Driving mechanism and latent traction AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a driving mechanism and a latent traction AGV (Automatic Guided Vehicle), the driving mechanism comprises a support rotating assembly, and the support rotating assembly comprises a slewing bearing and a support plate fixedly connected with the outer ring of the slewing bearing; the driving wheel assembly comprises a mounting bracket, and the mounting bracket is rotationally connected to the supporting plate through two rotating shaft structures; the two driving integrated wheels are fixedly arranged on the mounting bracket respectively; the swing arm assembly is rotationally arranged above the supporting and rotating assembly and is fixedly connected with the inner ring of the slewing bearing; and the angle identification assembly is arranged on the swing arm assembly in a penetrating manner and is in meshed transmission connection with the outer ring of the slewing bearing. Through cooperation of the supporting rotating assembly, the driving wheel assembly, the swing arm assembly and the angle recognition assembly, the problem that the rotating angle between a driving mechanism and a vehicle body of an existing latent traction AGV cannot be recognized is effectively solved, and meanwhile the driving mechanism has the advantages of being simple in structure and convenient to assemble.

Description

TECHNICAL FIELD

[0001] The utility model relates to AGV technical field especially relates to a drive mechanism and lurk traction AGV dolly. BACKGROUND

[0002] Lurk traction AGV dolly is automatic transportation device, it is a kind of automatic transportation device that can be hidden in the bottom of object carrying platform car, mainly used to drag the vehicle loaded with goods, flexible operation in limited space, realize efficient goods handling;Lurk traction AGV dolly has intelligent navigation, flexible adaptation and safety and stability characteristics, applicable to warehouse and manufacturing industry and other scenes, future will be more intelligent, improve the level of logistics automation.

[0003] The drive mechanism of lurk traction AGV dolly in prior art is generally independent suspension, its structure is generally composed of motor, speed reducer, driver, drive wheel, rotating shaft and compression spring, its advantages are simple structure, supporting motor and speed reducer brand selection is more;Disadvantages are that power part assembly is complicated, and the angle between drive mechanism and vehicle body cannot be accurately identified, and angle encoder cannot be conveniently added;Therefore, a drive mechanism and lurk traction AGV dolly are provided to solve the above problems. SUMMARY

[0004] One of the purposes of the utility model is to provide a kind of drive mechanism and lurk traction AGV dolly, to solve the problem that the drive mechanism of existing lurk traction AGV dolly is complicated and cannot identify the rotation angle between it and vehicle body.

[0005] The drive mechanism and lurk traction AGV dolly of the utility model can be realized by the following technical solutions:

[0006] The drive mechanism of the utility model includes support rotation component, which includes support plate and slewing bearing, the outer ring of the slewing bearing is fixedly connected with the support plate;Drive wheel component, including mounting bracket and two drive integrated wheels, the mounting bracket is rotatably connected to the support plate by two rotating shaft structures;Two drive integrated wheels are fixedly arranged on the mounting bracket, and walking or turning operation is realized by the cooperation of the two;Swing arm component is rotatably arranged above the support rotation component and fixedly connected with the inner ring of the slewing bearing;Angle identification component is arranged on the swing arm component and is in meshing transmission connection with the outer ring of the slewing bearing.

[0007] In one embodiment, the angle identification component includes a second mounting plate fixedly arranged on the swing arm body of the swing arm component;Angle encoder fixedly arranged on the second mounting plate, the output shaft of the angle encoder is movably arranged through the swing arm body;Small gear fixedly arranged on the output shaft and in meshing transmission connection with the outer ring of the slewing bearing.

[0008] In one of the embodiments, the outer side of the outer ring of the slewing bearing is provided with a plurality of outer gears, and the pinion gears are respectively in meshing transmission connection with the plurality of outer gears.

[0009] In one of the embodiments, the lower end of the support plate is symmetrically provided with two hinged seats, and the mounting bracket is rotationally connected to the two hinged seats through the two rotating shaft structures.

[0010] In one of the embodiments, the rotating shaft structure comprises an oil-free bushing fixedly arranged in the mounting hole of the mounting bracket, and a rotating shaft body fixedly arranged on the hinged seat and penetratingly arranged in the oil-free bushing, and the mounting bracket is rotatable relative to the rotating shaft body through the oil-free bushing.

[0011] In one of the embodiments, the swing arm assembly comprises a swing arm body fixedly connected with the inner ring of the slewing bearing, at least one driving spring structure arranged on the swing arm body, and at least two mechanical limiting structures respectively penetratingly arranged on the swing arm body and respectively capable of being in contact connection with the support plate.

[0012] In one of the embodiments, two connecting holes are penetratingly arranged on the side edge of the swing arm body, and the VGA vehicle body is hingedly connected with the swing arm body through the two connecting holes.

[0013] In one of the embodiments, the driving spring structure comprises a fixed pin fixedly arranged on the swing arm body, and a spring body arranged on one end of the fixed pin and connected with the VGA vehicle body at the other end.

[0014] In one of the embodiments, the mechanical limiting structure comprises a first fixed plate fixedly arranged on the swing arm body, and a limiting pin fixedly penetratingly arranged on the first fixed plate and penetratingly arranged through the swing arm body and capable of being in contact connection with the support plate.

[0015] The utility model discloses a kind of latent traction AGV trolleys comprising the drive mechanism of any one of the above.

[0016] Compared with the prior art, the drive mechanism and the latent traction AGV trolley have the beneficial effects that:

[0017] The utility model discloses a drive mechanism and the drive wheel subassembly of the drive mechanism drive the rotation of the outer ring of slewing bearing, and the outer ring of slewing bearing drives the rotation of pinion and the output shaft of angle encoder in proper order, thereby makes angle encoder get the position signal of drive wheel subassembly along slewing bearing axial rotation, realizes the identification operation of the rotation angle between drive mechanism and suspension AGV car body, effectively solves the problem that the rotation angle between the drive mechanism and car body of the existing latent traction AGV trolley cannot be identified, simultaneously drive wheel subassembly adopts integral drive wheel, and the component of drive mechanism is less, thereby facilitates the assembly operation of drive mechanism, simultaneously through setting up mechanical limiting structure, the floating angle of two drive integral wheels is limited through mechanical limiting structure. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme of the utility model embodiment, the following will be needed to use the drawing in the embodiment briefly introduced, it should be understood, the following drawings only shows some embodiments of the utility model, therefore should not be regarded as the limitation of the scope, for the ordinary skilled person in the art, under the premise of not paying the creative labor, can also obtain other related drawings according to these drawings.

[0019] Figure 1 It is the structure schematic diagram of a kind of drive mechanism of the utility model;

[0020] Figure 2 It is Figure 1 The structure schematic diagram of another view of a kind of drive mechanism of the utility model shown in;

[0021] Figure 3 It is Figure 1 The explosion structure schematic diagram of a kind of drive mechanism of the utility model shown in, including support plate, drive wheel subassembly and swing arm subassembly;

[0022] Figure 4 It is Figure 3 The structure schematic diagram of support plate shown in;

[0023] Figure 5 It is Figure 3 The explosion structure schematic diagram of drive wheel subassembly shown in;

[0024] Figure 6 It is Figure 3 The explosion structure schematic diagram of swing arm subassembly shown in.

[0025] As shown in the figure, the driving mechanism 10 mainly comprises a supporting rotating assembly 11, a driving wheel assembly 12, a swing arm assembly 13 and an angle identification assembly 14; the supporting rotating assembly 11 is a supporting body; the driving wheel assembly 12 is rotationally arranged below the supporting rotating assembly 11, and the two ends of the driving wheel assembly 12 can be operated to float up and down relative to the supporting rotating assembly 11; the swing arm assembly 13 is rotationally arranged above the supporting rotating assembly 11 and is hingedly connected with a VGA vehicle body, and the swing arm assembly 13 can be operated to rotate relative to the supporting rotating assembly 11; the angle identification assembly 14 is penetratingly arranged on the swing arm assembly 13 and is in meshing transmission connection with the supporting rotating assembly 11, and the angle identification assembly 14 can monitor the rotating angle between the driving mechanism 10 and the VGA vehicle body in real time. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0028] Please refer to Figure 1-3 As shown in the figure, the driving mechanism 10 mainly comprises a supporting rotating assembly 11, a driving wheel assembly 12, a swing arm assembly 13 and an angle identification assembly 14; the supporting rotating assembly 11 is a supporting body; the driving wheel assembly 12 is rotationally arranged below the supporting rotating assembly 11, and the two ends of the driving wheel assembly 12 can be operated to float up and down relative to the supporting rotating assembly 11; the swing arm assembly 13 is rotationally arranged above the supporting rotating assembly 11 and is hingedly connected with a VGA vehicle body, and the swing arm assembly 13 can be operated to rotate relative to the supporting rotating assembly 11; the angle identification assembly 14 is penetratingly arranged on the swing arm assembly 13 and is in meshing transmission connection with the supporting rotating assembly 11, and the angle identification assembly 14 can monitor the rotating angle between the driving mechanism 10 and the VGA vehicle body in real time.

[0029] Please refer to Figure 3 and Figure 4As shown in the drawings, in the embodiment, the support rotating assembly 11 comprises a support plate 111 and a slewing bearing 112; the support plate 111 is a support main body, and the driving wheel assembly 12 is rotationally connected with the support plate 111; the slewing bearing 112 is arranged on the support plate 111 and the outer ring thereof is fixedly connected with the support plate 111, the inner ring of the slewing bearing 112 is fixedly connected with the swing arm assembly 13, and the swing arm assembly 13 can be rotationally operated relative to the support plate 111 through the slewing bearing 112. Specifically, the lower end of the support plate 111 is symmetrically provided with two hinged seats 1111, and the driving wheel assembly 12 is rotationally connected with the two hinged seats 1111 respectively; a plurality of first fixing holes 1112 are arranged on the support plate 111, and the outer ring of the slewing bearing 112 is fixedly connected on the support plate 111 through the plurality of first fixing holes 1112; a plurality of outer gears 1121 are arranged around the outer side of the slewing bearing 112, and the angle recognition assembly 14 and the plurality of outer gears 1121 are in meshing transmission connection.

[0030] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown in the drawings, in the embodiment, the driving wheel assembly 12 comprises a mounting bracket 121, a first driving integrated wheel 122, a second driving integrated wheel 123 and two rotating shaft structures 124; the mounting bracket 121 is rotationally connected on the support plate 111 through the two rotating shaft structures 124; the first driving integrated wheel 122 and the second driving integrated wheel 123 are fixedly arranged on the mounting bracket 121 respectively, and the two of them realize the walking or turning operation of the driving mechanism 10. Specifically, the mounting bracket 121 is symmetrically provided with two mounting holes 1211, and the two rotating shaft structures 124 are connected with the two hinged seats 1111 through the corresponding mounting holes 1211 respectively; the first driving integrated wheel 122 and the second driving integrated wheel 123 both adopt the prior art, so the specific structure and working process thereof will not be described here, as long as they meet the present application. Specifically, the rotating shaft structure 124 comprises an oil-free shaft sleeve 1241 and a rotating shaft body 1242, the oil-free shaft sleeve 1241 is fixedly arranged in the mounting hole 1211, the rotating shaft body 1242 is fixedly and penetratively arranged on the hinged seat 1111 and penetratively arranged in the oil-free shaft sleeve 1241, and the mounting bracket 121 is rotationally connected with the rotating shaft body 1242 through the oil-free shaft sleeve 1241, so as to realize the up-and-down floating operation of the first driving integrated wheel 122 and the second driving integrated wheel 123 relative to the support plate 111.

[0031] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 6As shown, the swing arm assembly 13 comprises a swing arm body 131, at least one driving spring structure 132 and at least two mechanical limiting structures 133; the swing arm body 131 is fixedly connected with the inner ring of the swing bearing 112; the at least one driving spring structure 132 is arranged at the upper end of the swing arm body 131, the VGA vehicle body is connected with the at least one driving spring structure 132, and the VGA vehicle body synchronously transmits the elastic force to the first driving integrated wheel 122 and the second driving integrated wheel 123 through the at least one driving spring structure 132, so as to increase the normal pressure of the first driving integrated wheel 122 and the second driving integrated wheel 123 on the ground; the at least two mechanical limiting structures 133 are respectively fixedly arranged on the swing arm body 131 and can be respectively connected with the support plate 111 in contact, so as to realize the limiting operation on the floating angle of the first driving integrated wheel 122 and the second driving integrated wheel 123. In the embodiment, two driving spring structures 132 are respectively arranged at the upper end of the swing arm body 131; two mechanical limiting structures 133 are respectively fixedly arranged on the swing arm body 131 and can be respectively connected with the support plate 111 in contact.

[0032] Please refer to Figure 6 As shown, specifically, a plurality of second fixing holes 1311 are arranged through the swing arm body 131, and the swing arm body 131 is fixedly connected with the inner ring of the swing bearing 112 through the plurality of second fixing holes 1311; two connecting holes 1312 are arranged through the side of the swing arm body 131, and the VGA vehicle body is hingedly connected with the swing arm body 131 through the two connecting holes 1312, so as to realize the swing operation between the VGA vehicle body and the driving mechanism 10. Specifically, the driving spring structure 132 comprises a fixed pin 1321 and a spring body 1322, the fixed pin 1321 is fixedly arranged on the swing arm body 131; one end of the spring body 1322 is arranged on the fixed pin 1321, and the other end thereof is connected with the VGA vehicle body. Specifically, the mechanical limiting structure 133 comprises a first fixed plate 1331 and a limiting pin 1332, the first fixed plate 1331 is fixedly arranged on the swing arm body 131; the limiting pin 1332 is fixedly arranged through the first fixed plate 1331 and can be connected with the support plate 111 in contact through the swing arm body 131, so as to realize the limiting operation on the floating angle of the first driving integrated wheel 122 and the second driving integrated wheel 123.

[0033] Please refer to Figure 1-3 As shown, in the embodiment, the angle recognition assembly 14 comprises a second mounting plate 141, an angle encoder 142 and a pinion 143; the second mounting plate 141 is fixedly arranged on the swing arm body 131; the angle encoder 142 is fixedly arranged on the second mounting plate 141 and the output shaft thereof is movably arranged through the swing arm body 131; the pinion 143 is fixedly arranged on the output shaft of the angle encoder 142 and is in meshing transmission connection with a plurality of outer gear wheels 1121 on the outer ring of the swing bearing 112.

[0034] The utility model discloses a kind of latent traction AGV trolley, including the drive mechanism 10 of any one of above.

[0035] It needs to be explained that the specific working process of the drive mechanism and the latent traction AGV trolley of the utility model is as follows: when the driving wheel assembly 12 rotates along the axial direction of the slewing bearing 112, the driving wheel assembly 12 drives the outer ring of the slewing bearing 112 to rotate, and the outer ring of the slewing bearing 112 in turn drives the pinion 143 and the output shaft of the angle encoder 142 to rotate, so that the angle encoder 142 obtains the position signal of the driving wheel assembly 12 rotating along the axial direction of the slewing bearing 112, realizing the identification operation of the rotation angle between the drive mechanism and the suspended AGV vehicle body.

[0036] Any combination of the technical features of the above-described embodiments can be made, and to make the description concise, all possible combinations of the technical features in the embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0037] The above-described embodiments only express several implementation manners of the utility model, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the utility model patent. It should be pointed out that, for ordinary skilled persons in the art, without departing from the concept of the utility model, a number of modifications and improvements can be made, which are all within the protection scope of the utility model. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

Claims

1. A driving mechanism, characterized in that, include: A rotating support assembly includes a support plate and a slewing bearing, wherein the outer ring of the slewing bearing is fixedly connected to the support plate. The drive wheel assembly includes a mounting bracket and two integrated drive wheels. The mounting bracket is rotatably connected to the support plate via two rotating shaft structures. The two integrated drive wheels are respectively fixed on the mounting bracket, and the two wheels work together to achieve walking or turning operations. A swing arm assembly, which is rotatably disposed above the supporting rotating assembly and is fixedly connected to the inner ring of the slewing bearing; An angle recognition component is disposed through the swing arm assembly and is engaged and drivenly connected to the outer ring of the slewing bearing.

2. The driving mechanism according to claim 1, characterized in that, The angle recognition component includes a second mounting plate, which is fixedly mounted on the swing arm body of the swing arm assembly; an angle encoder fixedly mounted on the second mounting plate, the output shaft of which movably passes through the swing arm body; and a pinion fixedly mounted on the output shaft and meshing with the outer ring of the slewing bearing for transmission.

3. The driving mechanism according to claim 2, characterized in that, Multiple external gears are arranged around the outer ring of the slewing bearing, and the pinion is meshed with and connected to the multiple external gears respectively.

4. A driving mechanism according to claim 1, characterized in that, The lower end of the support plate is symmetrically provided with two hinge seats, and the mounting bracket is rotatably connected to the two hinge seats through two rotating shaft structures.

5. A driving mechanism according to claim 4, characterized in that, The rotating shaft structure includes an oil-free bushing, which is fixedly disposed in the mounting hole of the mounting bracket; and a rotating shaft body, which is fixedly disposed through the hinge seat and is disposed through the oil-free bushing, and the mounting bracket rotates relative to the rotating shaft body through the oil-free bushing.

6. A driving mechanism according to claim 1, characterized in that, The swing arm assembly includes a swing arm body, which is fixedly connected to the inner ring of the slewing bearing; at least one drive spring structure disposed on the swing arm body; and at least two mechanical limiting structures that are respectively fixedly disposed through the swing arm body and respectively capable of contacting and connecting with the support plate.

7. A driving mechanism according to claim 6, characterized in that, Two connecting holes are provided through the side of the main body of the swing arm, and the VGA body is hinged to the main body of the swing arm through the two connecting holes.

8. A driving mechanism according to claim 6, characterized in that, The drive spring structure includes a fixing pin, which is fixedly mounted on the swing arm body; a spring body with one end mounted on the fixing pin and the other end connected to the VGA body.

9. A driving mechanism according to claim 6, characterized in that, The mechanical limiting structure includes a first fixing plate, which is fixedly mounted on the swing arm body; and a limiting pin that is fixedly mounted through the first fixing plate, which passes through the swing arm body and can contact and connect with the support plate.

10. A stealthy traction AGV trolley, characterized in that, Includes the drive mechanism as described in any one of claims 1-9.

Images