AGV with driving swing arm adjusting structure

Abstract

The utility model provides an AGV with a driving swing arm adjusting structure. The AGV comprises a vehicle body frame, a swing arm structure and a driving structure. Two mounting bins for accommodating the swing arm structure and the driving structure are arranged in the vehicle body frame, and are respectively a front mounting bin and a rear mounting bin; the driving structure is installed on the swing arm structure and comprises a first driving motor and a power wheel, and the first driving motor is used for driving the power wheel to move. The welding swing arm has the advantages that the welding swing arm comprises the vehicle body frame, the swing arm structure and the driving structure, the driving structure is installed on the vehicle body frame through the swing arm structure, the welding swing arm can be movably connected with the vehicle body frame through the structure, and the swing arm structure can swing relative to the vehicle body frame; the driving structure can be adjusted in a swinging mode along with the road surface flatness relative to the vehicle body frame through the swing arm structure so as to adapt to the road surface condition, and the fitting degree with the ground is improved.

Description

Technical Field

[0001] The utility model belongs to the field of mechanical structures, and particularly relates to an AGV with a driving swing arm adjustment structure. Background Art

[0002] In existing AGV (Automated Guided Vehicle) products, the installation positions of the wheels and the vehicle frame are usually fixed and non-adjustable. During the driving process of the AGV, when encountering uneven ground, it is easy to cause the wheels to be unable to fully contact the ground, resulting in a suspension situation. This suspension phenomenon not only affects the walking stability of the AGV, but also significantly reduces its walking accuracy, affecting the efficiency and reliability of the overall operation. Summary of the Utility Model

[0003] In view of this, the utility model aims to propose an AGV with a driving swing arm adjustment structure to solve at least one problem in the background art.

[0004] To achieve the above object, the technical solution of the utility model is realized as follows:

[0005] An AGV with a driving swing arm adjustment structure includes a vehicle body frame, a swing arm structure, and a driving structure;

[0006] An installation bin for accommodating the swing arm structure and the driving structure is arranged inside the vehicle body frame. There are two installation bins, namely a front installation bin and a rear installation bin;

[0007] The driving structure is installed on the swing arm structure. The driving structure includes a first driving motor and a driving wheel, and the first driving motor is used to drive the driving wheel to move;

[0008] Both ends of the swing arm structure are movably connected to the vehicle frame body. A universal wheel is arranged on the swing arm structure, and the universal wheel is a driven wheel;

[0009] The swing arm structure includes a welded swing arm. Vertical mounting plates are arranged on both sides of the welded swing arm. Swing shaft holes are arranged on the vertical mounting plates, and swing bearings are arranged in the swing shaft holes;

[0010] Installation holes are arranged on the side of the installation bin of the vehicle body frame. Pivot pins are arranged in the installation holes, and the pivot pins are inserted into the swing bearings from both sides.

[0011] Furthermore, an auxiliary fixing plate is arranged on the outside of the installation hole part of the vehicle body frame. A round hole for facilitating the passage of the pivot pin is arranged on the auxiliary fixing plate. A pin hole is arranged at the end of the pivot pin away from the auxiliary fixing plate, and the axis of the pin hole is perpendicular to the axis of the pivot pin. A pin structure is arranged in the pin hole to prevent the swing bearing from disengaging from the pivot pin.

[0012] Further, the universal wheels are mounted on the vertical mounting plates, and one universal wheel is provided on each of the vertical mounting plates on both sides.

[0013] Further, the driving structure includes a steering wheel provided on the lower surface of the welding swing arm, and the steering wheel is rotatably connected to the welding swing arm;

[0014] A steering motor cooperating with the steering wheel is provided on the welding swing arm, and a steering gear meshing with the steering wheel is provided at the power output end of the steering motor;

[0015] The first driving motor and the driving wheel are mounted below the steering wheel by means of a driving frame.

[0016] Further, the driving structure further includes a first speed reducer. The power output end of the first driving motor is connected to the first speed reducer. A driving sprocket is provided at the power output end of the first speed reducer, and a driven sprocket coaxial with the driving wheel is provided on the driving wheel. The driving sprocket drives the driving wheel to rotate through the driven sprocket by means of a first chain.

[0017] Further, the driving wheel includes a rubber-coated wheel.

[0018] Further, a left-right swing structure is provided between the driving frame and the steering wheel. A swing ear plate is provided on the lower surface of the steering wheel, and a corresponding swing connecting plate is provided on the driving frame. The swing ear plate and the swing connecting plate are connected by means of a hinge shaft.

[0019] Further, one driving wheel is provided on each side of each driving frame, and each driving wheel is configured with a first driving motor.

[0020] Further, the lowest points of the universal wheels are located on the same horizontal plane.

[0021] Further, a control module and a sensor module are provided on the vehicle body frame. The sensor module is connected to the control module, and the first driving motor and the steering motor are connected to the control module.

[0022] Compared with the prior art, the AGV with a driving swing arm adjustment structure described in the present utility model has the following beneficial effects:

[0023] The AGV with a driving swing arm adjustment structure described in the present utility model mainly includes a vehicle body frame, a swing arm structure and a driving structure. The driving structure is mounted on the vehicle body frame by means of the swing arm structure. With the above structure, the welding swing arm can be movably connected to the vehicle body frame, that is, the swing arm structure can swing relative to the vehicle body frame, and the driving structure can swing and adjust relative to the vehicle body frame along with the road surface flatness by means of the above swing arm structure, so as to adapt to the road surface conditions and improve the degree of fitting with the ground. Description of the Drawings

[0024] The accompanying drawings, which form a part of the present utility model, are used to provide a further understanding of the present utility model. The schematic embodiments and descriptions thereof of the present utility model are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0025] Figure 1 It is a schematic diagram of the first angle of the overall structure of the device according to the embodiment of the present utility model;

[0026] Figure 2 It is a schematic diagram of the second angle of the overall structure of the device according to the embodiment of the present utility model;

[0027] Figure 3 It is a schematic diagram of the partial enlarged view of the overall structure of the device according to the embodiment of the present utility model;

[0028] Figure 4 It is a schematic diagram of the first angle of the vehicle body frame structure according to the embodiment of the present utility model;

[0029] Figure 5 It is a schematic diagram of the second angle of the vehicle body frame structure according to the embodiment of the present utility model;

[0030] Figure 6 It is a schematic diagram of the side plate structure of the vehicle body frame structure according to the embodiment of the present utility model;

[0031] Figure 7 It is a schematic diagram of the first angle of the swing arm structure according to the embodiment of the present utility model;

[0032] Figure 8 It is a schematic diagram of the second angle of the swing arm structure according to the embodiment of the present utility model;

[0033] Figure 9 It is a schematic diagram of the third angle of the swing arm structure according to the embodiment of the present utility model;

[0034] Figure 10 It is a schematic diagram of the fourth angle of the swing arm structure according to the embodiment of the present utility model;

[0035] Figure 11 It is a schematic diagram of the three-dimensional structure of the drive structure according to the embodiment of the present utility model.

[0036] Explanation of reference numerals:

[0037] 1-body frame; 101-pin shaft; 102-pin hole; 103-auxiliary fixing plate; 104-control module; 105-sensor module; 11-swing arm structure; 111-welded swing arm; 112-vertical mounting plate; 113-swing shaft hole; 114-swing bearing; 115-universal wheel; 12-drive structure; 121-first drive motor; 122-power wheel; 124-steering wheel; 125-steering motor; 126-drive frame; 127-first reducer; 128-driving sprocket; 129-first chain; 130-swing ear plate; 131-swing connecting plate; 132-articular shaft. DETAILED DESCRIPTION

[0038] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0039] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0040] This solution discloses an AGV with a drive swing arm adjustment structure, which mainly includes a vehicle frame 1, a swing arm structure 11 and a drive structure 12. The drive structure 12 is mounted on the vehicle frame 1 using the swing arm structure 11;

[0041] The swing arm structure 11 includes a welded swing arm 111, and vertical mounting plates 112 are provided on both sides of the welded swing arm 111. The vertical mounting plates 112 are provided with swing shaft holes 113, and a swing bearing 114 is provided in the swing shaft hole 113. A mounting hole is provided on the side of the mounting compartment of the vehicle body frame 1, and a pin shaft 101 is provided in the mounting hole. The pin shaft 101 is inserted into the swing bearing 114 from both sides. The above structure can make the welded swing arm 111 movably connected to the vehicle body frame 1, that is, the swing arm structure 11 can swing relative to the vehicle body frame 1, and the driving structure 12 can use the above-mentioned swing arm structure 11 to swing and adjust relative to the vehicle body frame 1 according to the flatness of the road surface, thereby adapting to the road conditions and improving the fit with the ground.

[0042] An auxiliary fixing plate 103 is provided on the outer side of the mounting hole part of the vehicle body frame 1. The function of the auxiliary fixing plate 103 is to reinforce the vehicle body frame 1 at the mounting part of the pin shaft 101, so as to avoid deformation of the pin shaft mounting hole of the vehicle body frame 1 due to the force on the pin shaft 101. A round hole is provided on the auxiliary fixing plate 103 to facilitate the passage of the pin shaft 101. An insertion hole 102 is provided at the end of the pin shaft 101 away from the auxiliary fixing plate 103. The axis of the insertion hole 102 is perpendicular to the axis of the pin shaft 101. A plug pin structure is provided in the insertion hole 102 to prevent the swing bearing 114 from detaching from the pin shaft 101. During use, first insert the pin shaft 101 into the vehicle body frame 1 from the outside. After connecting the swing arm structure 11, insert the plug pin structure into the disassembly hole of the pin shaft 101. With this structure, on the one hand, the swing arm structure 11 can be installed on the vehicle body frame 1, and on the other hand, it is also convenient to disassemble the swing arm structure 11 for maintenance.

[0043] The drive structure 12 includes a driving wheel 122 and a universal wheel 115. The lowest points of the driving wheel 122 and the universal wheel 115 are located on the same horizontal plane. The universal wheel 115 is a driven wheel. The driving wheel 122 is driven to move by the first driving motor 121 and the first speed reducer 127. At the same time, a steering wheel 124 is provided in this solution, and the steering motor 125 is used to drive the steering wheel 124 to rotate. The steering motor 125 is a servo motor, and then drives the driving wheel 122 to rotate.

[0044] At the same time, in another embodiment, in order to further improve the adaptability of this solution to uneven roads, the following structure can be optionally installed on the basis of the above solution: A left-right swing structure is provided between the drive frame 126 and the steering wheel 124. A swing ear plate 130 is provided on the lower surface of the steering wheel 124. The drive frame 126 is provided with a corresponding swing connecting plate 131. The swing ear plate 130 and the swing connecting plate 131 are connected by a hinge shaft 132. With this structure, the driving wheel 122 can swing slightly left and right when the ground is uneven, and cooperate with the front-back swing of the swing arm structure 11 to further improve the adaptability to uneven roads. The above-mentioned left-right swing structure is an optional solution. Even if the left-right swing structure is not provided, this solution can still achieve the expected effect of solving the technical problems in the background technology.

[0045] This solution includes a control module 104 and a sensor module 105, and the above modules can be implemented using existing technologies; the control module includes, but is not limited to, the robot *SRC series core controller SRC-2000-IW(S), programmable logic controller AM320-0808TN, and the sensor module includes, but is not limited to, single-line navigation lidar H1E0-00C, AGV magnetic navigation sensor AGV-TMR25x, RFID reader JY-L801-485M, laser distance sensor 0SM41-K2500CB6 / 485, absolute encoder BRT38-C2M4096D24-RT2-IP68, and cable displacement sensor BRT38-2M-C2M4096-RT2-IP68.

[0046] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

[0047] The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An AGV with a driving swing arm adjustment structure, characterized in that: It includes a vehicle body frame (1), a swing arm structure (11), and a drive structure (12); An installation bin for accommodating the swing arm structure (11) and the drive structure (12) is provided inside the vehicle body frame (1). There are two such installation bins, namely a front installation bin and a rear installation bin; The drive structure (12) is installed on the swing arm structure (11). The drive structure (12) includes a first drive motor (121) and a power wheel (122), and the first drive motor (121) is used to drive the power wheel (122) to move; Both ends of the swing arm structure (11) are movably connected to the vehicle frame body. A universal wheel (115) is provided on the swing arm structure (11), and the universal wheel (115) is a driven wheel; The swing arm structure (11) includes a welded swing arm (111). Vertical mounting plates (112) are provided on both sides of the welded swing arm (111). Swing shaft holes (113) are provided on the vertical mounting plates (112), and swing bearings (114) are provided in the swing shaft holes (113); An installation hole is provided on the side of the installation bin of the vehicle body frame (1). A pin shaft (101) is provided in the installation hole, and the pin shaft (101) is inserted into the swing bearing (114) from both sides.

2. The AGV with a driving swing arm adjustment structure according to claim 1, wherein: An auxiliary fixing plate (103) is provided on the outer side of the installation hole part of the vehicle body frame (1). A round hole for facilitating the passage of the pin shaft (101) is provided on the auxiliary fixing plate (103). A pin hole (102) is provided at the end of the pin shaft (101) away from the auxiliary fixing plate (103). The axis of the pin hole (102) is perpendicular to the axis of the pin shaft (101). A pin structure is provided in the pin hole (102) to prevent the swing bearing (114) from disengaging from the pin shaft (101).

3. An AGV with a driving swing arm adjustment structure according to claim 1, characterized in that: The universal wheel (115) is installed on the vertical mounting plate (112), and one universal wheel (115) is provided on each of the two vertical mounting plates (112) on both sides.

4. The AGV with a driving swing arm adjustment structure according to claim 1, wherein: The drive structure (12) includes a steering wheel (124) provided on the lower surface of the welded swing arm (111), and the steering wheel (124) is rotatably connected to the welded swing arm (111); A steering motor (125) cooperating with the steering wheel (124) is provided on the welded swing arm (111). A steering gear meshing with the steering wheel (124) is provided at the power output end of the steering motor (125); The first drive motor (121) and the power wheel (122) are installed below the steering wheel (124) by means of a drive frame (126).

5. An AGV with a driving swing arm adjustment structure according to claim 4, characterized in that: The drive structure (12) further includes a first speed reducer (127). The power output end of the first drive motor (121) is connected to the first speed reducer (127). A driving sprocket (128) is provided at the power output end of the first speed reducer (127). A driven sprocket coaxial with the power wheel (122) is provided on the power wheel (122). The driving sprocket (128) drives the power wheel (122) to rotate through the driven sprocket by means of a first chain (129).

6. The AGV with a driving swing arm adjustment structure according to claim 5, wherein: The power wheel (122) includes a rubber-coated wheel.

7. An AGV with a driving swing arm adjustment structure according to claim 4, characterized in that: A left - right swing structure is provided between the drive frame (126) and the steering wheel (124). A swing ear plate (130) is provided on the lower surface of the steering wheel (124), and a corresponding swing connecting plate (131) is provided on the drive frame (126). The swing ear plate (130) and the swing connecting plate (131) are connected by a hinge shaft (132).

8. An AGV with a driving swing arm adjustment structure according to claim 4, characterized in that: One power wheel (122) is provided on each side of each drive frame (126), and each power wheel (122) is configured with a first drive motor (121).

9. The AGV with a driving swing arm adjustment structure according to claim 1, characterized in that: The lowest points of the universal wheels (115) and the universal wheels (115) are located on the same horizontal plane.

10. The AGV with a driving swing arm adjustment structure according to claim 1, characterized in that: A control module (104) and a sensor module (105) are provided on the vehicle body frame (1). The sensor module (105) is connected to the control module (104), and the first drive motor (121) and the steering motor (125) are connected to the control module (104).

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