Spring and hydraulic combined damping driving mechanism for AGV (Automatic Guided Vehicle)

Abstract

The utility model provides a spring hydraulic combination damping driving mechanism for an AGV, and relates to a driving mechanism, the spring hydraulic combination damping driving mechanism comprises a driving rack, the center of the driving rack is provided with a group of guide outer cylinders through two groups of swing shafts in a rotary connection mode, and the swing shafts are perpendicular to the axis where the rotating centers of two groups of driving trundles are located; a group of guide inner barrels are sleeved in the guide outer barrel in a guide manner, a group of sealing plates are further mounted at the bottom of the guide outer barrel, a group of rotary supporting outer rings are fixedly connected to the top end of the guide inner barrel through a mounting plate, a group of rotary supporting inner rings are rotatably mounted in the rotary supporting outer rings, and a group of hydraulic oil cylinders mounted on the mounting plate are further arranged in the rotary supporting inner rings; the hydraulic oil cylinder is additionally arranged on the upper portion of the spring to extrude the spring, so that the compression amount of the spring is changed, the elastic force of the spring is changed, the adhesive force of the driving whole to the ground is changed, the pressure of the spring to the ground when the AGV is loaded is improved, and therefore the driving whole has larger traction force to pull the AGV to run.

Description

Technical Field

[0001] This utility model relates to a drive mechanism, and more particularly to a spring-hydraulic combined shock-absorbing drive mechanism for AGVs. Background Technology

[0002] AGVs (Automated Guided Vehicles) are increasingly widely used in logistics, manufacturing, and other fields. The diversity and complexity of their operating environments place higher demands on their shock absorption performance. To ensure the stable operation of AGVs under various terrain conditions, especially uneven ground, designing a highly adaptable drive mechanism is particularly important.

[0003] Spring-driven mechanisms can provide excellent shock absorption, but traditional spring-driven shock-absorbing bogies often use rectangular springs with multiple guide shafts. In applications with heavy loads such as 10 tons, multiple rectangular springs are needed to achieve the desired effect, which is quite cumbersome. For single-spring shock absorption, when the AGV is loaded or unloaded, the spring force is constant, so the pressure of the AGV and the drive system on the ground does not change. It depends only on the spring force itself, which leads to insufficient adhesion of the AGV drive system to the ground, causing the AGV to slip and fail to drive normally. Utility Model Content

[0004] To solve the above-mentioned technical problems, the purpose of this utility model is to provide a spring-hydraulic combined shock absorption drive mechanism for AGVs. By adding a hydraulic cylinder to the upper part of the spring to compress the spring, the compression amount of the spring is changed, thereby changing the elastic force of the spring, which in turn changes the adhesion of the drive assembly to the ground, increasing the spring's pressure on the ground when the AGV is under load, so that the drive assembly has a greater traction force to pull the AGV to move.

[0005] This utility model provides the following technical solution:

[0006] A spring-hydraulic combined shock-absorbing drive mechanism for AGVs includes a drive frame and two sets of drive casters symmetrically mounted on both sides of the drive frame and independently driven by their respective power drive units. A set of guide outer cylinders is rotatably mounted at the center of the drive frame via two sets of swing shafts, the swing shafts being perpendicular to the axes of rotation of the two sets of drive casters. Therefore, when driving on uneven ground, the two drive casters can swing left and right, eliminating the height difference between the two wheels caused by uneven ground. A set of guide inner cylinders is fitted inside the guide outer cylinders, and two sets of axial-mounted guide cylinders are arranged on both sides of the guide inner cylinders. The guide extends into a guide groove, and the outer guide cylinder is provided with a guide block installed in the guide groove. A set of sealing plates is also installed at its bottom. The top of the inner guide cylinder is fixedly connected to a set of slewing support outer rings through a mounting plate. A set of slewing support inner rings is rotatably installed inside the slewing support outer rings. The top of the slewing support inner rings is fixedly connected to a frame equipped with auxiliary travel casters. A set of hydraulic cylinders mounted on the mounting plate is also placed inside. The end block of the driving end of the hydraulic cylinder extends into the inner guide cylinder to be opposite to the sealing plate to press against a set of compression springs.

[0007] At this point, the frame is placed on the ground via auxiliary casters, and the drive mechanism is connected to it via a guide inner cylinder. Each drive mechanism only requires one set of compression springs, guide outer cylinders, and guide inner cylinders to achieve a compact and convenient installation. The compression springs can also cause the entire mechanism to rise or fall, providing a stable shock absorption effect. At the same time, because the guide outer cylinder is mounted on the drive frame via a swing shaft, and the swing shaft is perpendicular to the axis of rotation of the two sets of drive casters, when driving on uneven ground, the two drive casters can swing left and right to eliminate the height difference between the two wheels caused by uneven ground.

[0008] Meanwhile, a set of hydraulic cylinders is added to the upper part of the compression spring to compress the spring, thereby changing the compression amount of the compression spring, thus changing the elastic force of the compression spring, and in turn changing the adhesion of the drive unit to the ground, so as to increase the spring's pressure to the ground when the AGV is under load, which allows the drive unit to have greater traction to pull the AGV to move.

[0009] Preferably, a set of Z-shaped induction trigger plates is also fixed at the bottom of the outer ring of the slewing support. The Z-shaped induction trigger plates are used to sense the limit switch fixed on the frame to form a soft limit when the drive frame is driven to rotate. Thus, when the drive casters are driven to rotate by their respective power drive units, the entire drive mechanism can move forward, backward, turn, and rotate in place due to the different speeds and directions of rotation. To prevent the entire drive from oversteering, the limit switch and the Z-shaped induction trigger plates that have rotated to the correct position can perform the first safety check, which forms a soft limit for drive rotation.

[0010] Preferably, a set of limiting posts are also fixed on the drive frame. The limiting posts are used to perform hard limiting engagement with the limiting plate on the vehicle frame when rotating with the drive frame. Therefore, when the soft limiting fails, the rotation of the entire drive mechanism can be directly restricted by the engagement of the limiting posts with the upper limit plate on the vehicle frame to achieve hard limiting engagement. This further restricts the overall rotation angle of the drive mechanism, so that the drive mechanism can only rotate within a limited angle and cannot rotate indefinitely, thus avoiding damage to the cables.

[0011] Preferably, an external gear ring is provided outside the outer ring of the slewing support, and an angle detection mechanism is also installed on the frame. The rotating end gear of the angle detection mechanism meshes with the external gear ring, thereby transmitting the angle change value to the angle encoder connected thereto through the follow-up of the gear. The real-time angle of the entire drive mechanism can be detected by the angle detection mechanism to form a closed-loop system.

[0012] Preferably, the guide block is a rectangular column block that can be detachably installed on the outer guide cylinder, and a set of guide wear-resistant sleeves is also provided between the outer guide cylinder and the inner guide cylinder.

[0013] Preferably, the power drive unit includes a servo motor reducer mounted on the drive frame, and the drive end of the servo motor reducer is connected to the rotating end of the drive caster via a sprocket and chain drive.

[0014] The beneficial effects of this utility model are as follows: This utility model provides a spring-hydraulic combined shock-absorbing drive mechanism for AGVs, which is installed on the frame. The frame is placed on the ground through auxiliary universal wheels. One set of frames can be equipped with two sets of drive mechanisms. Each drive mechanism is driven by a servo motor reducer through a sprocket and chain transmission mechanism to drive the drive casters to rotate, thereby realizing the forward, backward, turning, and stationary rotation of the entire drive mechanism. The real-time angle of the entire drive mechanism can be detected by an angle detection mechanism to form a closed-loop system. To prevent the entire drive from over-steering, the first safety detection is achieved through a Z-shaped induction trigger plate and a soft limit switch. When the soft limit fails, the hard limit of the limit column can directly limit the rotation of the entire drive mechanism.

[0015] Furthermore, when the drive mechanism travels on uneven ground, each drive mechanism only requires one set of compression springs, guide outer cylinders, and guide inner cylinders to achieve the overall upward or downward movement of the mechanism, providing a stable shock absorption effect. Simultaneously, because the guide outer cylinder is mounted on the drive frame via a swing shaft, and the swing shaft is perpendicular to the axis of rotation of the two sets of drive casters, the two drive casters can swing left and right when traveling on uneven ground, eliminating the height difference between the two wheels caused by the uneven ground. Additionally, a hydraulic cylinder is added above the compression spring to compress it, changing the compression amount and thus the spring force, thereby altering the overall drive's adhesion to the ground. This increases the spring's ground pressure when the AGV is under load, allowing the drive to have greater traction to pull the AGV. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0017] Figure 1 This is a schematic diagram of a set of drive mechanisms of this utility model mounted on a vehicle frame;

[0018] Figure 2 This is a schematic diagram of the structure of a set of drive mechanisms of this utility model;

[0019] Figure 3 yes Figure 2 Top view;

[0020] Figure 4 yes Figure 2 The main view;

[0021] Figure 5 yes Figure 2 Side view;

[0022] Figure 6 yes Figure 3 A sectional view along section AA;

[0023] Figure 7 yes Figure 3 A sectional view along section BB.

[0024] Markings in the diagram:

[0025] 1. Frame; 2. Auxiliary swivel casters; 3. Drive frame; 4. Drive casters; 5. Power drive unit; 6. Swing shaft; 7. Outer guide cylinder; 8. Inner guide cylinder; 9. Guide groove; 10. Guide block; 11. Sealing plate; 12. Outer ring of slewing support; 13. Inner ring of slewing support; 14. Mounting plate; 15. Hydraulic cylinder; 16. Compression spring; 17. Z-shaped induction trigger plate; 18. Limit switch; 19. Limit post; 20. External gear ring; 21. Angle detection mechanism; 22. Guide wear-resistant sleeve; 23. Limit plate. Detailed Implementation

[0026] like Figure 1-7 As shown, a spring-hydraulic combined shock-absorbing drive mechanism for AGVs, in this embodiment, includes a drive frame and two sets of drive casters symmetrically mounted on both sides of the drive frame and independently driven by their respective power drive units. A set of guide outer cylinders is mounted at the center of the drive frame via two sets of swing shafts, the swing shafts being perpendicular to the axes of rotation of the two sets of drive casters. Therefore, when driving on uneven ground, the two drive casters can swing left and right, eliminating the height difference between the two wheels caused by uneven ground. A set of guide inner cylinders is sleeved inside the guide outer cylinders. Two sets of axially extending guide grooves are provided on both sides. Guide blocks are installed in the guide grooves on the outer guide cylinder. A set of sealing plates is also installed at the bottom. A set of slewing support outer rings is fixedly connected to the top of the inner guide cylinder through the mounting plate. A set of slewing support inner rings is rotatably installed inside the outer slewing support outer rings. The top of the slewing support inner rings is fixedly connected to the frame equipped with auxiliary travel casters. A set of hydraulic cylinders mounted on the mounting plate is also placed inside. The end block of the drive end of the hydraulic cylinder extends into the inner guide cylinder to be opposite to the sealing plate to press against a set of compression springs.

[0027] At this point, the frame is placed on the ground via auxiliary casters, and the drive mechanism is connected to it via a guide inner cylinder. Each drive mechanism only requires one set of compression springs, guide outer cylinders, and guide inner cylinders to achieve a compact and convenient installation. The compression springs can also cause the entire mechanism to rise or fall, providing a stable shock absorption effect. At the same time, because the guide outer cylinder is mounted on the drive frame via a swing shaft, and the swing shaft is perpendicular to the axis of rotation of the two sets of drive casters, when driving on uneven ground, the two drive casters can swing left and right to eliminate the height difference between the two wheels caused by uneven ground.

[0028] Meanwhile, a set of hydraulic cylinders is added to the upper part of the compression spring to compress the spring, thereby changing the compression amount of the compression spring, thus changing the elastic force of the compression spring, and in turn changing the adhesion of the drive unit to the ground, so as to increase the spring's pressure to the ground when the AGV is under load, which allows the drive unit to have greater traction to pull the AGV to move.

[0029] A set of Z-shaped induction trigger plates is also fixed at the bottom of the outer ring of the slewing support. The Z-shaped induction trigger plates are used to sense the limit switches fixed on the frame to form a soft limit when the drive frame rotates. Thus, when the drive casters are driven to rotate by their respective power drive units, the entire drive mechanism can move forward, backward, turn, and rotate in place due to the different speed and direction of rotation. To prevent the entire drive from oversteering, the limit switches and the Z-shaped induction trigger plates that have rotated to the correct position can perform the first safety check, which forms a soft limit for drive rotation.

[0030] A set of limit posts are also fixed on the drive frame. The limit posts are used to perform hard limit engagement with the limit plate on the frame when rotating with the drive frame. Therefore, when the soft limit fails, the rotation of the entire drive mechanism can be directly restricted by the engagement of the limit posts with the upper limit plate on the frame to achieve hard limit engagement. This further restricts the overall rotation angle of the drive mechanism, so that the drive mechanism can only rotate within a limited angle and cannot rotate indefinitely, thus avoiding damage to the cables.

[0031] An external gear ring is also provided outside the outer ring of the slewing support, and an angle detection mechanism is also installed on the frame. The rotating end gear of the angle detection mechanism meshes with the external gear ring, thereby transmitting the angle change value to the angle encoder connected to it through the follow-up of the gear. The real-time angle of the entire drive mechanism can be detected by the angle detection mechanism to form a closed-loop system.

[0032] The guide block is a rectangular column block that can be detachably installed on the outer guide cylinder, and a set of guide wear-resistant sleeves is also provided between the outer guide cylinder and the inner guide cylinder.

[0033] The power drive unit includes a servo motor reducer mounted on the drive frame, and the drive end of the servo motor reducer is connected to the rotating end of the drive caster via a sprocket and chain drive.

[0034] The working principle of this utility model is as follows: This utility model provides a spring-hydraulic combined shock-absorbing drive mechanism for AGVs, which is installed on the frame. The frame is placed on the ground through auxiliary universal wheels. One set of frames can be equipped with two sets of drive mechanisms. Each drive mechanism is driven by a servo motor reducer through a sprocket and chain transmission mechanism to drive the drive casters to rotate, thereby realizing the forward, backward, turning, and stationary rotation of the entire drive mechanism. The real-time angle of the entire drive mechanism can be detected by an angle detection mechanism to form a closed-loop system. To prevent the entire drive from over-steering, the first safety detection is carried out through a Z-shaped induction trigger plate and a soft limit switch. When the soft limit fails, the hard limit of the limit column can directly limit the rotation of the entire drive mechanism.

[0035] Furthermore, when the drive mechanism travels on uneven ground, each drive mechanism only requires one set of compression springs, guide outer cylinders, and guide inner cylinders to achieve the overall upward or downward movement of the mechanism, providing a stable shock absorption effect. Simultaneously, because the guide outer cylinder is mounted on the drive frame via a swing shaft, and the swing shaft is perpendicular to the axis of rotation of the two sets of drive casters, the two drive casters can swing left and right when traveling on uneven ground, eliminating the height difference between the two wheels caused by the uneven ground. Additionally, a hydraulic cylinder is added above the compression spring to compress it, changing the compression amount and thus the spring force, thereby altering the overall drive's adhesion to the ground. This increases the spring's ground pressure when the AGV is under load, allowing the drive to have greater traction to pull the AGV.

[0036] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A spring-hydraulic combined shock-absorbing drive mechanism for AGVs, characterized in that, The system includes a drive frame and two sets of drive casters symmetrically mounted on both sides of the drive frame and independently driven by their respective power drive units. A guide outer cylinder is rotatably mounted at the center of the drive frame via two sets of swing shafts, the swing shafts being perpendicular to the axis of rotation of the two sets of drive casters. An inner guide cylinder is fitted inside the outer guide cylinder. Two sets of axially extending guide grooves are arranged on both sides of the inner guide cylinder. Guide blocks are installed on the outer guide cylinder within the guide grooves, and a set of sealing plates is installed at its bottom. A set of slewing support outer rings is fixedly connected to the top of the inner guide cylinder via a mounting plate. An inner slewing support ring is rotatably mounted inside the outer slewing support rings. The top of the inner slewing support rings is fixedly connected to a frame equipped with auxiliary omnidirectional wheels. A set of hydraulic cylinders mounted on the mounting plate is also housed within the inner slewing support rings. The end block of the driving end of each hydraulic cylinder extends into the inner guide cylinder to oppose the sealing plate and press against a set of compression springs.

2. The spring-hydraulic combined shock-absorbing drive mechanism for AGV according to claim 1, characterized in that, The bottom of the outer ring of the slewing support is also fixed with a set of Z-shaped induction trigger plates. The Z-shaped induction trigger plates are used to sense the limit switch fixed on the frame to form a soft limit when the drive frame is driven to rotate.

3. The spring-hydraulic combined shock-absorbing drive mechanism for AGV according to claim 1, characterized in that, A set of limiting posts are also fixed on the drive frame. The limiting posts are used to perform hard limiting engagement with the limiting plate on the frame when the drive frame rotates.

4. The spring-hydraulic combined shock-absorbing drive mechanism for AGV according to claim 1, characterized in that, An external gear ring is also provided outside the outer ring of the slewing support, and an angle detection mechanism is also installed on the frame. The rotating end gear of the angle detection mechanism meshes with the external gear ring.

5. A spring-hydraulic combined shock-absorbing drive mechanism for AGVs according to claim 1, characterized in that, The guide block is a rectangular column block that can be detachably installed on the outer guide cylinder, and a set of guide wear-resistant sleeves is also provided between the outer guide cylinder and the inner guide cylinder.

6. A spring-hydraulic combined shock-absorbing drive mechanism for AGVs according to claim 1, characterized in that, The power drive unit includes a servo motor reducer mounted on the drive frame, and the drive end of the servo motor reducer is connected to the rotating end of the drive caster via a sprocket and chain drive.

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