Driving mechanism provided with spring and used for AGV and capable of adapting to uneven ground

Abstract

The utility model provides a driving mechanism provided with a spring and used for an AGV and capable of adapting to the uneven ground, and relates to a driving mechanism which comprises a driving rack and two sets of driving trundles symmetrically installed on the two sides of the driving rack and independently driven by respective power driving parts, and a set of guiding outer cylinders are installed at the center of the driving rack through two sets of swing shafts in a rotating connection mode. The swing shaft is perpendicular to the axis where the rotating centers of the two sets of driving trundles are located, a set of guiding inner barrels are arranged in the guiding outer barrel in a sleeved mode, two sets of guiding grooves extending in the axial direction are formed in the two sides of the guiding inner barrels, guiding blocks installed in the guiding grooves in a guiding mode are arranged on the guiding outer barrel, and a set of bosses are further arranged in the guiding inner barrels. A set of compression springs are installed between the boss and the bottom of the guide outer cylinder in an abutting mode, the top end of the guide inner cylinder is installed on a vehicle frame with auxiliary walking universal wheels, the structure is compact, and by means of the inner space of the middle guide cylinder, only one large-load spiral line spring is arranged in the middle guide cylinder, and the use requirement can be met.

Description

Technical Field

[0001] This utility model relates to a drive mechanism, and more particularly to a spring-loaded drive mechanism for AGVs that can adapt to uneven ground. Background Technology

[0002] With the development of automation technology, AGVs (Automated Guided Vehicles) are being used more and more widely in modern logistics and intelligent manufacturing. To ensure the stable operation of AGVs under various terrain conditions, especially in the face of uneven ground, it is particularly important to design a drive mechanism with good adaptability.

[0003] Spring-driven mechanisms can provide good shock absorption, but traditional spring-driven shock-absorbing bogies often use rectangular springs with multiple guide shafts. In heavy load applications such as 10 tons, multiple rectangular springs are needed to achieve the desired effect, which is quite cumbersome. Utility Model Content

[0004] To solve the above-mentioned technical problems, the purpose of this utility model is to provide a spring-driven mechanism for AGVs that can adapt to uneven ground. The structure is relatively compact, mainly by utilizing the internal space of the intermediate guide cylinder. Only a large-load helical spring needs to be installed inside to meet the usage requirements.

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

[0006] A spring-driven mechanism for AGVs to adapt to uneven ground 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 axes of rotation of the two sets of drive casters. Therefore, when traveling on uneven ground, the two drive casters can swing left and right, eliminating the height difference between the two wheels caused by uneven ground. An inner guide cylinder is fitted inside the outer guide cylinder. The outer guide cylinder is provided with two sets of axially extending guide grooves. The outer guide cylinder is provided with guide blocks installed in the guide grooves. The inner guide cylinder is also provided with a set of bosses. The bottom of the outer guide cylinder is provided with a set of sealing plates. A set of compression springs abuts between the bosses and the sealing plates. Therefore, when driving on uneven roads, the inner guide cylinder, outer guide cylinder and compression springs can drive the casters to rise or fall as a whole to bounce, so as to provide a stable shock absorption effect. The top of the inner guide cylinder is flexibly mounted on the frame with auxiliary omnidirectional wheels.

[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] Preferably, a set of slewing support outer rings is fixedly connected to the top of the guide inner cylinder, and 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 the frame, and a set of Z-shaped induction trigger plates is also fixed to the bottom of the slewing support outer rings. The Z-shaped induction trigger plates are used to sense with the limit switches fixed on the frame to form a soft limit when the drive frame rotates.

[0009] Thus, when the drive casters are driven to rotate by their respective power drive units, the different speeds and directions of rotation can enable the entire drive mechanism to move forward, backward, turn, and rotate in place. To prevent the entire drive from over-steering, limit switches and 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-loaded drive mechanism for AGVs that can adapt to uneven ground. It is mounted on a frame, which is placed on the ground through auxiliary universal wheels. A set of frames can be equipped with one or 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, a first safety detection can be performed, namely a Z-shaped induction trigger plate and a soft limit switch detection. 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 work together to achieve the overall upward or downward movement of the mechanism, providing a stable shock absorption effect. At the same time, because the guide outer cylinder is mounted on the drive frame through a swing shaft, and the swing shaft is perpendicular to the axis of rotation of the two sets of drive casters, when traveling on uneven ground, the two drive casters can swing left and right to eliminate the height difference between the two wheels caused by the uneven ground. 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 the drive mechanism of this utility model;

[0018] Figure 2 This is a schematic diagram of a set of drive mechanisms installed inside the vehicle frame according to this utility model;

[0019] Figure 3 yes Figure 1 A top view of

[0020] Figure 4 It is along Figure 3 A cross-sectional view along line BB in the middle;

[0021] Figure 5 It is along Figure 3 A cross-sectional view along the CC direction of the line in the diagram;

[0022] Markings in the diagram:

[0023] 1. Drive frame; 2. Power drive unit; 3. Drive caster; 4. Guide outer cylinder; 5. Swing shaft; 6. Guide inner cylinder; 7. Guide groove; 8. Guide block; 9. Boss; 10. Sealing plate; 11. Compression spring; 12. Rotary support outer ring; 13. Rotary support inner ring; 14. Z-shaped induction trigger plate; 15. Limit switch; 16. Limit post; 17. Limit plate; 18. External gear ring; 19. Angle detection mechanism; 20. Guide wear-resistant sleeve. Detailed Implementation

[0024] like Figure 1-5 As shown, a spring-driven mechanism for AGVs to adapt to uneven ground is described in this embodiment. It includes a drive frame 1 and two sets of drive casters 3 symmetrically mounted on both sides of the drive frame 1 and independently driven by their respective power drive units 2. A guide outer cylinder 4 is rotatably mounted at the center of the drive frame 1 via two sets of swing shafts 5. The swing shafts 5 are perpendicular to the axes of rotation of the two sets of drive casters 3. Therefore, when driving on uneven ground, the two drive casters 3 can swing left and right, eliminating the height difference between the two wheels caused by the uneven ground. A guide inner cylinder 6 is fitted inside the guide outer cylinder 4. Two sets of axially extending guide grooves 7 are provided on both sides of the guide cylinder 6. A guide block 8 is provided on the guide outer cylinder 4 and installed in the guide groove 7. A set of bosses 9 are also provided in the guide inner cylinder 6. A set of sealing plates 10 are installed at the bottom of the guide outer cylinder 4. A set of compression springs 11 abuts between the bosses 9 and the sealing plates 10. Therefore, when driving on uneven road sections, the guide inner cylinder 6, guide outer cylinder 4 and compression springs 11 can drive the caster 3 to rise or fall as a whole to bounce, so as to provide a stable shock absorption effect. The top of the guide inner cylinder 6 is connected to the frame with auxiliary travel casters.

[0025] At this point, the frame is placed on the ground via auxiliary casters, and the drive mechanism is connected to it via the inner guide cylinder 6. Each drive mechanism only requires one set of compression springs 11, outer guide cylinder 4, and inner guide cylinder 6 to achieve compact and convenient installation. The compression springs 11 can also cause the entire mechanism to rise or fall to provide a stable shock absorption effect. Meanwhile, because the outer guide cylinder 4 is mounted on the drive frame 1 via a swing shaft 5, and the swing shaft 5 is perpendicular to the axis of rotation of the two sets of drive casters 3, when driving on uneven ground, the two drive casters 3 can swing left and right to eliminate the height difference between the two wheels caused by uneven ground.

[0026] A set of slewing support outer rings 12 are fixedly connected to the top of the guide inner cylinder 6. A set of slewing support inner rings 13 are rotatably installed inside the slewing support outer rings. The top of the slewing support inner rings is fixedly connected to the frame. A set of Z-shaped induction trigger plates 14 are also fixed to the bottom of the slewing support outer rings 12. The Z-shaped induction trigger plates 14 are used to sense the limit switch 15 fixed on the frame to form a soft limit when the drive frame 1 is driven to rotate.

[0027] Thus, when the drive casters 3 are driven to rotate by their respective power drive units 2, 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 over-steering, the limit switch 15 and the Z-shaped induction trigger plate 14 that has rotated to the correct position can perform the first safety check, which forms a soft limit for the drive rotation.

[0028] A set of limiting posts 16 are also fixed on the drive frame 1. The limiting posts 16 are used to perform hard limiting engagement with the limiting plate 17 on the frame when rotating with the drive frame 1. Therefore, when the soft limiting fails, the rotation of the entire drive mechanism can be directly restricted by the engagement of the limiting posts 16 with the upper limit plate 17 on the frame to achieve hard limiting engagement, thereby further limiting the overall rotation angle of the drive mechanism, so that the drive mechanism can only rotate within a limited angle and cannot rotate indefinitely to avoid damaging the cable.

[0029] An outer gear ring 18 is also provided outside the outer ring 12 of the slewing support, and an angle detection mechanism 19 is also installed on the frame. The gear at the rotating end of the angle detection mechanism 19 meshes with the outer gear ring 18, thereby transmitting the change value of the angle 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 19 to form a closed-loop system.

[0030] The guide block 8 is a rectangular column block that can be detachably installed on the outer guide cylinder 4, and a set of guide wear-resistant sleeves 20 are also provided between the outer guide cylinder 4 and the inner guide cylinder 6.

[0031] The power drive unit 2 includes a servo motor reducer mounted on the drive frame 1. The drive end of the servo motor reducer is connected to the rotating end of the drive caster 3 via a sprocket and chain drive.

[0032] The working principle of this utility model is as follows: This utility model provides a spring-loaded drive mechanism for AGVs that can adapt to uneven ground. It is installed on the frame, which is placed on the ground through auxiliary universal wheels. A set of frames can be equipped with one or 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 caster 3 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 the angle detection mechanism 19 to form a closed-loop system. To prevent the entire drive from over-steering, the first safety detection is carried out through the Z-shaped induction trigger plate 14 and the soft limit switch 15. When the soft limit fails, the hard limit of the limit post 16 can directly limit the rotation of the entire drive mechanism.

[0033] Furthermore, when the drive mechanism travels on uneven ground, each drive mechanism only requires one set of compression spring 11, guide outer cylinder 4 and guide inner cylinder 6 to work together to make the mechanism rise or fall as a whole to provide a stable shock absorption effect. At the same time, because the guide outer cylinder 4 is mounted on the drive frame 1 through the swing shaft 5, and the swing shaft 5 is perpendicular to the axis of rotation of the two sets of drive casters 3, when traveling on uneven ground, the two drive casters 3 can swing left and right to eliminate the height difference between the two wheels caused by the uneven ground.

[0034] 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-driven mechanism for AGVs that can adapt to uneven ground, characterized in that, The system includes a drive frame (1) and two sets of drive casters (3) symmetrically mounted on both sides of the drive frame (1) and independently driven by their respective power drive units (2). A set of guide outer cylinders (4) is rotatably mounted on the center of the drive frame (1) through two sets of swing shafts (5). The swing shafts (5) are perpendicular to the axis of rotation of the two sets of drive casters (3). A set of guide inner cylinders (6) is fitted inside the guide outer cylinder (4). Two sets of axially extending guide grooves (7) are arranged on both sides of the guide inner cylinder (6). A guide block (8) is provided on the guide outer cylinder (4) and installed in the guide groove (7). A set of bosses (9) is also provided inside the guide inner cylinder (6). A set of sealing plates (10) is installed at the bottom of the guide outer cylinder (4). A set of compression springs (11) abuts between the bosses (9) and the sealing plates (10). The top of the guide inner cylinder (6) is rotatably mounted on a frame with auxiliary universal wheels.

2. A spring-driven mechanism for AGVs to adapt to uneven ground, as described in claim 1, is characterized in that, A set of slewing support outer rings (12) are fixedly connected to the top of the guide inner cylinder (6). A set of slewing support inner rings (13) are rotatably installed inside the slewing support outer ring. The top of the slewing support inner ring is fixedly connected to the frame. A set of Z-shaped induction trigger plates (14) are also fixed at the bottom of the slewing support outer ring (12). The Z-shaped induction trigger plates (14) are used to sense the limit switch (15) fixed on the frame to form a soft limit when the drive frame (1) is driven to rotate.

3. A spring-driven mechanism for AGVs to adapt to uneven ground, as described in claim 2, is characterized in that... A set of limiting posts (16) are also fixed on the drive frame (1). The limiting posts (16) are used to perform hard limiting cooperation with the limiting plate (17) on the frame when rotating with the drive frame (1).

4. A spring-driven mechanism for AGVs to adapt to uneven ground, as described in claim 3, is characterized in that... An outer gear ring (18) is also provided outside the outer ring (12) of the slewing support, and an angle detection mechanism (19) is also installed on the frame. The rotating end gear of the angle detection mechanism (19) meshes with the outer gear ring (18).

5. A spring-driven mechanism for AGVs capable of adapting to uneven ground, as described in claim 1, characterized in that, The guide block (8) is a rectangular column block that can be detachably installed on the outer guide cylinder (4), and a set of guide wear-resistant sleeves (20) is also provided between the outer guide cylinder (4) and the inner guide cylinder (6).

6. A spring-driven mechanism for AGVs to adapt to uneven ground, as described in claim 1, characterized in that, The power drive unit (2) includes a servo motor reducer mounted on the drive frame (1), and the drive end of the servo motor reducer is connected to the rotating end of the drive caster (3) via a sprocket and chain drive.

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