AGV driving mechanism and AGV

Abstract

The embodiment of the utility model provides an AGV driving mechanism and an AGV, the AGV driving mechanism comprises a bearing beam, the bearing beam comprises two groups of bearing plates, a left-right rotating lubricating shaft sleeve is mounted between the two groups of bearing plates through a first pin shaft, the left-right rotating lubricating shaft sleeve is mounted on a frame of the AGV, and the bearing beam can rotate left and right relative to the frame of the AGV; the driving beam is connected with the bearing beam through a first locking nut, a front-back rotating lubricating shaft sleeve is fixed to the driving beam, and front-back rotating movement of the driving beam is achieved; and the driving part is installed on the driving beam, the driving part comprises a driving motor and a hub speed reducer, and the hub speed reducer is installed on the driving beam. The bearing beam can rotate left and right so as to drive the driving beam to rotate left and right, so that the driving beam floats up and down, the driving beam can rotate front and back, the hub speed reducer floats up and down due to respective rotation of the bearing beam and the driving beam, and the hub speed reducer can run on the uneven or inclined ground.

Description

Technical Field

[0001] This specification relates to the technical field of AGVs, and specifically relates to an AGV drive mechanism and an AGV vehicle. Background Art

[0002] An AGV (Automated Guided Vehicle) refers to a transport vehicle equipped with automatic guiding devices such as electromagnetic or optical ones, capable of traveling along a specified guiding path and having safety protection and various load-carrying functions. AGVs are widely used in fields such as factory logistics automation and automated assembly lines.

[0003] The existing AGV drive structures are relatively complex and have high requirements for road surface flatness. When traveling on uneven or inclined ground, the driving wheels are prone to leaving the road surface due to jolts, resulting in insufficient traction, causing phenomena such as slipping and loss of direction control. Summary of the Invention

[0004] In view of this, the embodiments of this specification provide an AGV drive mechanism and an AGV vehicle. The carrying beam can rotate left and right, and then drive the drive beam to rotate left and right, realizing the up and down floating of the drive beam. The drive beam can rotate forward and backward, and then due to the respective rotations of the carrying beam and the drive beam, the hub reducer can float up and down, enabling it to travel on uneven or inclined ground.

[0005] The embodiments of this specification provide the following technical solutions: An AGV drive mechanism, comprising:

[0006] A carrying beam, the carrying beam includes two groups of carrying plates, and a left and right rotation lubricating bushing is installed between the two groups of carrying plates through a first pin shaft. The left and right rotation lubricating bushing is installed on the frame of the AGV, and the carrying beam can perform left and right rotational movements relative to the frame of the AGV;

[0007] A drive beam, the drive beam is arranged at the end of the carrying beam, the drive beam is connected to the carrying beam through a first locking nut, and a front and back rotation lubricating bushing is fixed on the drive beam to realize the front and back rotational movement of the drive beam;

[0008] A drive part, the drive part is installed on the drive beam, the drive part includes a drive motor and a hub reducer, the output end of the drive motor is connected to the hub reducer, and the hub reducer is installed on the drive beam.

[0009] Preferably, the driving mechanism further includes a driving force boosting mechanism, which includes a force-receiving block, a locking pin shaft, a pull rod, a limiting block, a compression spring and a limiting portion. The force-receiving block is fixed on the frame of the AGV. The locking pin shaft is installed on the force-receiving block. The pull rod is installed on the locking pin shaft. The pull rod passes through the limiting block, and the limiting block is fixedly connected to the driving beam. The compression spring is sleeved on the pull rod, and the bottom end of the compression spring abuts against the limiting block. The limiting portion is installed on the pull rod and compresses the compression spring;

[0010] Wherein, when the driving beam moves, the compression spring will adapt by compressing or stretching, so as to provide pressure adaptively.

[0011] Preferably, the pull rod includes a threaded pull rod, and the limiting portion includes a second locking nut and a gasket. The threaded pull rod passes through the gasket, the second locking nut abuts against the gasket, the second locking nut cooperates with the threaded pull rod, and the gasket abuts against the compression spring.

[0012] Preferably, the driving mechanism further includes a limiting fixed bushing and a locking bolt. The limiting fixed bushing is installed between two groups of the bearing plates through the locking bolt, and the limiting fixed bushing is used to limit the distance between the two groups of the bearing plates.

[0013] Preferably, the driving mechanism further includes a limiting bolt, which is installed on one side of the driving beam close to the frame of the AGV, and the limiting bolt is used to limit the rotation angle when the driving beam rotates forward and backward.

[0014] Preferably, the driving mechanism further includes an auxiliary wheel, which is installed on the driving beam, and the auxiliary wheel provides auxiliary support for the driving beam.

[0015] Preferably, there are two groups of the driving beams, and the two groups of the driving beams are respectively located at both ends of the bearing beam.

[0016] Preferably, the driving motor includes a servo motor.

[0017] An AGV vehicle includes a frame, a hinge shaft fixing block and the driving mechanism as described in any one of the above. The hinge shaft fixing block is installed at the bottom of the frame, the left and right rotation lubricating bushings are installed on the hinge shaft fixing block, and the bearing beam can rotate freely left and right relative to the frame.

[0018] Compared with the prior art, the beneficial effects that at least one of the above technical solutions adopted in the embodiments of this specification can achieve at least include:

[0019] The bearing beam can rotate left and right, and then drive the driving beam to rotate left and right, realizing the up and down floating of the driving beam. The driving beam can rotate forward and backward. Then, due to the respective rotations of the bearing beam and the driving beam, the wheel hub reducer can float up and down, enabling it to travel on uneven or inclined ground. Due to the rotations of the bearing beam and the driving beam, which rely on the direct action of the bearing capacity on them without the need for additional applied force, it has the function of adapting to ground travel. Brief Description of the Drawings

[0020] To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a schematic structural diagram of the AGV vehicle provided by the present application;

[0022] Figure 2 It is a schematic structural diagram of the AGV driving mechanism provided by the present application;

[0023] Figure 3 It is a schematic structural diagram of the driving force boosting mechanism of the AGV driving mechanism provided by the present application.

[0024] In the figure, 1. vehicle frame; 2. bearing beam; 201. bearing plate; 3. driving beam; 4. driving part; 401. driving motor; 402. wheel hub reducer; 5. driving force boosting mechanism; 501. force-bearing block; 502. locking pin shaft; 503. pull rod; 504. limiting block; 505. compression spring; 506. gasket; 507. second locking nut; 6. first pin shaft; 7. front and rear rotation lubricating bushing; 8. first locking nut; 9. limiting fixed bushing; 10. locking bolt; 11. limiting bolt; 12. auxiliary wheel; 13. left and right rotation lubricating bushing. Detailed Embodiments

[0025] The embodiments of the present application will be described in detail below with reference to the drawings.

[0026] The following describes the implementation manners of the present application through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope protected by the present application.

[0027] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It should be obvious that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present application, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects described herein can be used to implement the device and / or practice the method. Additionally, this device and / or this method can be implemented using other structures and / or functionality in addition to one or more of the aspects described herein.

[0028] It should also be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present application schematically. The drawings only show the components related to the present application, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and proportion of each component in its actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0029] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0030] The following describes the technical solutions provided by each embodiment of the present application in conjunction with the accompanying drawings.

[0031] As Figures 1-3 shown, an AGV driving mechanism includes:

[0032] A carrying beam 2, the carrying beam 2 includes two groups of carrying plates 201. A left - right rotating lubricating bushing 13 is installed between the two groups of carrying plates 201 through a first pin shaft 6. The left - right rotating lubricating bushing 13 is installed on the vehicle frame 1 of the AGV. The carrying beam 2 can rotate left - and - right relative to the vehicle frame 1 of the AGV;

[0033] A driving beam 3 is arranged at the end of the bearing beam 2. The driving beam 3 is connected to the bearing beam 2 through a first locking nut 8. A front and rear rotating lubricating bushing 7 is fixed on the driving beam 3 to realize the front and rear rotating motion of the driving beam 3.

[0034] A driving part 4 is installed on the driving beam 3. The driving part 4 includes a driving motor 401 and a hub speed reducer 402. The output end of the driving motor 401 is connected to the hub speed reducer 402, and the hub speed reducer 402 is installed on the driving beam 3.

[0035] A left and right rotating lubricating bushing 13 is installed between two groups of bearing plates 201 through a pin shaft, so that the bearing beam 2 can realize left and right rotation. When the bearing beam 2 rotates left and right, it drives the driving beam 3 to rotate left and right, realizing the up and down floating of the driving beam 3. By arranging the front and rear rotating lubricating bushing 7 on the driving beam 3, the front and rear rotating lubricating bushing 7 is locked on the driving beam 3 by the first locking nut 8, and the driving beam 3 can realize front and rear rotation. Furthermore, due to the respective rotations of the bearing beam 2 and the driving beam 3, the hub speed reducer 402 can float up and down, and it can travel on uneven or inclined ground to ensure the stability of travel.

[0036] It should be noted that due to the rotation of the bearing beam 2 and the driving beam 3, which relies on the direct action of the bearing capacity on them, no additional force needs to be applied, so it has the function of adapting to ground travel.

[0037] It also needs to be noted that the first locking nut 8 limits and fastens the driving beam 3 to the bearing beam 2, so that the driving beam 3 has only one degree of rotational freedom. The left and right rotation angle of the bearing beam 2 around the left and right rotating lubricating bushing 13 is limited by using the part height of the driving beam 3 and the rib on the frame 1 of the AGV, which can prevent the frame 1 of the AGV from colliding with the ground and being damaged when the rotation angle of the bearing beam 2 is too large.

[0038] Such as Figure 1 and Figure 3As shown, in some embodiments, the driving mechanism further includes a driving force boosting mechanism 5. The driving force boosting mechanism 5 includes a force-receiving block 501, a locking pin 502, a pull rod 503, a limiting block 504, a compression spring 505, and a limiting portion. The force-receiving block 501 is fixed on the frame 1 of the AGV. The locking pin 502 is installed on the force-receiving block 501. The pull rod 503 is installed on the locking pin 502. The pull rod 503 passes through the limiting block 504. The limiting block 504 is fixedly connected to the driving beam 3. The compression spring 505 is sleeved on the pull rod 503. The bottom end of the compression spring 505 abuts against the limiting block 504. The limiting portion is installed on the pull rod 503 and compresses the compression spring 505. Wherein, when the driving beam 3 moves, the compression spring 505 will adapt by compressing or stretching, realizing self-adaptive pressure supply. By setting the driving force boosting mechanism 5, the force-receiving block 501 is fixed on the frame 1 of the AGV, the locking pin 502 is installed on the force-receiving block 501, and the pull rod 503 is limited and fixed by the locking pin 502, retaining a rotational degree of freedom. The limiting block 504 is connected to the driving beam 3 and is under the pressure of the compression spring 505, so that the force reaches the driving beam 3, and then the force is transmitted to the hub reducer 402, realizing the function of boosting the pressure of the driving wheel. Since the pressure is provided by the compression spring 505, as the driving beam 3 moves up and down, the compression spring 505 will also adapt by compressing or stretching, realizing the function of self-adaptive pressure supply.

[0039] As Figure 1 and Figure 3 As shown, in some embodiments, the pull rod 503 includes a threaded pull rod 503. The limiting portion includes a second locking nut 507 and a gasket 506. The threaded pull rod 503 passes through the gasket 506. The second locking nut 507 abuts against the gasket 506. The second locking nut 507 cooperates with the threaded pull rod 503. The gasket 506 abuts against the compression spring 505. By adopting the threaded pull rod 503, the spring is sleeved outside the threaded pull rod 503. By setting the second locking nut 507 that cooperates with the threaded pull rod 503, the second locking nut 507 makes the gasket 506 abut against the compression spring 505, so that the compression spring 505 always has a tendency to push the limiting block 504 downward, thereby making the driving beam 3 always receive a downward force.

[0040] As Figures 1-2As shown, in some embodiments, the drive mechanism further includes a limit fixing shaft sleeve 9 and a locking bolt 10. The limit fixing shaft sleeve 9 is installed between two groups of the bearing plates 201 through the locking bolt 10. The limit fixing shaft sleeve 9 is used to limit the distance between two groups of the bearing plates 201. By arranging the limit fixing shaft sleeve 9 between two groups of the bearing plates 201 and installing the limit fixing shaft sleeve 9 between two groups of the bearing plates 201 through the locking bolt 10, the limit fixing shaft sleeve 9 can limit the distance between two groups of the bearing plates 201, ensuring a certain distance between two groups of the bearing plates 201, so as to facilitate the installation of the drive mechanism on the frame 1 of the AGV.

[0041] As Figures 1-2 shown, in some embodiments, the drive mechanism further includes a limit bolt 11. The limit bolt 11 is installed on one side of the drive beam 3 close to the frame 1 of the AGV. The limit bolt 11 is used to limit the rotation angle when the drive beam 3 rotates forward and backward. By arranging the limit bolt 11 at the top of the drive beam 3, the limit bolt 11 can limit the rotation angle when the drive beam 3 rotates forward and backward, preventing the hub reducer 402 and the servo motor from colliding with the frame 1 of the AGV and causing damage when the rotation angle is too large.

[0042] As Figures 1-2 shown, in some embodiments, the drive mechanism further includes an auxiliary wheel 12. The auxiliary wheel 12 is installed on the drive beam 3. The auxiliary wheel 12 provides auxiliary support for the drive beam 3. By arranging the auxiliary wheel 12 to provide auxiliary support for the drive beam 3, the stability of the drive mechanism driving the AGV to run can be further ensured.

[0043] As Figures 1-2 shown, in some embodiments, there are two groups of the drive beams 3. The two groups of the drive beams 3 are respectively located at both ends of the bearing beam 2. By arranging the drive beams 3 at both ends of the bearing beam 2, the stability of the driving force can be ensured.

[0044] As Figures 1-2 shown, in some embodiments, the drive motor 401 includes a servo motor. By using the servo motor as the drive motor 401, high-precision control can be achieved, and at the same time, it has excellent response speed, can start, stop and reverse quickly, and can meet the requirements of high-speed movement and frequent start and stop.

[0045] Please refer to Figures 1-3 , based on the same inventive concept, an embodiment of this specification provides an AGV vehicle, including a frame 1, a hinge shaft fixing block and the drive mechanism as described in any one of the above. The hinge shaft fixing block is installed at the bottom of the frame 1. The left and right rotation lubricating shaft sleeve 13 is installed on the hinge shaft fixing block. The bearing beam 2 can rotate freely left and right relative to the frame 1.

[0046] During implementation, the AGV vehicle is driven by adopting the above-mentioned driving mechanism. The carrying beam 2 can rotate left and right, and then drive the driving beam 3 to rotate left and right, realizing the up and down floating of the driving beam 3. The driving beam 3 can rotate forward and backward. Then, due to the respective rotations of the carrying beam 2 and the driving beam 3, the hub reducer 402 can float up and down, enabling it to travel on uneven or inclined ground.

[0047] For the various embodiments in this specification, the same or similar parts can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the method embodiments described later, since they correspond to the system, the description is relatively simple, and the relevant parts can be referred to the partial description of the system embodiments.

[0048] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the technical field of the present application within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An AGV driving mechanism, characterized in that: include: A load-bearing beam, the load-bearing beam comprising two groups of load-bearing plates, a left-right rotating lubricating sleeve is installed between the two groups of load-bearing plates through a first pin shaft, the left-right rotating lubricating sleeve is installed on the frame of the AGV, and the load-bearing beam can rotate left-right relative to the frame of the AGV; A driving beam, the driving beam is arranged at the end of the load-bearing beam, the driving beam is connected to the load-bearing beam through a first locking nut, and a forward and backward rotating lubricating sleeve is fixed on the driving beam to realize the forward and backward rotating movement of the driving beam; A driving unit is installed on the driving beam, the driving unit includes a driving motor and a wheel hub reducer, the output end of the driving motor is connected to the wheel hub reducer, and the wheel hub reducer is installed on the driving beam.

2. The AGV driving mechanism according to claim 1, characterized in that: The driving mechanism also includes a driving force boosting mechanism, which includes a force block, a locking pin, a pull rod, a limit block, a compression spring and a limit portion, the force block is fixed to the frame of the AGV, the locking pin is installed on the force block, the pull rod is installed on the locking pin, the pull rod passes through the limit block, the limit block is fixedly connected to the driving beam, the compression spring is sleeved on the pull rod, the bottom end of the compression spring is in contact with the limit block, the limit portion is installed on the pull rod, and compresses the compression spring; When the driving beam moves, the compression spring will adapt with compression or extension to achieve adaptive pressure provision.

3. The AGV driving mechanism according to claim 2, characterized in that: The pull rod includes a threaded pull rod, and the limiting portion includes a second locking nut and a gasket. The threaded pull rod passes through the gasket, the second locking nut abuts against the gasket, the second locking nut cooperates with the threaded pull rod, and the gasket abuts against the compression spring.

4. The AGV driving mechanism according to claim 1, characterized in that: The driving mechanism further comprises a limiting fixing sleeve and a locking bolt. The limiting fixing sleeve is installed between the two groups of the bearing plates through the locking bolt. The limiting fixing sleeve is used to limit the distance between the two groups of the bearing plates.

5. The AGV driving mechanism according to claim 1, characterized in that: The driving mechanism further includes a limiting bolt, which is installed on a side of the driving beam close to the frame of the AGV, and is used to limit the rotation angle of the driving beam when it rotates forward and backward.

6. The AGV driving mechanism according to claim 1, characterized in that: The driving mechanism further comprises an auxiliary wheel, wherein the auxiliary wheel is mounted on the driving beam and the auxiliary wheel provides auxiliary support to the driving beam.

7. The AGV driving mechanism according to claim 1, characterized in that: The driving beams are provided in two groups, and the two groups of driving beams are respectively located at two ends of the bearing beam.

8. The AGV driving mechanism according to claim 1, characterized in that: The drive motor includes a servo motor.

9. An AGV vehicle, characterized in that: It comprises a frame, a hinge shaft fixing block and a driving mechanism as described in any one of claims 1-8, wherein the hinge shaft fixing block is installed at the bottom of the frame, the left and right rotating lubricating sleeve is installed on the hinge shaft fixing block, and the load-bearing beam can rotate freely left and right relative to the frame.

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