Flexible connecting arm AGV device
By introducing a bidirectional threaded rod and worm gear mechanism driven by a servo motor into the AGV device, the support length and contact area of the AGV device are increased, and the problem of rolling over when facing larger cargoes is solved, achieving higher stability and weight range.
Patent Information
- Application Number
- CN202422390563.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-29
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2034-09-29
AI Technical Summary
When facing larger cargoes, existing AGV devices tend to overturn due to the small support surface between the vehicle body and the ground, limiting the weight range of the cargo.
A flexible connecting arm AGV device is designed, which drives the bidirectional threaded rod to rotate through the servo motor, so that the support frame and driven wheel move along the sliding groove, increases the support length and support area of the vehicle body, and drives the roof plate downward through the worm and worm gear mechanism, increases the contact area between the trolley and the ground and reduces the center of gravity.
It effectively avoids the possibility of flexible robotic arms rolling over when picking up goods, increases the stability and steering ability of the cart, and expands the weight range of the cargo.
Smart Images
Figure CN223031126U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of AGV devices, in particular to a flexible connecting arm AGV device. Background Art
[0002] The AGV device, fully known as the automatic guided vehicle device, is an unmanned handling device that can automatically drive on a preset path or autonomously plan a path through a navigation system to perform material handling tasks. It is widely used in places such as warehouses, production workshops, ports, airports, special industries, and logistics centers. It can achieve multi-station and multi-functional operations, and perform automatic control according to path planning and navigation. It has safety protection and various transfer functions, can significantly reduce the labor intensity of workers, reduce the number of employees, and at the same time greatly improve the degree of loading and unloading automation.
[0003] Currently, in order to be able to handle goods at different positions without clamping during loading, a flexible connecting arm that can swing at any angle is usually installed on the AGV device to clamp the goods. However, sometimes when facing heavy goods, the vehicle body often tilts due to the small support surface between the vehicle body itself and the ground, resulting in a certain weight range requirement for the goods transported by the AGV device. Based on this, a flexible connecting arm AGV device is proposed. Summary of the Utility Model
[0004] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a flexible connecting arm AGV device that can overcome or at least partially solve the above problems.
[0005] To achieve the above purpose, the utility model adopts the following technical solutions:
[0006] A flexible connecting arm AGV device includes a vehicle shell, and further includes: a flexible robotic arm is fixed above the vehicle shell; a lifting screw rod is inserted into the bottom plate of the vehicle shell, and an L-shaped top plate is sleeved on the lifting screw rod through a thread; a bidirectional screw rod is inserted into the vehicle shell, and a support frame is sleeved on the bidirectional screw rod through a thread; a connecting rod is inserted into the support frame, and driven wheels are fixedly connected to both ends of the connecting rod; sliding grooves and lifting grooves are respectively opened at the bottom end of the vehicle shell.
[0007] Preferably, a servo motor is fixed on the inner wall of the vehicle shell, and the output end of the servo motor is fixedly connected to the bidirectional screw rod.
[0008] Further, a worm is provided in the middle of the bidirectional screw rod, a worm gear is fixed at the top end of the lifting screw rod, and the worm gear meshes with the worm.
[0009] Preferably, a plurality of balls are fixed on the support frame.
[0010] Preferably, two independent drive motors are fixed to the bottom end of the vehicle body shell.
[0011] Further, the output end of the drive motor is fixedly connected with a driving wheel through a rotating shaft.
[0012] Preferably, the flexible robotic arm needs to be arranged above any one of the two ends of the bidirectional threaded rod.
[0013] Preferably, the upper end surface of the vehicle body shell is connected with a cargo platform through a support column.
[0014] Compared with the prior art, the present utility model provides a flexible connecting arm AGV device, which has the following beneficial effects:
[0015] 1. For this flexible connecting arm AGV device, the servo motor drives the bidirectional threaded rod to rotate, so that the support frame and the driven wheel can move along the sliding groove, thereby increasing the support length and support area of the AGV cart, and reducing the possibility of the flexible robotic arm tipping over when gripping goods.
[0016] 2. For this flexible connecting arm AGV device, when the servo motor drives the bidirectional threaded rod to rotate, it also drives the worm to rotate, so that the worm drives the worm wheel and the lifting threaded rod to rotate, so that the top plate moves down and is in close contact with the ground, reducing the overall center of gravity of the cart while increasing the contact area between the cart and the ground, making the whole cart more stable.
[0017] For the parts not involved in this device, they are the same as or can be implemented by the prior art. The present utility model increases the support length of the AGV cart by moving the two sides of the driven wheel, and can effectively avoid the problem that the cart tips over due to unstable center of gravity when the connecting wall transports goods. By moving the top plate to contact the ground, the center of gravity of the cart is reduced while the contact area between the vehicle body and the ground is increased, improving the stability of the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 FIG. is a schematic diagram of the overall structure of a flexible connecting arm AGV device proposed by the present utility model;
[0019] Figure 2 FIG. is a schematic diagram of the bottom structure of a flexible connecting arm AGV device proposed by the present utility model;
[0020] Figure 3 FIG. is a schematic diagram of the internal structure of the vehicle body shell in a flexible connecting arm AGV device proposed by the present utility model;
[0021] Figure 4 FIG. is a cross-sectional view of a flexible connecting arm AGV device proposed by the present utility model;
[0022] Figure 5 The structural diagram of the transmission component in a flexible connecting arm AGV device proposed by the present utility model.
[0023] In the figure: 1, vehicle shell; 12, cargo platform; 21, driving wheel; 22, driven wheel; 221, connecting rod; 23, support frame; 231, sliding groove; 232, ball; 24, top plate; 241, lifting groove; 25, servo motor; 26, bidirectional threaded rod; 27, worm; 28, worm gear; 29, lifting threaded rod; 3, driving motor; 4, flexible robotic arm. Specific implementation manners
[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.
[0025] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model. Embodiment 1:
[0026] Refer to Figures 1-5 , a flexible connecting arm AGV device, including a vehicle shell 1, further including: a flexible robotic arm 4 is fixed above the vehicle shell 1; a lifting threaded rod 29 is inserted into the bottom plate of the vehicle shell 1, and an L-shaped top plate 24 is sleeved on the lifting threaded rod 29 through a thread; a bidirectional threaded rod 26 is inserted into the vehicle shell 1, and a support frame 23 is sleeved on the bidirectional threaded rod 26 through a thread; a connecting rod 221 is inserted into the support frame 23, and driven wheels 22 are fixedly connected to both ends of the connecting rod 221; sliding grooves 231 and lifting grooves 241 are respectively opened at the bottom end of the vehicle shell 1.
[0027] In the present utility model, by rotating the lifting screw rod 29, the top plate 24 can be adjusted to rise and fall. When the top plate 24 descends to the lowest position, the bottom end of the top plate 24 contacts the ground. The lower end face of the upper end of the top plate 24 contacts the upper end face of the bottom plate of the vehicle body 1, so that while the top plate 24 is in close contact with the ground, it can better fit with the vehicle body 1, thereby reducing the lateral force exerted by the top plate 24 on the lifting screw rod 29 and reducing the risk of the lifting screw rod 29 breaking. A magnetic attraction block can be arranged on the ground at the position where the trolley stops to pick up goods, so as to adsorb the top plate 24, generating an adsorption force between the trolley and the ground and further increasing the stability of the trolley. When the space inside the vehicle body 1 permits, the shape below the top plate 24 can be changed to a certain extent, such as increasing the width or adding longitudinal extension rods, so as to maximize the contact area with the ground and increase the stability of the trolley.
[0028] The upper end of the support frame 23 is connected to the inner wall of the top of the vehicle body 1, so that the support frame 23 can support the entire trolley, avoiding deformation or fracture of the bidirectional screw rod 26 due to the long-term longitudinal support force between the bidirectional screw rod 26 and the support frame 23. Embodiment 2:
[0029] Refer to Figures 1-5 , which is basically the same as Embodiment 1. Furthermore: A servo motor 25 is fixed on the inner wall of the vehicle body 1. The output end of the servo motor 25 is fixedly connected to the bidirectional screw rod 26. A worm 27 is arranged in the middle of the bidirectional screw rod 26. The top end of the lifting screw rod 29 is fixedly connected to a worm gear 28. The worm gear 28 meshes with the worm 27. A plurality of balls 232 are fixed on the support frame 23. Two independent drive motors 3 are fixed at the bottom end of the vehicle body 1. The output end of the drive motor 3 is fixedly connected to a driving wheel 21 through a rotating shaft. The flexible robotic arm 4 needs to be arranged above any one of the two ends of the bidirectional screw rod 26. The upper end surface of the vehicle body 1 is connected to a loading platform 12 through a support column.
[0030] In the present utility model, the servo motor 25 drives the bidirectional screw rod 26 and the worm 27 to rotate, so that the support frame 23 and the top plate 24 can simultaneously perform telescopic and lifting movements, thereby reducing the installed power source and saving the space occupied inside the vehicle body 1.
[0031] The surface of contact between the support frame 23 and the vehicle body 1 is inlaid with balls 232, which can reduce the friction between the support frame 23 and the vehicle body 1 and reduce the power required for the servo motor 25 while not affecting the support of the vehicle body 1 by the support frame 23.
[0032] Two driving wheels 21 are respectively connected with separate driving motors 3, so that by controlling the different rotational speeds output by the two driving motors 3, the trolley can perform large-angle and in-situ steering, increasing the steering ability of the trolley.
[0033] Since the main thing this device adds is the lateral support surface of the vehicle body, the flexible robotic arm 4 needs to be arranged above either end of the bidirectional threaded rod 26 to maximize the utilization of the effect of extending the support surface. At the same time, the path that the flexible support arm travels when carrying goods should mainly follow the direction of movement of the driven wheel 22.
[0034] The above is only the preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution and the inventive concept of the present utility model, making equivalent substitutions or changes should be covered within the protection scope of the present utility model.
Claims
1. A flexible connecting arm AGV device, comprising a vehicle shell (1), characterized in that: Also includes: A flexible mechanical arm (4) is fixed above the vehicle shell (1); A lifting threaded rod (29) is inserted into the bottom plate of the vehicle shell (1), and an L-shaped top plate (24) is provided on the lifting threaded rod (29) via a threaded sleeve; A bidirectional threaded rod (26) is inserted into the vehicle shell (1), and a support frame (23) is provided on the bidirectional threaded rod (26) via a threaded sleeve; A connecting rod (221) is inserted into the support frame (23), and both ends of the connecting rod (221) are fixedly connected to driven wheels (22); The bottom end of the vehicle shell (1) is respectively provided with a sliding groove (231) and a lifting groove (241).
2. A flexible connecting arm AGV device according to claim 1, characterized in that: A servo motor (25) is fixed on the inner wall of the vehicle shell (1), and an output end of the servo motor (25) is fixedly connected to a bidirectional threaded rod (26).
3. A flexible connecting arm AGV device according to claim 2, characterized in that: A worm (27) is provided in the middle of the bidirectional threaded rod (26), a worm wheel (28) is fixed to the top end of the lifting threaded rod (29), and the worm wheel (28) is meshed with the worm (27).
4. The flexible connecting arm AGV device according to claim 1, characterized in that: A plurality of balls (232) are fixed on the support frame (23).
5. The flexible connecting arm AGV device according to claim 1, characterized in that: Two independent drive motors (3) are fixed to the bottom end of the vehicle shell (1).
6. The flexible connecting arm AGV device according to claim 5, characterized in that: The output end of the driving motor (3) is fixedly connected to a driving wheel (21) via a rotating shaft.
7. The flexible connecting arm AGV device according to claim 1, characterized in that: The flexible mechanical arm (4) needs to be arranged above any one of the two ends of the bidirectional threaded rod (26).
8. The flexible connecting arm AGV device according to claim 1, characterized in that: The upper end surface of the vehicle shell (1) is connected to a cargo platform (12) via a support column.