Heavy-load AGV (Automatic Guided Vehicle) modularized integrated driving system

Abstract

The utility model discloses a modularized integrated driving system for a heavy-load AGV, and the system comprises a driving structure which is fixed at the inner side of a steering wheel, and the output end of the driving structure is fixedly connected with the steering wheel; the steering structure is detachably fixed on the vehicle body, and the steering structure can drive the steering wheel to rotate; and the damping structure is arranged between the steering structure and the steering wheel. The utility model has the characteristics of high integration, realization of light weight, guarantee of structural rigidity and realization of high load.

Description

Technical Field

[0001] This utility model relates to the field of automated guided vehicle technology, and more specifically, to a heavy-duty AGV modular integrated drive system. Background Technology

[0002] An Automated Guided Vehicle (AGV) is a wheeled mobile robot equipped with automated guidance systems. It can continuously move along a set route and has automatic parking status indicators, safety protection devices, and a mechanism for automatically transferring goods.

[0003] With the deepening implementation of Industry 4.0 and the Made in China 2025 strategy, the manufacturing and logistics industries, as important pillars of the national economy, are facing unprecedented challenges and opportunities. On the one hand, market competition is becoming increasingly fierce, and consumers have higher and higher requirements for product quality and delivery speed; on the other hand, problems such as resource shortages, environmental pollution, and rising labor costs are becoming increasingly prominent, posing a severe challenge to the sustainable development of enterprises. Against this backdrop, automation, intelligence, and greening have become important directions for the transformation and upgrading of the manufacturing and logistics industries. Automated Guided Vehicles (AGVs), as core equipment in the field of logistics automation, greatly improve the production efficiency of enterprises, reduce operating costs, and enhance operational safety by realizing point-to-point automated transportation. Heavy-duty AGVs are widely used in enclosed sites such as ports where heavy goods are transported. Modular drive systems are key components for achieving autonomous operation and are also one of the core technologies of heavy-duty AGVs.

[0004] However, existing heavy-duty AGVs have the following problems:

[0005] 1. As the load increases, the design difficulty also increases. When the load reaches a high level (such as about 5 tons), it is necessary to use more robust structural components and drive wheels with stronger load-bearing and driving capabilities, which increases the cost.

[0006] 2. Uneven ground may cause some drive wheels to not make good contact with the ground and become suspended. A suitable "suspension" structure needs to be designed to ensure that each drive wheel can make good contact with the ground.

[0007] 3. The heavy-duty AGV drive module has a complex structure and needs to withstand heavy weight and complex working environment. Therefore, once it is damaged or needs maintenance, it is difficult to disassemble and maintain.

[0008] 4. The existing steering structure design only supports the vehicle body to turn with a large radius and does not have flexible steering ability. Utility Model Content

[0009] This utility model designs and develops a modular integrated drive system for heavy-duty AGVs. By integrating the motor, it improves positioning accuracy, ensures rigidity while increasing load capacity, and combines the built-in shock absorption structure to improve shock absorption while further enhancing integration.

[0010] The technical solution provided by this utility model is as follows:

[0011] A heavy-duty AGV modular integrated drive system includes:

[0012] A drive structure is fixed to the inner side of the steering wheel, and the output end of the drive structure is fixedly connected to the steering wheel;

[0013] A steering structure, which is detachably fixed to the vehicle body, and the steering structure is capable of driving the steering wheel to rotate;

[0014] A shock-absorbing structure is disposed between the steering structure and the steering wheel.

[0015] Preferably, the driving structure includes:

[0016] The drive structure is supported, with one end rotatably disposed inside the steering wheel and the other end disposed outside the steering wheel;

[0017] The drive motor is connected to the drive structure support on its outer side, and the output end of the drive motor is connected to the steering wheel.

[0018] Preferably, the steering structure includes:

[0019] The steering bracket has an L-shaped structure. One end of the steering bracket is arranged parallel to the steering wheel at a distance, and one end of the steering bracket is fixed to the drive structure support at a distance.

[0020] A steering motor is fixed to the other end of the steering bracket, and the output end of the steering motor can drive the steering bracket to rotate.

[0021] The steering mechanism support has one end fixed to the outside of the steering motor and the other end detachably mounted on the vehicle body.

[0022] The steering motor is located within the steering mechanism support.

[0023] Preferably, it also includes:

[0024] Multiple cantilever brackets are symmetrically supported between one end of the drive structure support and the steering bracket.

[0025] Preferably, the shock-absorbing structure includes:

[0026] One end of the guide rod is fixed to the inside of the steering bracket near the other end;

[0027] A hydraulic damper, one end of which is disposed relative to the guide rod, and the other end is detachably fixed to the cantilever bracket, and the hydraulic damper is disposed parallel to the steering wheel;

[0028] A helical compression spring is sleeved on the outside of the hydraulic damper, and the helical compression spring is supported between the other end of the guide rod and the other end of the hydraulic damper.

[0029] Preferably, the number of the shock-absorbing structures is two.

[0030] Preferably, it also includes:

[0031] Two suspension mounting lugs are symmetrically spaced at one end of the steering bracket, near the other end.

[0032] The guide rod stop is located between the two suspension fixing lugs;

[0033] Among them, the two guide rods of the two shock-absorbing structures are respectively sleeved on both ends of the guide rod stop.

[0034] Preferably, it also includes:

[0035] A limiting plate, which is fixed inside the steering wheel;

[0036] The output end of the drive motor is connected to the limiting plate, and one end of the drive structure is spaced inside the limiting plate.

[0037] Preferably, both the drive motor and the steering motor are integrated joint motors.

[0038] The beneficial effects of this utility model are as follows:

[0039] (1) The heavy-duty AGV modular integrated drive system provided by this utility model adopts an integrated joint motor to provide power, eliminating components such as reducers and chain drives, achieving lightweight design and higher integration. By reversing the drive motor, the forward and backward functions of this drive module are realized, improving the positioning accuracy. This drive system is highly integrated, has a very simple connection with the vehicle body, and is easy to install and maintain. While achieving lightweight design, it ensures the rigidity of the structure, can bear more than 6 tons, achieves high load, is easy to maintain, and has more precise control.

[0040] (2) The heavy-duty AGV modular integrated drive system provided by this utility model can achieve a shock absorption effect by stretching or compressing the elastic components of the shock-absorbing structure through the guide rod to drive the entire drive structure up and down when passing through raised or bumpy areas during driving. During the up and down movement of the steering wheel, the shock-absorbing elastic components continuously compress and release to filter the vibration caused by the road surface, which can fully match the performance of the AGV. Compared with the steering wheel of the same load, the structure is more compact and the installation height is reduced. It has the characteristics of small size and high integration. Through the forward and reverse rotation of the steering motor, the AGV can realize the in-situ turning and small radius self-rotation, and can be easily replaced on different vehicle bodies to improve adaptability. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of one side of the heavy-duty AGV modular integrated drive system described in this utility model.

[0042] Figure 2 This is a schematic diagram of the other side of the heavy-duty AGV modular integrated drive system described in this utility model.

[0043] Figure 3 This is a schematic diagram of the assembly structure of the steering wheel and drive structure described in this utility model.

[0044] Figure 4 This is a schematic diagram of the assembly structure of the steering structure and the shock absorption structure described in this utility model.

[0045] Figure 5 This is a schematic diagram of the structure of the steering bracket described in this utility model.

[0046] Figure 6 This is a cross-sectional schematic diagram of the shock-absorbing structure described in this utility model. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0048] like Figure 1 , Figure 2 As shown, this utility model provides a modular integrated drive system for heavy-duty AGVs, comprising:

[0049] The vehicle includes a steering wheel 110, a drive structure 120, a steering structure 130, and a shock-absorbing structure 140. The drive structure 120 is located on the side of the steering wheel 110 closest to the vehicle and is connected to the steering wheel 110 to drive the steering wheel 110 to rotate. The steering structure 130 is detachably fixed to the vehicle body and can drive the steering wheel 110 to rotate, thereby achieving steering. The shock-absorbing structure 140 is located between the steering structure 130 and the steering wheel 110 to reduce the vibration of the vehicle body.

[0050] Among them, such as Figure 3 As shown, the drive structure 120 includes a drive structure support 121 and a drive motor 122. The drive structure support 121 has a cylindrical structure, with one end rotatably disposed inside the steering wheel 110 and the other end disposed outside the steering wheel 110. The drive motor 122 is detachably fixed inside the drive structure support 121, and the power output end of the drive motor 122 is connected to the steering wheel 110.

[0051] In this embodiment, a limiting plate is fixedly installed inside the steering wheel 110, and the power output end of the drive motor 122 is connected to the limiting plate by bolts. One end of the drive structure support 121 is spaced inside the limiting plate, and the drive structure support 121 is fixed to the outside of the drive motor 122 by bolts.

[0052] like Figure 4 As shown, the steering structure 130 includes a steering motor 131, a steering mechanism support 132, and a steering bracket 133, as... Figure 5 As shown, the steering bracket 133 has an L-shaped structure, with one end spaced apart from the drive structure support 121, such that one end of the steering bracket 133 is parallel to the steering wheel 110, and the other end is suspended above the steering wheel. At the same time, the other end of the steering bracket 133 is parallel to the ground. The steering motor 131 is detachably fixed to the other end of the steering bracket 133. One end of the steering mechanism support 132 is detachably fixed to the outside of the steering motor 131, such that the steering mechanism support 132 is fixedly sleeved on the outside of the steering motor 131, and the other end is detachably connected to the vehicle body.

[0053] In this embodiment, both the drive motor 122 and the steering motor 131 are integrated joint motors, and the integrated joint motors have built-in brakes.

[0054] In this embodiment, one end of the steering bracket 133 is fixed to the drive structure support 121 by a plurality of suspension arms 150. That is, the drive structure support 121 is provided with a plurality of bosses in the circumferential direction. One end of each of the plurality of suspension arms 150 is respectively disposed on the plurality of bosses, and the other end is respectively fixed to one side of one end of the steering bracket 133. At the same time, in order to ensure stability, the number of suspension arms 150 is even and they are symmetrically arranged on both sides of one end of the steering bracket 133.

[0055] In this embodiment, there are four suspension arms 150.

[0056] like Figure 4 , Figure 6 As shown, the shock absorption structure 140 includes a guide rod 141, a hydraulic damper 142, a lower shock absorber support 143, and a helical compression spring 144. The helical compression spring 144 is loosely fitted on the outside of the hydraulic damper 142. One end of the guide rod 141 is fixed to the inner side of one end of the steering bracket 133 near the other end, and the other end of the guide rod 141 is positioned opposite one end of the hydraulic damper 142. The helical compression spring 144 is compressed between the other end of the guide rod 141 and the other end of the hydraulic damper 142. The lower shock absorber support 143 is integrally provided on the outside of the other end of the hydraulic damper 142. The lower shock absorber support 143 is detachably connected to the suspension rod 163 by bolts. The two ends of the suspension rod 163 are welded to the symmetrically arranged suspension arms 150.

[0057] In this embodiment, in order to ensure the stability of the damping and improve the damping effect, the number of damping structures 140 is two.

[0058] In this embodiment, two suspension fixing lugs 161 are symmetrically arranged on the inner side of one end of the steering bracket 133 near the other end. A guide rod stop 162 is arranged between the two suspension fixing lugs 161. One end of each of the two guide rods 141 is sleeved on the guide rod stop 162 and fixed by nuts.

[0059] This utility model provides a modular integrated drive system for heavy-duty AGVs. By integrating the drive system into a single unit, it eliminates components such as reducers and chain drives, achieving a lightweight design and higher integration. The forward and reverse rotation of the drive motor enables the drive module to move forward and backward, improving positioning accuracy. Simultaneously, the steering motor eliminates gear transmission, simplifying maintenance, simplifying the structure, and enabling more precise control. The shock-absorbing structure ensures that when traversing bumps or potholes, the elastic components, in a stretched or compressed state, work in conjunction with the guide rod to drive the entire drive system up and down, achieving a shock-absorbing effect. During the up-and-down movement of the steering wheel, the shock-absorbing elastic components continuously compress and release, filtering vibrations caused by the road surface, thus fully matching the overall performance of the AGV. Compared to steering wheels with the same load, this structure is more compact, reduces installation height, and features small size, convenient installation, and high integration.

[0060] Although the embodiments of this utility model have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for this utility model. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, this utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A modular integrated drive system for heavy-duty AGVs, characterized in that, include: A drive structure is fixed to the inside of the steering wheel, and the output end of the drive structure is fixedly connected to the steering wheel. The driving structure includes: The drive structure is supported, with one end rotatably disposed inside the steering wheel and the other end disposed outside the steering wheel; A drive motor is connected to the drive structure support on its outer side, and the output end of the drive motor is connected to the steering wheel; A steering structure, which is detachably fixed to the vehicle body, and the steering structure is capable of driving the steering wheel to rotate; The steering structure includes: The steering bracket has an L-shaped structure. One end of the steering bracket is arranged parallel to the steering wheel at a distance, and one end of the steering bracket is fixed to the drive structure support at a distance. A steering motor is fixed to the other end of the steering bracket, and the output end of the steering motor can drive the steering bracket to rotate. A shock-absorbing structure is disposed between the steering structure and the steering wheel; Both the drive motor and the steering motor are integrated joint motors.

2. The heavy-duty AGV modular integrated drive system as described in claim 1, characterized in that, The steering structure includes: The steering mechanism support has one end fixed to the outside of the steering motor and the other end detachably mounted on the vehicle body. The steering motor is located within the steering mechanism support.

3. The heavy-duty AGV modular integrated drive system as described in claim 2, characterized in that, Also includes: Multiple cantilever brackets are symmetrically supported between one end of the drive structure support and the steering bracket.

4. The heavy-duty AGV modular integrated drive system as described in claim 3, characterized in that, The damping structure includes: One end of the guide rod is fixed to the inside of the steering bracket near the other end; A hydraulic damper, one end of which is disposed relative to the guide rod, and the other end is detachably fixed to the cantilever bracket, and the hydraulic damper is disposed parallel to the steering wheel; A helical compression spring is sleeved on the outside of the hydraulic damper, and the helical compression spring is supported between the other end of the guide rod and the other end of the hydraulic damper.

5. The heavy-duty AGV modular integrated drive system as described in claim 4, characterized in that, The number of damping structures is two.

6. The heavy-duty AGV modular integrated drive system as described in claim 5, characterized in that, Also includes: Two suspension mounting lugs are symmetrically spaced at one end of the steering bracket, near the other end. The guide rod stop is located between the two suspension fixing lugs; Among them, the two guide rods of the two shock-absorbing structures are respectively sleeved on both ends of the guide rod stop.

7. The heavy-duty AGV modular integrated drive system as described in claim 6, characterized in that, Also includes: A limiting plate, which is fixed inside the steering wheel; The output end of the drive motor is connected to the limiting plate, and one end of the drive structure is spaced inside the limiting plate.

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