Transfer mechanism for AGV robot

Abstract

The utility model relates to a transferring mechanism for an AGV robot. The transferring mechanism comprises a frame, Mecanum wheels, a driving device, a transmission system and a stabilizing device. The driving device is composed of a motor, a gear transmission system and a belt transmission system, the motor drives a driving wheel through a driving gear, a driven gear and a rotating shaft, the driving wheel drives a driven wheel through a tooth-shaped transmission belt, then the Mecanum wheel is driven through a connecting shaft, and multidirectional movement is achieved. The frame adopts a hollow square beam structure, and the stabilizing device improves the structural rigidity through a cam and an adjusting bolt. Each Mecanum wheel is composed of a wheel body and a plurality of inclined rolling wheels, so that the equipment can rotate and move in the transverse direction, the inclined direction and the in-situ direction. The tooth-shaped transmission belt is reinforced by steel wire ropes or glass fibers and is coated with polyurethane or chloroprene rubber, so that the wear resistance and the transmission stability are improved. According to the design, gear transmission and belt transmission are combined, efficient power transmission is guaranteed, impact can be reduced, the service life is prolonged, and the transmission device is suitable for the fields of automation equipment, AGVs and the like and has high practical value.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of transfer mechanism for AGV robot, belong to AGV trolley field. BACKGROUND

[0002] The transfer lift truck and the transfer installation truck can realize omnidirectional movement on the ground based on the Mecanum wheel. The Mecanum wheel 1 is composed of a rim and a plurality of rollers installed on the outer edge of the rim. The axis of the rollers is at a certain angle with the axis of the rim. When the driving motor drives the Mecanum wheel to rotate, the Mecanum wheel advances in the ordinary way along the direction perpendicular to the driving shaft, and the rollers on the outer edge of the rim rotate freely along their respective axes. These angled rollers will generate a diagonal vector thrust on the wheel.

[0003] According to the principle of vector synthesis, by coordinating the rotation speed and direction of three or more reasonably distributed Mecanum wheels, omnidirectional movement of the chassis can be achieved without changing the attitude of the platform.

[0004] However, the Mecanum wheel is usually driven by a motor combined with a reducer. This method is suitable for AGV trolleys that require precise speed control and torque improvement. However, the equipment cost of the reducer drive is high, and the maintenance is complex.

[0005] At the same time, not all the goods transported by AGV trolleys in the factory are heavy, so in order to reduce costs, a new AGV trolley is designed to meet the functions of AGV trolleys while trying to reduce costs. INVENTION CONTENTS

[0006] The utility model aims to provide a kind of transfer mechanism for AGV robot, can effectively solve the above-mentioned problems.

[0007] To solve the above technical problems, the utility model is realized by the following technical solutions:

[0008] The utility model discloses a kind of transfer mechanism for AGV robot, which can effectively solve the above-mentioned problems.

[0009] Further: the frame includes a main beam, the mounting bracket is arranged on the main beam, the mounting bracket includes mounting plate and clamping plate, the clamping plate includes horizontal plate and vertical plate arranged at both ends of the horizontal plate.

[0010] The square beam of the main beam is a hollow structure, four long slot holes are arranged on one side of the main beam, four mounting holes are arranged on the vertical plate, and the vertical plate is connected with the main beam through bolts;

[0011] The main beam is provided with a let hole on both sides, the rotating shaft penetrates the main beam through the let hole, and the rotating shaft is connected with the vertical plate through a bearing.

[0012] Further, the driving wheel and the driven wheel are provided with a baffle plate on both sides.

[0013] Further, the main beam is further provided with a stabilizing device, the stabilizing device comprises a cam rotatingly arranged on the main beam, a groove arranged on one side of the vertical plate, and an adjusting bolt arranged in the middle of the cam.

[0014] Further, the Mecanum wheel comprises a wheel body, a plurality of inclined plates are uniformly distributed on the outer periphery of the wheel body, a rotating shaft is arranged in the inclined plate, and a conical cylinder is fixed at both ends of the rotating shaft.

[0015] Further, the toothed transmission belt adopts a steel wire rope or a glass fiber rope as a strong layer, and is coated with polyurethane or neoprene rubber as a friction layer outside.

[0016] Beneficial effects are:

[0017] The main function of the device is to drive the gear set, the toothed transmission belt and the Mecanum wheel through the motor, so that the equipment can move in different directions. The whole design is reasonable, the gear transmission + belt transmission structure is used to improve the transmission efficiency, and the stability device is used to ensure the operation stability. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to facilitate the description, the utility model is described in detail by the following specific implementation and drawings.

[0019] Figure 1 It is a structural schematic view of the utility model;

[0020] Figure 2 It is a main beam part drawing of the utility model;

[0021] Figure 3 It is a right view of the utility model;

[0022] Figure 4 It is a Mecanum wheel part drawing of the utility model.

[0023] Explanation of reference signs:

[0024] 1, Mecanum wheel; 2, driving device; 3, mounting frame; 31, mounting plate; 32, clamping plate; 321, horizontal plate; 322, vertical plate; 4, motor; 5, driving gear; 6, driven gear; 7, rotating shaft; 8, driving wheel; 9, connecting shaft; 10, driven wheel; 11, gear tooth; 12, toothed transmission belt; 13, main beam; 14, long slot hole; 15, let hole; 16, stabilizing device; 161, cam; 162, groove; 163, adjusting bolt; 17, wheel body; 18, inclined plate; 19, rotating shaft; 20, conical cylinder; 21, baffle disc. DETAILED DESCRIPTION

[0025] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0026] It should be noted that in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more; The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0027] In addition, the terms "first", "second", "third" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0028] Meanwhile, in the description of the present application, unless otherwise specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; It can be mechanically connected, or it can be electrically connected; It can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] Reference Figures 1-4 An embodiment of a transfer mechanism for an AGV robot of the present application,

[0030] The present application designs the structure and connection mode of the Mecanum wheel driving mechanism, which is mainly used for transferring the low-load AGV robot trolley;

[0031] The overall structure of the device is:

[0032] The device consists of a frame (only part of the main beam 13 of the frame is shown in the attached drawings), Mecanum wheels, driving device 2, transmission system and stabilizing device 16. Among them: the frame (main beam 13) is the supporting part of the whole structure, which installs the driving device and provides stable support.

[0033] Mecanum wheel 1 is a special wheel that can achieve omnidirectional movement.

[0034] Driving device 2 drives Mecanum wheel to rotate through a series of transmission components.

[0035] Stabilizing device 16 is used to enhance the stability of the device in operation.

[0036] For the driving device: the core components of driving device 2 include: mounting bracket 3: used to fix driving device 2, installed on main beam 13; motor 4: provides power, output shaft connected to driving gear 5; gear transmission system: driving gear 5 meshes with driven gear 6, which is connected to driving wheel 8 through shaft 7; driving wheel 8 drives driven wheel 10 through toothed transmission belt 12, finally driving Mecanum wheel 1 to rotate.

[0037] The purpose of the driving device is to transmit the power of the motor through gear transmission and belt transmission, and finally to Mecanum wheel to achieve movement.

[0038] For the frame and installation method: main beam 13, as the core part of the frame, is a hollow square beam made of aluminum alloy or high-strength steel; it is convenient for installing driving device 2; mounting bracket 3 includes: mounting plate 31, fixed on main beam 13; clamping plate 32 (composed of horizontal plate 321 and two vertical plates 322), used to further fix the driving device. Vertical plate 322 is fixed on main beam 13 through four mounting holes with bolts. Long slot hole 14 is used to adjust the position of the mounting bracket.

[0039] When the vertical plate 322 is fixed, it can be installed by passing through the mounting hole and the long slot hole 14 with a bolt.

[0040] The clearance hole 15 allows the shaft 7 to pass through the main beam 13, and at this time the shaft 7 is connected to the vertical plate 322 through the bearing, so that the shaft 7 can rotate while moving with the vertical plate 322.

[0041] The function of the mounting structure: through the bolt connection and the long slot hole, it is convenient for installation and position adjustment. The clearance hole 15 allows the shaft to pass through the main beam, ensuring the connection of the driving system.

[0042] For the transmission system: the teeth 11 are evenly distributed on the circumference of the driving wheel 8 and the driven wheel 10, and mesh with the toothed transmission belt 12. The toothed transmission belt 12 connects the driving wheel and the driven wheel, making the power transmission efficient. The toothed transmission belt 12 is reinforced by steel wire or glass fiber rope, and the outer layer is polyurethane or chloroprene rubber, which enhances wear resistance and friction.

[0043] For the stability device: in order to improve the stability of the device operation, increase: cam 161 (rotatable), groove 162 (on one side of the vertical plate 322), adjusting bolt 163 (for adjusting the position of the cam 161). Effect: adjusting bolt 163 can adjust the cam 161, so that it is clamped into the groove 162, thereby stabilizing the drive device and reducing vibration.

[0044] For the structure of the Mecanum wheel: the wheel body 17 is the main body of the Mecanum wheel. There are a plurality of inclined plates 18 on the outer periphery, which affect the movement direction of the wheel, enabling it to move horizontally or diagonally. The inclined plates 18 have rotating shafts 19 to ensure that they can rotate freely. The rotating shafts 19 have conical cylinders 20 fixed at both ends, which are the structures for the AGV car to move.

[0045] The motor drive gear transmission system of the device: motor 4 → driving gear 5 → driven gear 6 → rotating shaft 7 → driving wheel 8. The power is transmitted to the driving wheel through the gear.

[0046] The pulley transmission system of the device: driving wheel 8 → toothed transmission belt 12 → driven wheel 10. The toothed transmission belt 12 connects the driving wheel 8 and the driven wheel 10 to realize power transmission.

[0047] The Mecanum wheel rotation transmission system of the device: driven wheel 10 → connecting shaft 9 → Mecanum wheel 1. Finally drive the Mecanum wheel to rotate and move the device.

[0048] The main function of the device is to drive the gear set, toothed transmission belt and Mecanum wheel through the motor, so that the device can move in different directions. The whole design is reasonable, which utilizes gear transmission + belt transmission structure to improve transmission efficiency and ensures the stability of operation through the stability device.

[0049] Obviously, the above embodiments are only examples for the sake of clarity, and are not limited to the implementation. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to exhaust all the embodiments. The obvious changes or variations derived therefrom are still within the protection scope of the present utility model.

Claims

1. A transfer mechanism for an AGV robot, characterized by: The utility model provides a kind of vehicle frame and the drive device of mecanum wheel, including the frame of vehicle and the mecanum wheel (1) being arranged on the frame and the drive device (2) of driving the mecanum wheel (1);The drive device (2) includes mounting bracket (3), motor (4) is arranged on the mounting bracket (3), the output end of the motor (4) is connected with driving gear (5), the driving gear (5) is engaged with driven gear (6);Driven gear (6) is connected with driving wheel (8) by shaft (7) in middle, the mecanum wheel (1) is connected with driven wheel (10) by connecting shaft (9), the driving wheel (8) and driven wheel (10) are uniformly distributed with tooth (11) on circumference, and toothed transmission belt (12) is arranged between the driving wheel (8) and the driven wheel (10).

2. The transfer mechanism for the AGV robot according to claim 1, characterized in that: The frame includes main beam (13), the mounting bracket (3) is arranged on the main beam (13), the mounting bracket (3) includes mounting plate (31) and clamping plate (32), the clamping plate (32) includes horizontal plate (321) and vertical plate (322) being arranged at both ends of the horizontal plate (321) and being constituted;The main beam (13) is square beam of hollow structure, four long slot holes (14) are arranged on one side of the main beam (13), four mounting holes are arranged on one of the vertical plate (322), and the vertical plate (322) is connected with the main beam (13) by bolt;Letting hole (15) is symmetrically arranged on both sides of the main beam (13), the shaft (7) penetrates the main beam (13) through the letting hole (15), and the shaft (7) is connected with the vertical plate (322) by bearing.

3. The transfer mechanism for the AGV robot according to claim 2, characterized in that: Driving wheel (8) and driven wheel (10) are provided with baffle disc (21) on both sides.

4. The transfer mechanism for the AGV robot according to claim 3, characterized in that: Stabilizing device (16) is further arranged on the main beam (13), the stabilizing device (16) includes cam (161) being rotatably arranged on the main beam (13), recess (162) being arranged on one side of the vertical plate (322), and adjusting bolt (163) being arranged in the middle of the cam (161).

5. The transfer mechanism for the AGV robot according to claim 4, characterized in that: The mecanum wheel (1) includes wheel body (17), a plurality of inclined plates (18) are uniformly distributed on the outer periphery of the wheel body (17), a rotating shaft (19) is arranged in the inclined plate (18), and a tapered cylinder (20) is fixed at both ends of the rotating shaft (19).

6. The transfer mechanism for the AGV robot according to claim 5, characterized in that: The toothed transmission belt (12) uses steel wire rope or glass fiber rope as power layer, and is coated with polyurethane or chloroprene rubber as friction layer outside.

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