Four-wheel drive latent jacking AGV (Automatic Guided Vehicle)

Abstract

The utility model relates to the technical field of AGVs, and provides a four-wheel drive latent jacking AGV which comprises a frame and two walking units. The walking unit comprises a connecting frame and two walking assemblies, the connecting frame is arranged in the width direction of the frame, and the two walking assemblies are located at the two ends of the connecting frame correspondingly; the walking assembly comprises a mounting seat, a first wheel and a first driving part, the mounting seat is rotationally connected to the lower side of the connecting frame, the first wheel is rotationally connected to one side of the mounting seat, and the first driving part is arranged on the mounting seat and used for driving the first wheel to rotate; wherein the two connecting frames are arranged in the length direction of the frame in a spaced mode, one connecting frame is rotationally connected to the frame, the rotating axis of the connecting frame is parallel to the length direction of the frame, and the other connecting frame is fixedly connected to the frame. Therefore, the device can be used for different road conditions.

Description

Technical Field

[0001] The present application relates to the field of AGV, and in particular to a four-wheel drive latent lifting AGV. Background Art

[0002] Automated Guided Vehicle, also known as AGV, is an industrial vehicle that loads goods automatically or manually, drives automatically along a set route or tows a cargo trolley to a designated location, and then loads and unloads goods automatically or manually.

[0003] In the related art, a lurking AGV is generally used to dive into the bottom of a shelf and lift up the goods through a lifting device to transport the goods. After arriving at the preset destination, the lifting device is retracted and the goods are placed on the ground by gravity.

[0004] Among them, during the use of the existing AGV, its four wheels are always located in the same plane, which is difficult to adapt to different road conditions, so it needs to be improved. Utility Model Content

[0005] In order to be able to be used in different road conditions, the present application provides a four-wheel drive latent lifting AGV.

[0006] The four-wheel drive latent lifting AGV provided in this application adopts the following technical solution:

[0007] A four-wheel drive latent lifting AGV, comprising a frame and two walking units; the walking unit comprises a connecting frame and two walking assemblies, the connecting frame is arranged along the width direction of the frame, and the two walking assemblies are respectively located at both ends of the connecting frame; the walking assembly comprises a mounting seat, a first wheel and a first driving member, the mounting seat is rotatably connected to the lower side of the connecting frame, the first wheel is rotatably connected to one side of the mounting seat, and the first driving member is arranged on the mounting seat and is used to drive the first wheel to rotate; wherein the two connecting frames are arranged at intervals along the length direction of the frame, one of the connecting frames is rotatably connected to the frame and the rotation axis is parallel to the length direction of the frame, and the other connecting frame is fixedly connected to the frame.

[0008] By adopting the above technical solution, in actual applications, each first driving member drives each first wheel to rotate to realize the movement of the AGV. Since one of the connecting frames is rotatably connected to the frame, the two first wheels of the walking assembly are located in different planes, and at the same time, the other connecting frame is fixedly connected to the frame to ensure that the two first wheels on the connecting frame rotatably connected to the frame can touch the ground at the same time, so as to be suitable for different road conditions, thereby improving the applicability of the AGV.

[0009] Preferably, the vehicle frame includes a base, two rotating seats and a rotating shaft; the two rotating seats are arranged on the upper side of the base and spaced along the length direction of the base, and the two ends of the rotating shaft are respectively rotatably connected to the two rotating seats, and one of the connecting frames is arranged on the rotating shaft.

[0010] By adopting the above technical solution, by arranging the base, the two rotating seats and the rotating shaft, one of the connecting frames is rotatably connected to the vehicle frame, with a simple structure and the stability of the rotation of the connecting frame can be ensured.

[0011] Preferably, the vehicle frame further includes two oil-free bushings, and the two oil-free bushings are respectively arranged on the two rotating seats and respectively sleeved on the two ends of the rotating shaft.

[0012] By adopting the above technical solution, by arranging the two oil-free bushings, the smoothness and stability of the rotation of the rotating shaft are improved, so as to improve the stability of the rotation of the connecting frame and make the work of the AGV more stable.

[0013] Preferably, the vehicle frame further includes two shaft caps, and the two shaft caps are respectively arranged at the two ends of the rotating shaft.

[0014] By adopting the above technical solution, by arranging the shaft caps, the oil-free bushings are limited, so as to ensure the stability of the rotation of the rotating shaft.

[0015] Preferably, the vehicle frame further includes a connecting seat, both the connecting frame and the connecting seat are inserted into the rotating shaft, and the connecting seat is detachably connected to the connecting seat, so that the rotating shaft is clamped between the connecting frame and the connecting seat.

[0016] By adopting the above technical solution, by arranging the connecting seat, the installation between the connecting frame and the rotating shaft is facilitated, so as to facilitate the assembly between the traveling unit and the vehicle frame, and at the same time, the disassembly between the connecting frame and the rotating shaft is also facilitated, so as to facilitate the maintenance or replacement of the traveling unit.

[0017] Preferably, the traveling assembly further includes a second wheel, and the second wheel is rotatably connected to the side of the mounting seat away from the first wheel.

[0018] By adopting the above technical solution, by arranging the second wheel, the contact area between the traveling assembly and the ground is increased, so as to improve the stability of the work of the AGV.

[0019] Preferably, the traveling assembly further includes a second driving member, and the second driving member is arranged on the mounting seat and used to drive the second wheel to rotate.

[0020] By adopting the above technical solution, by setting the second driving member, the first wheels and the second wheels of each traveling assembly are both driven by a driving source to rotate. By debugging the first driving member and the second driving member of each traveling assembly, the rotational speeds of the first wheels and the second wheels are made different. And the mounting seat is rotatably connected to the connecting frame to make the rotation angles of the four mounting seats the same, so that the steering angles of the four traveling assemblies are the same, thereby improving the steering stability of the AGV.

[0021] Preferably, the traveling assembly further includes a first gear and a second gear. The first gear is rotatably connected to the upper side of the mounting seat. The second gear is arranged on the connecting frame, and the first gear meshes with the second gear.

[0022] By adopting the above technical solution, by setting the first gear and the second gear, the rotation of the mounting seat is made more stable, thereby improving the steering stability of the AGV.

[0023] In summary, the present application includes at least one of the following beneficial technical effects:

[0024] 1. In practical applications, each first driving member drives each first wheel to rotate to realize the movement of the AGV. Since one of the connecting frames is rotatably connected to the vehicle frame, the two first wheels of this traveling assembly are located in different planes. At the same time, the other connecting frame is fixedly connected to the vehicle frame to ensure that the two first wheels on the connecting frame rotatably connected to the vehicle frame can land simultaneously to adapt to different road conditions, thereby improving the applicability of the AGV.

[0025] 2. By setting the connecting seat, it is convenient to realize the installation between the connecting frame and the rotating shaft, thereby facilitating the assembly between the traveling unit and the vehicle frame. At the same time, it is also convenient to realize the disassembly between the connecting frame and the rotating shaft, so as to facilitate the maintenance or replacement of the traveling unit.

[0026] 3. By setting the second driving member, the first wheels and the second wheels of each traveling assembly are both driven by a driving source to rotate. By debugging the first driving member and the second driving member of each traveling assembly, the rotational speeds of the first wheels and the second wheels are made different. And the mounting seat is rotatably connected to the connecting frame to make the rotation angles of the four mounting seats the same, so that the steering angles of the four traveling assemblies are the same, thereby improving the steering stability of the AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is the overall structural schematic diagram of the AGV in the embodiment of the present application;

[0028] Figure 2 is the partial structural schematic diagram of the AGV in the embodiment of the present application;

[0029] Figure 3It is a schematic diagram of the overall structure of the walking unit in the embodiment of the present application;

[0030] Figure 4 It is a partial explosion schematic diagram of the AGV in the embodiment of the present application;

[0031] Figure 5 It is a schematic diagram of the overall structure of the walking assembly in the embodiment of the present application.

[0032] Reference numerals: 1, vehicle frame; 11, base; 12, rotating seat; 13, rotating shaft; 131, limit ring; 132, limit groove; 14, oil-free bushing; 15, shaft cover; 16, connecting seat; 2, walking unit; 21, connecting frame; 22, walking assembly; 221, mounting seat; 222, first wheel; 223, first driving member; 224, second wheel; 225, second driving member; 226, first gear; 227, second gear. Detailed implementation manners

[0033] The following Figures 1-5 further elaborates on the present application in detail.

[0034] The embodiment of the present application discloses a four-wheel drive latent lifting AGV.

[0035] Referring to Figure 1 and Figure 2 , the four-wheel drive latent lifting AGV includes a vehicle frame 1 and two walking units 2. The two walking units 2 are located at both ends of the vehicle frame 1. The walking unit 2 includes a connecting frame 21 and two walking assemblies 22. The length direction of the connecting member is arranged along the width direction of the vehicle frame 1, and the two walking assemblies 22 are respectively located at both ends of the connecting frame 21.

[0036] Referring to Figure 2 and Figure 3 , specifically, the walking assembly 22 includes a mounting seat 221, a first wheel 222 and a first driving member 223. The mounting seat 221 is rotatably connected to the lower side of the connecting frame 21. The first wheel 222 is rotatably connected to one side of the mounting seat 221. The first driving member 223 is a servo motor. The first driving member 223 is fixedly connected to the inside of the mounting seat 221 and the power output shaft is connected to the first wheel 222 through a gear set (not shown in the figure) to drive the first wheel 222 to rotate.

[0037] Among them, the two connecting frames 21 are arranged at intervals along the length direction of the vehicle frame 1, and the middle part of one of the connecting frames 21 is rotatably connected to the vehicle frame 1, and the axis of rotation is parallel to the length direction of the vehicle frame 1. The middle part of the other connecting frame 21 is fixedly connected to the vehicle frame 1.

[0038] In practical applications, each first driving member 223 drives each first wheel 222 to rotate, so as to realize the movement of the AGV. Since one of the connecting frames 21 is rotatably connected to the vehicle frame 1, the two first wheels 222 of the traveling assembly 22 are located in different planes. At the same time, the other connecting frame 21 is fixedly connected to the vehicle frame 1, so as to ensure that the two first wheels 222 on the connecting frame 21 rotatably connected to the vehicle frame 1 touch the ground simultaneously, so as to be applicable to different road conditions, thereby improving the applicability of the AGV.

[0039] Referring to Figure 2 and Figure 4 , in some embodiments, the vehicle frame 1 includes a base 11, two rotating seats 12 and a rotating shaft 13. The two rotating seats 12 are fixedly connected to the upper side of one end of the base 11 and are arranged at intervals along the length direction of the base 11. The two ends of the rotating shaft 13 are respectively rotatably connected to the two rotating seats 12 to realize the rotation of the rotating shaft 13. One of the connecting frames 21 is fixedly connected to the rotating shaft 13 to realize the rotation of the connecting frame 21. The structure is simple and can ensure the stability of the rotation of the connecting frame 21.

[0040] Referring to Figure 4 , in some embodiments, the vehicle frame 1 further includes two oil-free bushings 14. The two oil-free bushings 14 are respectively inserted tightly into the two rotating seats 12, and the two oil-free bushings 14 are respectively sleeved on the two ends of the rotating shaft 13. In this way, the smoothness and stability of the rotation of the rotating shaft 13 can be effectively improved. Correspondingly, the stability of the rotation of the connecting frame 21 can be improved, making the work of the AGV more stable.

[0041] In some embodiments, the vehicle frame 1 further includes two shaft caps 15. The two shaft caps 15 are respectively fixedly connected to the two ends of the rotating shaft 13 by bolts to limit the oil-free bushings 14, so as to ensure the stability of the rotation of the rotating shaft 13.

[0042] In some embodiments, the vehicle frame 1 further includes a connecting seat 16. Two limiting rings 131 are formed by protruding at one end of the rotating shaft 13, and a limiting groove 132 is formed between the two limiting rings 131 and the rotating shaft 13. Both the connecting frame 21 and the connecting seat 16 are inserted into the limiting groove 132. The connecting seat 16 is located below the connecting frame 21 and is detachably connected to the connecting seat 16. In this embodiment, the connecting seat 16 is detachably connected to the connecting seat 16 by bolts, so that the rotating shaft 13 is clamped between the connecting frame 21 and the connecting seat 16 to realize the fixation between the rotating shaft 13 and the connecting frame 21, so as to facilitate the installation between the connecting frame 21 and the rotating shaft 13, thereby facilitating the assembly between the traveling unit 2 and the vehicle frame 1. At the same time, it is also convenient to realize the disassembly between the connecting frame 21 and the rotating shaft 13, so as to facilitate the maintenance or replacement of the traveling unit 2. Of course, in other embodiments, the connecting seat 16 can also be detachably connected to the connecting seat 16 by plugging or clamping.

[0043] Referring to Figure 3 and Figure 5 In some embodiments, the traveling assembly 22 further includes a second wheel 224, and the second wheel 224 is rotatably connected to a side of the mounting seat 221 away from the first wheel 222 to increase the contact area between the traveling assembly 22 and the ground, thereby improving the stability of the AGV during operation.

[0044] In some embodiments, the traveling assembly 22 further includes a second driving member 225. The second driving member 225 is a servo motor. The second driving member 225 is fixedly connected to the inside of the mounting seat 221, and a power output shaft thereof is connected to the second wheel 224 through a gear set (not shown in the figure) to drive the second wheel 224 to rotate. Wherein, the first driving member 223 and the second driving member 225 are electrically connected to the controller of the AGV. The controller sets the rotation speeds of the first driving member 223 and the second driving member 225 to make the rotation speeds of the first wheels 222 and the second wheels 224 different from each other, and the rotation speeds of the first wheels 222 and the second wheels 224 between the traveling assemblies 22 can also be different. At the same time, the mounting seat 221 is rotatably connected to the connecting frame 21, so that the rotation angles of the four mounting seats 221 are the same, and the steering angles of the four traveling assemblies 22 are the same, thereby improving the steering stability of the AGV.

[0045] In some embodiments, the traveling assembly 22 further includes a first gear 226 and a second gear 227. The first gear 226 is rotatably connected to the upper side of the mounting seat 221, and the second gear 227 is fixedly connected to the connecting frame 21. The first gear 226 meshes with the second gear 227, and the diameter of the second gear 227 is much larger than the diameter of the first gear 226, making the rotation of the mounting seat 221 more stable, thereby improving the steering stability of the AGV.

[0046] The implementation principle of this embodiment is as follows: In practical applications, each first driving member 223 drives each first wheel 222 to rotate to realize the movement of the AGV. Since one of the connecting frames 21 is rotatably connected to the vehicle frame 1, the two first wheels 222 of this traveling assembly 22 are located in different planes. At the same time, the other connecting frame 21 is fixedly connected to the vehicle frame 1, so as to ensure that the two first wheels 222 on the connecting frame 21 rotatably connected to the vehicle frame 1 touch the ground simultaneously, so as to be applicable to different road conditions, thereby improving the applicability of the AGV.

[0047] Among them, since the first driving member 223 and the second driving member 225 are electrically connected to the controller of the AGV, the controller sets the rotation speeds of the first driving member 223 and the second driving member 225, so as to achieve different rotation speeds of the first wheels 222 and the second wheels 224, and the rotation speeds of the first wheels 222 and the second wheels 224 between the respective traveling assemblies 22 can also be different. At the same time, the mounting base 221 is rotatably connected to the connecting frame 21, so as to achieve the same rotation angles of the four mounting bases 221, make the steering angles of the four traveling assemblies 22 the same, and under the action of the first gear 226 and the second gear 227, the steering stability of the AGV is improved.

[0048] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A four-wheel drive latent lifting AGV, characterized in that, It includes a frame (1) and two traveling units (2); each traveling unit (2) includes a connecting frame (21) and two traveling components (22), the connecting frame (21) is arranged along the width direction of the frame (1), and the two traveling components (22) are respectively located at both ends of the connecting frame (21); each traveling component (22) includes a mounting seat (221), a first wheel (222) and a first driving member (223), the mounting seat (221) is rotatably connected to the lower side of the connecting frame (21), the first wheel (222) is rotatably connected to one side of the mounting seat (221), and the first driving member (223) is arranged on the mounting seat (221) and is used to drive the first wheel (222) to rotate; wherein, the two connecting frames (21) are arranged at intervals along the length direction of the frame (1), one of the connecting frames (21) is rotatably connected to the frame (1) and the rotation axis is parallel to the length direction of the frame (1), and the other connecting frame (21) is fixedly connected to the frame (1).

2. The four-wheel drive latent lifting AGV according to claim 1, wherein The frame (1) includes a base (11), two rotating seats (12) and a rotating shaft (13); the two rotating seats (12) are arranged on the upper side of the base (11) and are arranged at intervals along the length direction of the base (11), and both ends of the rotating shaft (13) are respectively rotatably connected to the two rotating seats (12), and one of the connecting frames (21) is arranged on the rotating shaft (13).

3. The four-wheel drive latent lifting AGV according to claim 2, wherein The frame (1) further includes two oil-free bushings (14), and the two oil-free bushings (14) are respectively arranged on the two rotating seats (12) and respectively sleeved on both ends of the rotating shaft (13).

4. The four-wheel drive latent lifting AGV according to claim 3, wherein, The frame (1) further includes two shaft caps (15), and the two shaft caps (15) are respectively arranged at both ends of the rotating shaft (13).

5. A four-wheel drive latent lifting AGV according to claim 2, characterized in that, The frame (1) further includes a connecting seat (16), the connecting frame (21) and the connecting seat (16) are both inserted into the rotating shaft (13), and the connecting seat (16) is detachably connected to the connecting seat (16) so that the rotating shaft (13) is clamped between the connecting frame (21) and the connecting seat (16).

6. The four-wheel drive latent lifting AGV according to claim 1, wherein The traveling component (22) further includes a second wheel (224), and the second wheel (224) is rotatably connected to the side of the mounting seat (221) away from the first wheel (222).

7. A four-wheel drive latent lifting AGV according to claim 6, characterized in that, The traveling component (22) further includes a second driving member (225), and the second driving member (225) is arranged on the mounting seat (221) and is used to drive the second wheel (224) to rotate.

8. A four-wheel drive latent lifting AGV according to claim 7, characterized in that, The traveling component (22) further includes a first gear (226) and a second gear (227), the first gear (226) is rotatably connected to the upper side of the mounting seat (221), the second gear (227) is arranged on the connecting frame (21), and the first gear (226) meshes with the second gear (227).

Images