifts on both sides of the symmetrical sides are connected through connecting shafts, and a jacking reduction motor is also provided on the chassis, the power output end of the jacking reduction motor is connected to the power input end of one of the screw lifts through a transmission component I, and the two connecting shafts are connected through a transmission component II; the transmission component II is tensioned by a tensioning mechanism.

[0008] Furthermore, the transmission component I and the transmission component II both include sprockets and chains, the two connecting shafts are provided with sprockets and driven by chains, the power output end of the lifting reduction motor and the power input end of one of the screw lifts are both provided with sprockets and driven by chains; the tensioning mechanism includes a tensioning sprocket and a tensioning sprocket mounting bracket, the tensioning sprocket mounting bracket is installed on the chassis, the tensioning sprocket is rotatably mounted on the tensioning sprocket mounting bracket, and the tensioning sprocket cooperates with the chain.

[0009] Furthermore, the transmission component I and the transmission component II both include pulleys and belts, the two connecting shafts are provided with pulleys and driven by belts, the power output end of the jacking reduction motor and the power input end of one of the screw lifts are provided with pulleys and driven by belts; the tensioning mechanism includes a tensioning pulley and a tensioning pulley mounting bracket, the tensioning pulley mounting bracket is installed on the chassis, the tensioning pulley is rotatably mounted on the tensioning pulley mounting bracket, and the tensioning pulley cooperates with the belt.

[0010] Furthermore, the driving wheel assembly includes a driving wheel and a driving reduction motor, the driving reduction motor drives the driving wheel to rotate, and the driving reduction motor is arranged on the driving adjustment frame.

[0011] Furthermore, the articulated seat includes an upper connecting seat and a lower connecting seat, the upper connecting seat and the lower connecting seat are rotatably connected via an articulated shaft, and the articulated shaft is respectively connected to the upper connecting seat and the lower connecting seat via self-lubricating bearings; the driving adjustment frame and the front guide frame are respectively connected to the upper connecting seat, and the lower connecting seat is installed on the chassis.

[0012] Furthermore, the rear shock-absorbing buffer structure includes a screw rod I and a shock-absorbing buffer spring I. The screw rod I is installed in the mounting hole of the drive adjustment frame. The lower end of the screw rod I is welded to the chassis. The shock-absorbing buffer spring I is installed above the mounting hole of the drive adjustment frame. An adjusting nut I is provided on the screw rod I above the shock-absorbing buffer spring I.

[0013] Furthermore, the front shock-absorbing and buffering structure includes a screw rod II and a shock-absorbing and buffering spring II. The screw rod II is installed in the mounting hole of the front guide frame. The bottom of the screw rod II is welded to the chassis. The shock-absorbing and buffering spring II is provided on the screw rod II between the front guide frame and the chassis. The screw rod II above the front guide frame is provided with an adjusting nut II.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The three-point articulated wheel structure is combined with a corresponding shock-absorbing structure to ensure that the driving wheels can adapt to the ups and downs of the ground and have sufficient ground adhesion, while buffering the bumps caused by uneven ground.

[0016] 2. Through a sprocket, chain structure or a belt, pulley structure, four screw lifts connected by a connecting shaft can be lifted and lowered synchronously.

[0017] 3. The chain or belt tensioning mechanism can ensure the stability of transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the utility model;

[0019] Figure 2 It is a side view of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the jacking mechanism of the utility model. Figure Ⅰ ;

[0021] Figure 4 This is a schematic diagram of the structure of the jacking mechanism of the utility model. Figure II ;

[0022] Figure 5 It is a structural schematic diagram of the hinged seat of the utility model;

[0023] Figure 6 It is a structural schematic diagram of the rear shock absorbing and buffering structure of the utility model;

[0024] Figure 7 It is a structural schematic diagram of the front shock absorbing and buffering structure of the utility model.

[0025] In the figure: 1. lifting plate; 2. lifting mechanism; 3. driving adjustment frame; 4. driven universal guide wheel; 5. driving wheel; 6. rear shock-absorbing buffer structure; 7. driving reduction motor; 8. front guide frame; 9. articulated seat; 10. front universal guide wheel; 11. front shock-absorbing buffer structure; 12. lifting reduction motor; 13. transmission component I; 14. screw lift; 15. connecting shaft; 16. tensioning sprocket; 17. tensioning sprocket mounting bracket; 18. chassis; 19. transmission component II; 111. shock-absorbing buffer spring II; 112. screw II; 113. adjusting nut II; 61. screw I; 62. adjusting nut I; 63. shock-absorbing buffer spring I; 91. upper connecting seat; 92. lower connecting seat; 93. self-lubricating bearing. DETAILED DESCRIPTION

[0026] The utility model is further described below in conjunction with the accompanying drawings.

[0027] like Figure 1 – Figure 2As shown, embodiment 1, a lifting AGV with a moving wheel adjustment function, includes a chassis 18, drive adjustment frames 3 are symmetrically provided on both sides of the chassis 18 through an articulated seat 9, the front ends of the drive adjustment frames 3 are provided with a driving wheel assembly, the rear ends of the drive adjustment frames 3 are provided with a driven universal guide wheel 4, the drive adjustment frames 3 at the driving wheel assembly are provided with a rear shock absorbing and buffering structure 6, a front guide frame 8 is provided at the front end of the chassis 18 through an articulated seat 9, front universal guide wheels 10 are symmetrically provided at both ends of the front guide frame 8, and a front shock absorbing and buffering structure 11 is also symmetrically provided on the front guide frame 8 between the articulated seat 9 and the front universal guide wheel 10, and a lifting mechanism 2 is provided on the chassis 18, and the lifting mechanism 2 is connected to the lifting plate 1.

[0028] like Figure 3 – Figure 7As shown, embodiment 2, a lifting AGV with a moving wheel adjustment function, the lifting mechanism 2 includes four screw lifts 14 symmetrically arranged on a chassis 18, the lifting end of the screw lift 14 is connected to a lifting plate 1, the power input ends of the screw lifts 14 on both sides of the symmetrical sides are connected through a connecting shaft 15, and a lifting reduction motor 12 is also provided on the chassis 18, the power output end of the lifting reduction motor 12 is connected to the power input end of one of the screw lifts 14 through a transmission component I 13, and the two connecting shafts 15 are connected through a transmission component II 19; the transmission component II 19 is tensioned by a tensioning mechanism; the transmission component I 1 3 and transmission assembly II 19 both include sprockets and chains, two connecting shafts 15 are provided with sprockets and driven by chains, the power output end of the lifting reduction motor 12 and the power input end of one of the screw lifters 14 are provided with sprockets and driven by chains; the tensioning mechanism includes a tensioning sprocket 16 and a tensioning sprocket mounting bracket 17, the tensioning sprocket mounting bracket 17 is mounted on the chassis 18, the tensioning sprocket 16 is rotatably mounted on the tensioning sprocket mounting bracket 17, and the tensioning sprocket 16 cooperates with the chain; the driving wheel assembly includes a driving wheel 5 and a driving reduction motor 7, the driving reduction motor 7 drives the driving wheel 5 to rotate, and the driving reduction motor 7 is arranged at the driving adjustment The hinged seat 9 comprises an upper connecting seat 91 and a lower connecting seat 92, the upper connecting seat 91 and the lower connecting seat 92 are rotatably connected through a hinge shaft, and the hinge shaft is respectively connected to the upper connecting seat 91 and the lower connecting seat 92 through a self-lubricating bearing 93; the driving adjustment frame 3 and the front guide frame 8 are respectively connected to the upper connecting seat 91, and the lower connecting seat 92 is installed on the chassis 18; the rear shock absorbing buffer structure 6 comprises a screw rod Ⅰ61 and a shock absorbing buffer spring Ⅰ63, the screw rod Ⅰ61 is installed in the mounting hole of the driving adjustment frame 3 (there is a movable gap for the screw rod Ⅰ61 in the mounting hole of the driving adjustment frame 3), the lower end of the screw rod Ⅰ61 is welded to the chassis 18, and the shock absorbing buffer spring Ⅰ63 is installed in the mounting hole of the driving adjustment frame 3. The impact spring Ⅰ63 is installed above the mounting hole of the driving adjustment frame 3, and an adjusting nut Ⅰ62 is provided on the screw Ⅰ61 above the shock-absorbing buffer spring Ⅰ63; the front shock-absorbing buffer structure 11 includes a screw Ⅱ112 and a shock-absorbing buffer spring Ⅱ111, and a screw Ⅱ112 is installed in the mounting hole of the front guide frame 8 (a movable gap for the screw Ⅱ112 is left in the mounting hole of the front guide frame 8), and the bottom of the screw Ⅱ112 is welded to the chassis 18, and a shock-absorbing buffer spring Ⅱ111 is provided on the screw Ⅱ112 between the front guide frame 8 and the chassis 18, and an adjusting nut Ⅱ113 is provided on the screw Ⅱ112 above the front guide frame 8, and the rest is the same as Example 1.

[0029] Embodiment 3, a lifting AGV with a moving wheel adjustment function, the lifting mechanism 2 includes four screw lifts 14 symmetrically arranged on a chassis 18, the lifting end of the screw lift 14 is connected to a lifting plate 1, the power input ends of the screw lifts 14 on both sides of the symmetrical sides are connected through a connecting shaft 15, and a lifting reduction motor 12 is also provided on the chassis 18, the power output end of the lifting reduction motor 12 is connected to the power input end of one of the screw lifts 14 through a transmission component I 13, and the two connecting shafts 15 are connected through a transmission component II 19; the transmission component II 19 is tensioned by a tensioning mechanism; the transmission component I 13 The transmission assembly II 19 includes a pulley and a belt. The two connecting shafts 15 are provided with pulleys and driven by belts. The power output end of the lifting reduction motor 12 and the power input end of one of the screw lifts 14 are provided with pulleys and driven by belts. The tensioning mechanism includes a tensioning pulley and a tensioning pulley mounting bracket. The tensioning pulley mounting bracket is mounted on the chassis 18. The tensioning pulley is rotatably mounted on the tensioning pulley mounting bracket, and the tensioning pulley cooperates with the belt. The driving wheel assembly includes a driving wheel 5 and a driving reduction motor 7. The driving reduction motor 7 drives the driving wheel 5 to rotate. The driving reduction motor 7 is arranged on the driving adjustment frame 3. ; The articulated seat 9 includes an upper connecting seat 91 and a lower connecting seat 92, the upper connecting seat 91 and the lower connecting seat 92 are rotatably connected through an articulated shaft, and the articulated shaft is respectively connected to the upper connecting seat 91 and the lower connecting seat 92 through a self-lubricating bearing 93; the driving adjustment frame 3 and the front guide frame 8 are respectively connected to the upper connecting seat 91, and the lower connecting seat 92 is installed on the chassis 18; the rear shock absorbing and buffering structure 6 includes a screw rod Ⅰ61 and a shock absorbing and buffering spring Ⅰ63, the screw rod Ⅰ61 is installed in the mounting hole of the driving adjustment frame 3 (there is a movable gap for the screw rod Ⅰ61 in the mounting hole of the driving adjustment frame 3), the lower end of the screw rod Ⅰ61 is welded to the chassis 18, and the shock absorbing and buffering Spring Ⅰ63 is installed above the mounting hole of the driving adjustment frame 3, and an adjusting nut Ⅰ62 is provided on the screw Ⅰ61 above the shock-absorbing buffer spring Ⅰ63; the front shock-absorbing buffer structure 11 includes a screw Ⅱ112 and a shock-absorbing buffer spring Ⅱ111, and a screw Ⅱ112 is installed in the mounting hole of the front guide frame 8 (a movable gap for the screw Ⅱ112 is left in the mounting hole of the front guide frame 8), and the bottom of the screw Ⅱ112 is welded to the chassis 18, and a shock-absorbing buffer spring Ⅱ111 is provided on the screw Ⅱ112 between the front guide frame 8 and the chassis 18, and an adjusting nut Ⅱ113 is provided on the screw Ⅱ112 above the front guide frame 8, and the rest is the same as Example 1.

[0030] Since the driving adjustment frame 3 and the front guide frame 8 are both installed on the chassis 18 through the hinge seat 9, the driving reduction motor 7 drives the driving wheel 5 to rotate. When encountering an uneven road surface, the driving adjustment frame 3 and the front guide frame 8 can be adjusted in angle to ensure that each moving wheel is in contact with the ground. By tightening the adjustment nut Ⅰ62 to adjust the spring preload of the shock-absorbing buffer spring Ⅰ63, it is ensured that the driving wheel 5 and the driven universal guide wheel 4 have sufficient ground adhesion to adapt to the unevenness of the ground. Similarly, by tightening the adjustment nut Ⅱ113 to adjust the spring preload of the shock-absorbing buffer spring Ⅱ111, it is ensured that the front universal guide wheel 10 has sufficient ground adhesion to adapt to the unevenness of the ground and buffer the bumps caused by the uneven ground to the vehicle body. Through the sprocket, chain structure or belt, pulley structure, the four screw elevators 14 connected by the connecting shaft 15 can be lifted and lowered synchronously. The tensioning mechanism of the chain or belt can ensure the stability of the transmission.

Claims

1. A lifting AGV with a mobile wheel adjustment function, comprising a chassis (18), characterized in that: The chassis (18) is symmetrically provided with drive adjustment frames (3) on both sides through an articulated seat (9), the front ends of the drive adjustment frames (3) are provided with drive wheel assemblies, the rear ends of the drive adjustment frames (3) are provided with driven universal guide wheels (4), the drive adjustment frames (3) at the drive wheel assemblies are provided with rear shock absorbing and buffering structures (6), the front ends of the chassis (18) are provided with front guide frames (8) through an articulated seat (9), the two ends of the front guide frames (8) are symmetrically provided with front universal guide wheels (10), the front guide frames (8) are also symmetrically provided with front shock absorbing and buffering structures (11), and the chassis (18) is provided with a lifting mechanism (2), which is connected to the lifting plate (1).

2. The lifting AGV with movable wheel adjustment function according to claim 1, characterized in that: The lifting mechanism (2) comprises four screw lifts (14) symmetrically arranged on a chassis (18), the lifting ends of the screw lifts (14) are connected to a lifting plate (1), the power input ends of the screw lifts (14) on both sides of the symmetrical sides are connected via a connecting shaft (15), a lifting reduction motor (12) is also provided on the chassis (18), the power output end of the lifting reduction motor (12) is connected to the power input end of one of the screw lifts (14) via a transmission component I (13), and the two connecting shafts (15) are connected via a transmission component II (19); the transmission component II (19) is tensioned by a tensioning mechanism.

3. The lifting AGV with movable wheel adjustment function according to claim 2 is characterized in that: The transmission assembly I (13) and the transmission assembly II (19) both include sprockets and chains. The two connecting shafts (15) are provided with sprockets and driven by the chains. The power output end of the lifting reduction motor (12) and the power input end of one of the screw lifts (14) are both provided with sprockets and driven by the chains. The tensioning mechanism includes a tensioning sprocket (16) and a tensioning sprocket mounting bracket (17). The tensioning sprocket mounting bracket (17) is mounted on the chassis (18). The tensioning sprocket (16) is rotatably mounted on the tensioning sprocket mounting bracket (17). The tensioning sprocket (16) cooperates with the chain.

4. The lifting AGV with movable wheel adjustment function according to claim 2, characterized in that: The transmission assembly I (13) and the transmission assembly II (19) both include pulleys and belts, the two connecting shafts (15) are provided with pulleys and driven by the belts, the power output end of the lifting reduction motor (12) and the power input end of one of the screw lifts (14) are both provided with pulleys and driven by the belts; the tensioning mechanism includes a tensioning pulley and a tensioning pulley mounting bracket, the tensioning pulley mounting bracket is mounted on the chassis (18), the tensioning pulley is rotatably mounted on the tensioning pulley mounting bracket, and the tensioning pulley cooperates with the belt.

5. The lifting AGV with movable wheel adjustment function according to claim 1, characterized in that: The driving wheel assembly comprises a driving wheel (5) and a driving reduction motor (7). The driving reduction motor (7) drives the driving wheel (5) to rotate. The driving reduction motor (7) is arranged on the driving adjustment frame (3).

6. The lifting AGV with movable wheel adjustment function according to claim 1, characterized in that: The articulated seat (9) comprises an upper connecting seat (91) and a lower connecting seat (92), the upper connecting seat (91) and the lower connecting seat (92) being rotatably connected via an articulated shaft, the articulated shaft being respectively connected to the upper connecting seat (91) and the lower connecting seat (92) via a self-lubricating bearing (93); the driving adjustment frame (3) and the front guide frame (8) are respectively connected to the upper connecting seat (91), and the lower connecting seat (92) is mounted on the chassis (18).

7. The lifting AGV with movable wheel adjustment function according to claim 1, characterized in that: The rear shock absorbing and buffering structure (6) comprises a screw rod I (61) and a shock absorbing and buffering spring I (63), wherein the screw rod I (61) is mounted in a mounting hole of the drive adjustment frame (3), the lower end of the screw rod I (61) is welded to the chassis (18), the shock absorbing and buffering spring I (63) is mounted above the mounting hole of the drive adjustment frame (3), and an adjusting nut I (62) is provided on the screw rod I (61) above the shock absorbing and buffering spring I (63).

8. The lifting AGV with movable wheel adjustment function according to claim 1, characterized in that: The front shock absorbing and buffering structure (11) comprises a screw rod II (112) and a shock absorbing and buffering spring II (111); the screw rod II (112) is installed in the mounting hole of the front guide frame (8); the bottom of the screw rod II (112) is welded to the chassis (18); the shock absorbing and buffering spring II (111) is provided on the screw rod II (112) between the front guide frame (8) and the chassis (18); and an adjusting nut II (113) is provided on the screw rod II (112) above the front guide frame (8).

Images