AGV (Automatic Guided Vehicle)

Abstract

The utility model relates to an AGV (Automatic Guided Vehicle) which comprises a vehicle body and a driving unit, the vehicle body comprises a bottom plate, and a limiting long hole and a first connecting hole are formed in the bottom plate in a penetrating mode. The driving unit comprises a driving part and a connecting part, the driving part is used for driving the vehicle body to move, the connecting part comprises a support, a spring, a flange, a rotating shaft and a limiting shaft, the support is installed at the top of the driving part, the rotating shaft is vertically arranged, one end of the rotating shaft is rotationally connected with the support, and the other end of the rotating shaft is connected with the vehicle body; the flange is elastically connected with the support through a spring and fixedly connected with the bottom plate through a fastener, one end of the limiting shaft is connected with the support, and the other end of the limiting shaft penetrates through the limiting long hole. According to the structure, the acting force of the driving unit can directly act on the whole bottom plate of the vehicle body, stress is more uniform, the reliability of the connecting position between the driving unit and the vehicle body is higher, and the maintenance frequency of the connecting position can be effectively reduced.

Description

Technical Field

[0001] The utility model relates to an AGV transport vehicle. Background Art

[0002] AGV (Automated Guided Vehicle, AGV for short) is mainly used in automated logistics and transportation scenarios. It automatically transports items to designated locations through special landmark navigation such as magnetic strip guidance, laser guidance, and magnetic nail navigation. An existing AGV transport vehicle includes a vehicle body, a drive unit, and a connecting plate. The vehicle body and the drive unit are rotatably connected through the connecting plate. Figure 1 As shown, the connecting plate includes a wing plate 1′ in the shape of a “C” and a bottom plate 2′ in the shape of a circular ring. The wing plate 1′ and the bottom plate 2′ are integrally formed, and the bottom plate 2′ is located in the notch of the wing plate 1′. The bottom plate 2′ is sunken a certain distance relative to the wing plate 1′ to adapt to the spatial structure of the vehicle body and the drive unit. First mounting holes 10′ for inserting fasteners are provided at both ends of the wing plate 1′ so that the wing plate 1′ can be installed on the vehicle body through the fasteners. A plurality of second mounting holes 20′ for inserting fasteners are provided in a ring shape on the bottom plate 2′ so that the bottom plate 2′ can be installed on the drive unit through the fasteners. The drive unit includes a driving wheel in contact with the ground, and the entire AGV transport vehicle is driven to move on the ground by the driving unit.

[0003] The prior art has the following deficiencies: During the operation of the AGV transport vehicle, the stress position on the connecting plate is mainly concentrated in the area corresponding to the first mounting hole 10' and the second mounting hole 20'. The first mounting hole 10' and the second mounting hole 20' are far apart, resulting in a relatively concentrated stress at the connecting position 3' of the wing plate 1' and the bottom plate 2', and then a fracture occurs at the connecting position 3' of the wing plate 1' and the bottom plate 2', resulting in a high maintenance frequency of the AGV transport vehicle, affecting normal operation. Utility Model Content

[0004] The utility model aims to provide an AGV transport vehicle, which can effectively reduce the maintenance frequency and has high reliability.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] An AGV transport vehicle is provided, comprising:

[0007] A vehicle body, the vehicle body comprising a bottom plate, the bottom plate having a limited position long hole and a first connecting hole for inserting a fastener;

[0008] A driving unit, wherein the driving unit includes a driving part and a connecting part, the driving part is used to drive the vehicle body to move, the connecting part includes a bracket, a spring, a flange, a rotating shaft and a limiting shaft, the bracket is installed on the top of the driving part, the rotating shaft is vertically arranged, one end of the rotating shaft is rotatably connected to the bracket, and the other end is connected to the vehicle body, the spring and the flange are sleeved on the periphery of the rotating shaft, the flange is elastically connected to the bracket through the spring, and the flange is connected and fixed to the base plate through the fastener, one end of the limiting shaft is connected to the bracket, and the other end is penetrated into the limiting long hole, so that the limiting shaft can move along the length direction of the limiting long hole.

[0009] Furthermore, the bottom plate is provided with an avoidance hole for passing the rotating shaft, the limiting long hole surrounds the periphery of the avoidance hole, there are a plurality of first connecting holes, and the plurality of first connecting holes are spaced apart and distributed along the circumferential direction of the avoidance hole.

[0010] Furthermore, the avoidance hole is located in the middle of the width direction of the vehicle body.

[0011] Furthermore, the limiting long hole is an arc-shaped long hole.

[0012] Furthermore, the vehicle body also includes a reinforcing plate, which spans across the limiting long hole, and both ends of the reinforcing plate are connected and fixed to the bottom plate.

[0013] Furthermore, there are a plurality of reinforcing plates, and the plurality of reinforcing plates are spaced apart and distributed along the length direction of the limiting long hole.

[0014] Furthermore, the reinforcing plate includes a first plate and two parallel and spaced-apart second plates, the two second plates are respectively arranged on both sides of the width direction of the limiting long hole, the two ends of the first plate are respectively connected to the two second plates, and an avoidance gap is formed between the first plate and the two second plates for avoiding the limiting axis.

[0015] Furthermore, the bracket includes a support plate and a base, the limit shaft is arranged on the top surface of the support plate, the base is arranged on the bottom surface of the support plate, a receiving cavity is formed between the base and the support plate, the rotating shaft and the spring pass through the support plate and extend into the receiving cavity, a receiving groove is opened on the top surface of the driving part, the base is inserted in the receiving groove, and the support plate abuts against the top surface of the driving part.

[0016] Furthermore, the connecting portion also includes a bearing, the bearing is installed in the accommodating cavity, and one end of the rotating shaft is rotatably connected to the bearing.

[0017] Furthermore, it also includes road wheels, which are arranged at both ends of the vehicle body in the length direction, and the driving unit is arranged in the middle position of the vehicle body in the length direction.

[0018] The beneficial effects of the utility model are as follows: the drive unit includes a drive part and a connection part, and the connection part is used to realize the installation connection between the drive unit and the vehicle body. The connection part includes a bracket, a spring, a flange and a rotating shaft, the bracket is fixedly installed on the drive part, and the bracket is connected to the vehicle body by the rotating shaft to realize the rotation connection between the entire drive unit and the vehicle body. The spring and the flange are sleeved on the rotating shaft, and the flange is installed on the bottom plate. In order to realize the elastic connection between the bottom plate and the drive unit, a good anti-seismic effect is played. By directly installing the flange in the installation area of ​​the bottom plate, the force between the vehicle body and the drive unit is located in the corresponding area of ​​the flange. During operation, the force of the drive unit on the vehicle body can be directly applied to the bottom plate and evenly diffused around the installation area. Compared with the connecting plate structure in the prior art, this structure can avoid the occurrence of fracture accidents due to stress concentration between two force points on the connecting plate. This structure can directly apply the force of the drive unit to the entire bottom plate of the vehicle body, and the force is more uniform, so that the connection position between the drive unit and the vehicle body is more reliable, and the maintenance frequency of the connection position can be effectively reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of a connecting plate in the prior art.

[0020] Figure 2 It is a schematic diagram of an AGV transport vehicle according to an embodiment of the utility model.

[0021] Figure 3 It is a partial schematic diagram of an AGV transport vehicle according to an embodiment of the utility model.

[0022] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0023] Figure 5 Schematic diagram of a driving unit according to an embodiment of the present utility model.

[0024] Figure 6 It is a schematic diagram of the connection part of an embodiment of the utility model.

[0025] Figure 7 Schematic diagram of a bracket according to an embodiment of the present utility model.

[0026] Figure 1 middle:

[0027] 1′, wing plate; 10′, first mounting hole; 2′, bottom plate; 20′, second mounting hole; 3′, connection position;

[0028] Figures 2 to 7 middle:

[0029] 1. Vehicle body; 11. Bottom plate; 111. First connecting hole; 112. Limiting long hole; 113; Reinforcement plate; 1131. First plate; 1132. Second plate; 1133. Avoidance gap; 114. Avoidance hole; 12. Cover plate; 2. Drive unit; 21. Drive part; 210. Accommodating groove; 211. Drive wheel; 22. Connecting part; 221. Bracket; 2210. Accommodating cavity; 2211. Support plate; 2212. Base; 2213. Ear plate; 222. Limiting shaft; 223. Spring; 224. Flange; 225. Rotating shaft; 226. Bearing; 3. Road wheel. DETAILED DESCRIPTION

[0030] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the present invention are further explained below with reference to the accompanying drawings and through specific implementation methods.

[0031] like Figure 2 and Figure 3 As shown, an AGV transport vehicle provided by the utility model is mainly used in automated logistics transportation. The AGV transport vehicle includes a vehicle body 1, a drive unit 2 and a navigation unit. Among them, the vehicle body 1 plays an integral bearing role, the drive unit 2 and the navigation unit are both installed on the vehicle body 1, and the vehicle body 1 is provided with a chamber, a platform, a fixing fixture, etc. for loading goods. The vehicle body 1 is a rectangular parallelepiped structure as a whole, the X direction shown in the figure is the length direction of the vehicle body 1, the Y direction shown in the figure is the width direction of the vehicle body 1, and the Z direction shown in the figure is the height direction of the vehicle body 1. In actual use, the AGV transport vehicle moves along the length direction of the vehicle body 1. The drive unit 2 is a prior art, which includes a housing and a motor, a reducer, a transmission mechanism and a drive wheel 211 arranged on the housing. The motor is connected to the drive wheel 211 through the reducer and the transmission mechanism to transmit power to the drive wheel 211. The drive unit 2 is used to drive the vehicle body 1 to move, and has a moving mode including forward, backward, turning, etc. The navigation unit is a prior art, and is electrically connected to the drive unit 2. The navigation unit includes an on-board control computer, a detection sensor, etc., and is used to control the movement path of the entire AGV transport vehicle. A plurality of road wheels 3 are also provided at the bottom of the vehicle body 1. Road wheels 3 are provided at both ends of the length direction of the vehicle body 1, and the drive unit 2 is provided in the middle position of the length direction of the vehicle body 1. The road wheels 3 do not generate power, but play a supporting role for the vehicle body 1.

[0032] Specifically, refer to Figure 3 and Figure 4As shown, the vehicle body 1 includes a base plate 11, which is located at the bottom of the vehicle body 1. The base plate 11 has an installation area for connecting with the drive unit 2. A limited long hole 112 and a first connecting hole 111 are provided in the installation area. Among them, the limited long hole 122 serves to limit the rotation angle of the drive unit 2, and the first connecting hole 111 serves to install fasteners. The fasteners include common fasteners such as bolts and screws. The vehicle body 1 also includes a cover plate 12, which is located at the top of the vehicle body 11. The cover plate 12 is used to shield the installation area on the base plate 11, so as to provide waterproof, dustproof and protective effects on the installation area.

[0033] Specifically, refer to Figures 5 to 7 As shown, the drive unit 2 includes a drive portion 21 and a connecting portion 22. The drive portion 21 is used to provide motive power to drive the vehicle body 1 to move, and the connecting portion 22 is used to be installed and connected with the vehicle body 1. The entire drive unit 2 is located at the bottom of the vehicle body 1. The drive portion 21 includes a shell, on which a motor, a reducer, a transmission mechanism and a driving wheel 211 connected together are installed. There are two driving wheels 211, and along the width direction of the vehicle body 1, the two driving wheels 211 are respectively located on opposite sides of the shell. A receiving groove 210 is recessed on the top surface of the shell, and the receiving groove 210 is used to install the connecting portion 22.

[0034] The connecting part 22 includes a bracket 221, a limiting shaft 222, a spring 223, a flange 224, a rotating shaft 225 and a bearing 226. The bracket 221 is installed on the top of the shell of the driving part 21, and the bracket 221 includes a support plate 2211, a base 2212 and an ear plate 2213. The length of the support plate 2211 extends along the length direction of the vehicle body 1, and the support plate 2211 abuts on the top surface of the shell. There are two ear plates 2213, and the two ear plates 2213 are respectively arranged at both ends of the length direction of the support plate 2211. The two ear plates 2213 are respectively abutted on the shell and are connected and fixed to the shell by fasteners. The base 2212 is arranged on the bottom surface of the support plate 2211, and a receiving chamber 2210 is formed between the base 2212 and the support plate 2211. When installed, the base 2212 is inserted into the receiving groove 210 of the driving part 21. A through hole is provided on the support plate 2211, and the accommodating chamber 2210 is connected to the outside through the through hole. The limiting shaft 222 is vertically arranged, and the limiting shaft 222 is installed on the top surface of the support plate 2211. One end of the limiting shaft 222 is connected and fixed to the support plate 2211, and the other end is passed through the limiting long hole 112 on the bottom plate 11. When the drive unit 2 rotates relative to the vehicle body 1, the limiting shaft 222 can move along the length direction of the limiting long hole 112. The rotating shaft 225 is vertically arranged, and an avoidance hole 114 is provided on the bottom plate 11 of the vehicle body 1. One end of the rotating shaft 225 passes through the avoidance hole 114 and is connected to the vehicle body 1, and the other end passes through the through hole on the support plate 2211 and is inserted into the accommodating chamber 2210. The bearing 226 is installed at the bottom of the accommodating chamber 2210, and one end of the rotating shaft 222 is rotatably connected to the bearing. This structure can realize the rotational connection between the vehicle body 1 and the drive unit 2 through the rotating shaft 222, so as to realize the steering movement of the drive unit 2. The spring 223 and the flange 224 are both sleeved on the circumference of the rotating shaft 222, one end of the spring 223 is connected to the bearing 226, and the other end is connected to the flange 224. The flange 224 can move along the length direction of the rotating shaft 222 (Z direction in the figure), that is, the flange 224 is elastically connected to the bracket 221. The flange 224 is connected and fixed to the bottom plate 11 by fasteners. Under the elastic action of the spring 223, the elastic connection between the vehicle body 1 and the drive unit 2 can be realized, thereby improving the anti-seismic performance of the vehicle body 1 when it moves.

[0035] Specifically, a plurality of second connection holes are provided on the flange 224. Correspondingly, there are a plurality of first connection holes 111 on the base plate 11, and the plurality of first connection holes 111 correspond one to one with the plurality of second connection holes. The flange 224 abuts against the base plate 11 and is connected and fixed by fasteners. When the drive unit 2 rotates relative to the vehicle body 1, the axis of rotation is the axis of the rotation axis 222 and the avoidance hole 114. A plurality of first connection holes 111 surround the periphery of the avoidance hole 114, and a plurality of first connection holes 111 are spaced apart along the circumferential direction of the avoidance hole 114. Also, the limiting long hole 112 surrounds the periphery of the avoidance hole 114, and the length of the limiting long hole 112 extends along the circumferential direction of the avoidance hole 114. The shape of the limiting long hole 112 matches the motion trajectory of the limiting shaft 222, and when the drive unit 2 rotates, the limiting shaft 222 moves along the length direction of the limiting long hole 112. The position-limiting long hole 112 is an arc-shaped long hole, and the center of the arc corresponding to the position-limiting long hole 112 coincides with the center of the avoidance hole 114. In practical applications, the length of the position-limiting long hole 112 can be adaptively selected according to the rotation angle of the drive unit 2. In this embodiment, the position-limiting long hole 112 is semicircular, that is, the rotation angle of the drive unit 2 is 180°. Part of the first connection hole 111 is located between the position-limiting long hole 112 and the avoidance hole 114.

[0036] Specifically, the avoidance hole 114 is located in the middle of the width direction of the vehicle body 1. That is, the rotating shaft 225 and the flange 224 are installed in the middle of the width direction of the vehicle body 1. This makes the force position between the drive unit 2 and the vehicle body 1 located in the middle of the vehicle body 1, so as to optimize the mechanical properties of the entire AGV transport vehicle.

[0037] Specifically, refer to Figure 4 As shown, the vehicle body 1 also includes a reinforcing plate 113. The reinforcing plate 113 is used to strengthen the structural strength of the bottom plate 11. The reinforcing plate 113 is in a "C"-shaped structure, and the reinforcing plate 113 includes a first plate 1131 and two parallel and spaced second plates 1132, the two ends of the first plate 1131 are respectively connected to the two second plates 1132, and the two second plates 1132 are both located on the same side of the first plate 1131. An avoidance gap 1133 is formed between the first plate 1131 and the two second plates 1132, and the avoidance gap 1133 is used to avoid the limit shaft 222. The reinforcing plate 113 spans the limit long hole 112, and the two second plates 1132 in the reinforcing plate 113 are respectively located on both sides of the width direction of the limit long hole 112, and the two second plates 1132 are fixedly mounted on the bottom plate 11. In this embodiment, the limiting long hole 112 passes through the bottom plate 11, and the limiting shaft 222 is disposed in the limiting long hole 112 and extends to the outside of the limiting long hole 112. When the limiting shaft 222 moves along the length direction of the limiting long hole 112, the limiting shaft 222 can pass through the avoidance notch 1133 of the reinforcing plate 113.

[0038] Specifically, there are multiple reinforcing plates 113, and the multiple reinforcing plates 113 are spaced apart along the length direction of the limiting long hole 112. It can be understood that since the limiting long hole 112 is penetrated through the bottom plate 11, and the installation position of the flange 224 is close to the limiting long hole 112, the bearing capacity of the bottom plate 11 is weakened. By providing the reinforcing plates 113, it is beneficial to increase the mechanical strength of the installation area of ​​the bottom plate 11, avoid defects such as bending and deformation in the installation area of ​​the bottom plate 11, and ensure the reliability of the entire AGV transport vehicle.

[0039] The significant effect of this embodiment is as follows: the drive unit includes a drive part 21 and a connection part 22, and the connection part 22 is used to realize the installation connection between the drive unit 2 and the vehicle body 1. The connection part 22 includes a bracket 221, a spring 223, a flange 224 and a rotating shaft 225. The bracket 221 is fixedly installed on the drive part 21, and the bracket 221 is connected to the vehicle body 1 by the rotating shaft 225 to realize the rotation connection between the entire drive unit 2 and the vehicle body 1. The spring 223 and the flange 224 are sleeved on the rotating shaft 225, and the flange 225 is installed on the bottom plate 11. In order to realize the elastic connection between the bottom plate 11 and the drive unit 2, a good anti-seismic effect is played. By directly installing the flange 224 in the installation area of ​​the bottom plate 11, the force between the vehicle body 1 and the drive unit 2 is located in the corresponding area of ​​the flange 225. During operation, the force of the drive unit 2 acting on the vehicle body 1 can directly act on the bottom plate 11 and evenly diffuse around the installation area. Compared with the connection plate structure in the prior art, this structure can avoid the occurrence of fracture accidents due to stress concentration between two stress points on the connection plate. This structure can directly apply the force of the drive unit 2 to the entire bottom plate 11 of the vehicle body 1, so that the force is more uniform, making the connection position between the drive unit 2 and the vehicle body 1 more reliable and effectively reducing the maintenance frequency of the connection position.

[0040] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. An AGV transport vehicle, characterized in that: include: A vehicle body, the vehicle body comprising a bottom plate, the bottom plate having a limited position long hole and a first connecting hole for inserting a fastener; A driving unit, wherein the driving unit includes a driving part and a connecting part, the driving part is used to drive the vehicle body to move, the connecting part includes a bracket, a spring, a flange, a rotating shaft and a limiting shaft, the bracket is installed on the top of the driving part, the rotating shaft is vertically arranged, one end of the rotating shaft is rotatably connected to the bracket, and the other end is connected to the vehicle body, the spring and the flange are sleeved on the periphery of the rotating shaft, the flange is elastically connected to the bracket through the spring, and the flange is connected and fixed to the base plate through the fastener, one end of the limiting shaft is connected to the bracket, and the other end is penetrated into the limiting long hole, so that the limiting shaft can move along the length direction of the limiting long hole.

2. The AGV transport vehicle according to claim 1, characterized in that: The bottom plate is provided with an avoidance hole for passing the rotating shaft, the limiting long hole surrounds the periphery of the avoidance hole, there are a plurality of first connecting holes, and the plurality of first connecting holes are spaced apart and distributed along the circumferential direction of the avoidance hole.

3. The AGV transport vehicle according to claim 2, characterized in that: The avoidance hole is located in the middle of the width direction of the vehicle body.

4. The AGV transport vehicle according to claim 2, characterized in that: The limiting long hole is an arc-shaped long hole.

5. The AGV transport vehicle according to claim 1, characterized in that: The vehicle body also includes a reinforcing plate, which spans across the limiting long hole, and both ends of the reinforcing plate are connected and fixed to the bottom plate.

6. The AGV transport vehicle according to claim 5, characterized in that: There are multiple reinforcing plates, and the multiple reinforcing plates are distributed at intervals along the length direction of the limiting long hole.

7. The AGV transport vehicle according to claim 5, characterized in that: The reinforcing plate includes a first plate and two second plates which are parallel and spaced apart. The two second plates are respectively arranged on both sides of the width direction of the limiting long hole. The two ends of the first plate are respectively connected to the two second plates. An avoidance gap is formed between the first plate and the two second plates for avoiding the limiting axis.

8. The AGV transport vehicle according to any one of claims 1 to 7, characterized in that: The bracket includes a support plate and a base, the limit shaft is arranged on the top surface of the support plate, the base is arranged on the bottom surface of the support plate, a receiving cavity is formed between the base and the support plate, the rotating shaft and the spring pass through the support plate and extend into the receiving cavity, a receiving groove is opened on the top surface of the driving part, the base is inserted into the receiving groove, and the support plate abuts against the top surface of the driving part.

9. The AGV transport vehicle according to claim 8, characterized in that: The connecting portion further comprises a bearing, the bearing is installed in the accommodating cavity, and one end of the rotating shaft is rotatably connected to the bearing.

10. The AGV transport vehicle according to any one of claims 1 to 7, characterized in that: It also includes road wheels, which are arranged at both ends of the vehicle body in the length direction, and the driving unit is arranged in the middle position of the vehicle body in the length direction.

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