Suspension structure of AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a suspension structure of an AGV (Automatic Guided Vehicle), which comprises a chassis and a bearing wheel, a driving wheel is also arranged on the chassis, and the driving wheel is arranged on the chassis through a plate spring; one end of the plate spring serves as a fixed end to be fixedly connected with the chassis, the other end of the plate spring serves as a movable end, the movable end of the plate spring is connected with the driving wheel and can elastically and vertically move, and when the plate spring is in a natural state, the lower end of the driving wheel is lower than the lower end of the bearing wheel; the suspension structure that the plate spring is connected with the driving wheel and the chassis is adopted, the complex mechanical design of traditional hinged swing type suspension is abandoned, the number of parts and the structural complexity are obviously reduced, the production cost and the machining difficulty are reduced, and the assembly time and the labor cost are also reduced; the elastic characteristic of the plate spring can effectively adapt to the unevenness of the ground, and stable ground attaching force is provided for the driving wheel; and due to the simplified design, parts are more convenient to maintain and replace, the reliability of the AGV trolley is further improved, and the service life of the AGV trolley is further prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to AGV technical field, especially a kind of suspension structure of AGV dolly. BACKGROUND

[0002] Differential wheel AGV (Automatic Guided Vehicle) has been widely applied in logistics and warehousing, industrial production and other fields. At present, in the suspension mode of the drive wheel of differential wheel AGV, the hinged swing type is a relatively common structure. The structure is fixed by the drive wheel and the mounting seat and forms a hinge with the vehicle body, so that the drive unit can rotate and swing around the hinge point between the vehicle body, realize the floating in the up-down direction, and the swing amplitude of the drive unit is determined by setting the spring damping device.

[0003] However, the existing hinged swing suspension has the following disadvantages: it needs a plurality of parts such as hinge seat, hinge shaft, shaft sleeve, hinge swing arm, spring and corresponding spring fixing position and pin. In design, the machining precision of the hinge seat, hinge swing arm and hinge shaft is required to be high; in the assembly process, the above series of parts need to be assembled step by step, and jigs need to be used to assemble the spring. The number of parts is large, the machining precision is high, and the assembly process is complicated. SUMMARY

[0004] In view of the above shortcomings of the prior art, the technical problem to be solved by the utility model is to provide a suspension structure of AGV dolly, which aims to simplify the mechanical implementation scheme of the existing hinged swing suspension, reduce the number of parts and the machining precision requirement, simplify the assembly process, so as to realize the simplification of the machining and assembly of the suspension mechanism, while ensuring that it can effectively provide ground close contact force and ensure the stable operation of the AGV dolly.

[0005] To solve the above technical problems, one technical scheme adopted by the utility model is to provide a suspension structure of AGV dolly, which comprises a chassis and a load wheel arranged on the chassis. A drive wheel is also arranged on the chassis, and the drive wheel is arranged on the chassis by a leaf spring. One end of the leaf spring is fixedly connected to the chassis as a fixed end, and the other end of the leaf spring is an active end. The active end of the leaf spring is connected to the drive wheel and can be elastically moved vertically. When the leaf spring is in a natural state, the lower end of the drive wheel is lower than the lower end of the load wheel.

[0006] Further, a first threaded hole vertically penetrating is formed between the fixed end of the leaf spring and the chassis, and a first bolt is screwed in the first threaded hole.

[0007] Further, the number of the first threaded holes is several, and the several first threaded holes are arranged in the length direction or the width direction of the leaf spring. The first bolt also has several corresponding to the first threaded holes.

[0008] Further, the driving wheels are arranged in at least one group on the chassis, and two of the driving wheels in the group are symmetrically arranged on two sides of the chassis.

[0009] Further, the two driving wheels are connected to each other by a connecting member, and the two leaf springs are fixedly connected to the connecting member so as to drive the two driving wheels to vertically and elastically move through the connecting member.

[0010] Further, the connecting member comprises mounting plates for mounting the two driving wheels respectively and a connecting plate for connecting the two mounting plates, the two mounting plates are vertically arranged on the chassis, the two driving wheels are arranged on the two mounting plates respectively and can rotate relative to the mounting plates, and the movable ends of the two leaf springs are connected to two ends of the connecting plate respectively.

[0011] Further, a second screw hole is formed at the connection between the movable end of the leaf spring and the connecting plate, and a second screw is screwed in the second screw hole.

[0012] Further, a first recess is formed on the chassis at a position corresponding to the driving wheel, and the first recess vertically penetrates the chassis to accommodate the driving wheel.

[0013] Further, the number of the load wheels is four, and the four load wheels are distributed at the end corners of the chassis in a rectangular shape, and the chassis is provided with one mounting cavity at a position corresponding to each of the load wheels on the upper end of the chassis to accommodate the load wheel; the mounting cavity is surrounded by a top wall and two side walls, and each load wheel is mounted on the top wall of the mounting cavity and extends downward out of the mounting cavity.

[0014] Further, the driving wheel is located between two load wheels on the same side.

[0015] The suspension structure of the AGV trolley has at least the following beneficial effects: the suspension structure of the driving wheel and the chassis by using the leaf spring connection discards the complex mechanical design of the traditional hinged swing type suspension, significantly reduces the number of parts and the structural complexity; due to the simplification of the structure, the machining precision requirement of the parts is greatly reduced, thereby reducing the production cost and machining difficulty, and also reducing the assembly time and labor cost; the elastic property of the leaf spring can effectively adapt to the unevenness of the ground, provide stable ground close force for the driving wheel, and ensure the stable operation of the AGV trolley under complex ground conditions; the simplified design also makes it more convenient to maintain and replace parts, further improves the reliability and service life of the AGV trolley. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0017] Figure 1 It is a structure schematic view of the suspension structure of the AGV trolley of the utility model one embodiment;

[0018] Figure 2 It is a schematic view of the structure of the driving wheel, connecting piece and leaf spring etc. in the suspension structure of the AGV trolley of the utility model one embodiment Figure 1 ;

[0019] Figure 3 It is a schematic view of the structure of the driving wheel, connecting piece and leaf spring etc. in the suspension structure of the AGV trolley of the utility model one embodiment Figure 2 .

[0020] The meaning of each reference sign in the drawings is as follows:

[0021] Chassis 1, mounting cavity 11, top wall 111, side wall 112, second groove 12, first groove 13, load wheel 2, driving wheel 3, center shaft 31, leaf spring 4, connecting piece 5, mounting plate 51, connecting plate 52, first screw hole 6, first bolt 7, second screw hole 8, second bolt 9. DETAILED DESCRIPTION

[0022] The utility model will be further described below in combination with the drawings.

[0023] Referring to Figure 1 The suspension structure of the AGV trolley of the utility model, including chassis 1, load wheel 2 and driving wheel 3. The driving wheel 3 is connected to the chassis 1 through the leaf spring 4, and under the action of the leaf spring 4, the driving wheel 3 can be elastically moved up and down, when the leaf spring 4 is in the natural state, the lower end of the driving wheel 3 is lower than the lower end of the load wheel 2.

[0024] The number of load wheels 2 is four, and the four load wheels 2 are distributed in the four corner positions of the chassis 1. The chassis 1 is provided with a mounting cavity 11 corresponding to the position of the four load wheels 2 for mounting the load wheel 2. The end corner of the chassis 1 is provided with a second groove 12, the second groove 12 vertically penetrates the chassis 1, and the second groove 12 penetrates the two sides of the chassis 1 outward, please refer to Figure 1The mounting cavity 11 is located at the position of the second groove 12, and specifically, the mounting cavity 11 is enclosed by a top wall 111 and two side walls 112, both of which are vertically fixed on the upper end surface of the chassis 1, and the inner sides of the two side walls 112 are respectively located on the same vertical plane as the inner wall of the corresponding second groove 12, and the two side walls 112 are perpendicular to each other, and the top wall 111 is fixed on the upper end of the two side walls 112 and is horizontal. The second groove 12, the two side walls 112 and the top wall 111 collectively enclose the mounting cavity 11. The load wheel 2 is installed on the top wall 111 of the corresponding mounting cavity 11 and extends downward out of the mounting cavity 11.

[0025] The drive wheels 3 are arranged in pairs, and at least one pair of drive wheels 3 is arranged on the chassis 1. The two drive wheels 3 of the at least one pair of drive wheels 3 are symmetrically arranged on both sides of the chassis 1, and each drive wheel 3 is located between two load wheels 2 on the same side. In the shown embodiment, the drive wheels 3 have one pair, and in other embodiments, the number of pairs of drive wheels 3 can be multiple, and multiple pairs of drive wheels 3 are arranged along the length direction of the chassis 1. Specifically, a first groove 13 corresponding to the position of the drive wheel 3 is provided on the chassis 1, and the first groove 13 vertically penetrates the chassis 1 to accommodate the drive wheel 3, so that the outer side of the drive wheel 3 does not exceed the outer side of the chassis 1, and the overall structure of the device is more compact.

[0026] Please continue to refer to Figure 2 and Figure 3Each of the driving wheels 3 is arranged on the chassis 1 by a leaf spring 4, and two of the driving wheels 3 in each group of the driving wheels 3 are connected to each other by a connecting piece 5. The connecting piece 5 is an integral whole, and includes two mounting plates 51 and a connecting plate 52 for connecting the two mounting plates 51. The connecting plate 52 is horizontally arranged along the width direction of the chassis 1, and the two mounting plates 51 are vertically arranged at the two ends of the connecting plate 52 along the length direction of the connecting plate 52. The two mounting plates 51 are respectively used for mounting two of the driving wheels 3 in a group of the driving wheels 3, and the driving wheels 3 are located on the side of the corresponding mounting plate 51 (i.e. the mounting plate 51 used for mounting the driving wheel 3) away from the other mounting plate 51, and the central shaft 31 of the driving wheel 3 is arranged through the mounting plate 51 and fixedly connected with the mounting plate 51, so that the driving wheel 3 can rotate around the central shaft 31. The leaf spring 4 is arranged on the upper end of the chassis 1 corresponding to the position of the corresponding driving wheel 3 along the length direction of the chassis 1, one end of the leaf spring 4 is fixedly connected with the chassis 1 as a fixed end, and the other end of the leaf spring 4 is fixedly connected with the end of the connecting plate 52 as a movable end, and the movable end of the leaf spring 4 can be elastically vertically moved.

[0027] The connecting mode of the plate spring 4 and the chassis 1 and the connecting plate 52 is as follows: a first screw hole 6 vertically penetrating is formed between the fixed end of the plate spring 4 and the chassis 1, and a first bolt 7 is screwed in the first screw hole 6. The number of the first screw holes 6 is several, and the several first screw holes 6 are arranged along the length direction of the plate spring 4 or along the width direction of the plate spring 4 at intervals, so that the stability of the connection between the plate spring 4 and the chassis 1 is increased, and the first bolt 7 also has several first bolts corresponding to the several first screw holes 6. A second screw hole 8 is formed at the connecting position of the movable end of the plate spring 4 and the connecting plate 52, and a second bolt 9 is screwed in the second screw hole 8. The number of the second screw holes 8 is several, and the several second screw holes 8 are arranged along the length direction of the plate spring 4 or along the width direction of the plate spring 4 at intervals, so that the stability of the connection between the plate spring 4 and the connecting plate 52 is increased, and the second bolt 9 also has several second bolts corresponding to the several second screw holes 8. In the shown embodiment, the several second screw holes 8 are arranged along the length direction of the plate spring 4, and in other embodiments, the several second screw holes 8 can be arranged along the width direction of the plate spring 4, and the purpose is the same, that is, to improve the stability of the connection between the plate spring 4 and the connecting plate 52.

[0028] The working mode of one of the embodiments of the suspension structure of the AGV trolley is as follows: when the plate spring 4 is in a natural state, the lower end surface of the plate spring 4 is in contact with the upper end surface of the chassis 1, and the lower end of the driving wheel 3 is lower than the lower end of the load wheel 2. When the device is placed on the ground, the driving wheel 3 is pushed upward by the ground until the lower end of the driving wheel 3 and the lower end of the load wheel 2 are on the same horizontal plane. At this time, the driving wheel 3 moves upward to drive the free end of the plate spring 4 to move upward, and in this state, the driving wheel 3 will be subjected to the elastic force generated by the deformation of the plate spring 4, so that the driving wheel 3 always maintains the pressure on the ground, and the same is true when the chassis 1 is subjected to vibration.

[0029] Compared with the prior art, the suspension structure of the AGV trolley has the advantages that the suspension structure of connecting the driving wheel and the chassis by the leaf spring is adopted, the complicated mechanical design of the traditional hinged swing type suspension is abandoned, the number of parts and the structural complexity are significantly reduced, the machining precision requirement of the parts is greatly reduced due to the simplified structure, the production cost and the machining difficulty are reduced, the assembly time and the labor cost are also reduced, the elastic property of the leaf spring can effectively adapt to the unevenness of the ground, the stable ground close force is provided for the driving wheel, and the stable operation of the AGV trolley under the complex ground condition is ensured, the simplified design also makes it more convenient to maintain and replace the parts, and the reliability and the service life of the AGV trolley are further improved.

Claims

1. A suspension structure of an AGV vehicle, comprising a chassis and a load wheel arranged on the chassis, characterized in that: The chassis is further provided with a driving wheel, which is arranged on the chassis through a leaf spring; one end of the leaf spring is fixedly connected with the chassis as a fixed end, and the other end of the leaf spring is an active end, which is connected with the driving wheel and can be elastically vertically moved; when the leaf spring is in a natural state, the lower end of the driving wheel is lower than the lower end of the load wheel.

2. The suspension structure of the AGV trolley according to claim 1, characterized in that: A first screw hole is vertically and throughly formed between the fixed end of the leaf spring and the chassis, and a first screw is screwed in the first screw hole.

3. The suspension structure of the AGV trolley according to claim 2, characterized in that: The number of the first screw holes is several, and the several first screw holes are arranged in the length direction or the width direction of the leaf spring; the first screw also has several corresponding to the several first screw holes.

4. The suspension structure of the AGV trolley according to claim 1, characterized in that: The driving wheels are arranged in at least one group on the chassis, and the two driving wheels of the at least one group are symmetrically arranged on the two sides of the chassis; each driving wheel is connected to the chassis through a leaf spring.

5. The suspension structure of the AGV trolley according to claim 4, characterized in that: The two driving wheels are connected with each other through a connecting piece, and the two leaf springs are fixedly connected with the connecting piece so as to drive the two driving wheels to be elastically vertically moved through the connecting piece.

6. The suspension structure of the AGV trolley according to claim 5, characterized in that: The connecting piece includes mounting plates for mounting the two driving wheels and a connecting plate for connecting the two mounting plates; the two mounting plates are vertically arranged on the chassis, and the two driving wheels are arranged on the two mounting plates and can rotate relative to the mounting plates; the active ends of the two leaf springs are connected with the two ends of the connecting plate.

7. The suspension structure of the AGV trolley according to claim 6, characterized in that: A second screw hole is formed at the connection between the active end of the leaf spring and the connecting plate, and a second screw is screwed in the second screw hole.

8. The suspension structure of the AGV trolley according to claim 1, characterized in that: A first recess is formed on the chassis corresponding to the position of the driving wheel, and the first recess vertically penetrates the chassis to accommodate the driving wheel.

9. The suspension structure of the AGV trolley according to claim 1, characterized in that: The number of the load wheels is four, and the four load wheels are distributed at the corners of the chassis in a rectangular manner; the chassis is provided with one mounting cavity corresponding to each load wheel at the upper end of the chassis; each load wheel is mounted on the top wall of the mounting cavity and extends downward out of the mounting cavity.

10. The suspension structure of the AGV trolley according to claim 9, characterized in that: The driving wheel is located between two load wheels on the same side.

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