Movable directional wheel mechanism and latent traction AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a movable directional wheel mechanism and a latent traction AGV. The movable directional wheel mechanism comprises a supporting assembly. The driving assembly is arranged on the supporting assembly; the directional wheel assembly is movably arranged below the supporting assembly and is in transmission connection with the driving assembly; the at least one infrared diffuse reflection assembly is fixedly arranged on the directional wheel assembly and can detect the position of a directional wheel of the skip car; the camera assembly is fixedly arranged on the directional wheel assembly, right faces the ground and can recognize marks on the ground. The driving assembly drives the directional wheel assembly to move relative to the supporting assembly, so that the directional wheels on the directional wheel assembly are overlapped with or close to the directional wheel axle distance of the skip car, and the instantaneous center of the latent traction AGV is overlapped with or close to the instantaneous center of the skip car as much as possible. Therefore, the sliding friction degree between the directional wheel body and the ground is avoided or reduced, and the problem that directional wheels in an existing latent traction AGV need to be replaced frequently is effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to AGV technical field especially relates to a kind of mobile directional wheel mechanism and lurk traction AGV. BACKGROUND

[0002] Lurk traction AGV trolley is automatic transport device, which is an automatic transport device that can be hidden in the bottom of object carrying trolley, mainly used for dragging the vehicle loaded with goods, flexible operation in limited space, realizes efficient goods handling;Lurk traction AGV trolley has intelligent navigation, flexible adaptation and safety and stability characteristics, applicable to warehouse and manufacturing industry and other scenes, will be more intelligent in the future, improve the level of logistics automation.

[0003] In prior art, lurk traction AGV generally adopts two universal wheels in the front of vehicle, driving mechanism in the middle of vehicle, and two directional wheels in the rear of vehicle;And the wheel system of the material trolley generally adopts two universal wheels in front and two directional wheels in rear;When the directional wheels of lurk traction AGV and the directional wheels of material trolley are not flush and lurk traction AGV turns with material trolley, the directional wheels of lurk traction AGV will compete with the directional wheels of material trolley, and sliding friction with ground is generated, so as to accelerate the wear of directional wheels and ground;Currently, directional wheels are replaced frequently, which not only needs replacement time, but also increases maintenance cost to some extent, so as to not meet the actual use requirement of lurk traction AGV;Therefore, a kind of wheel mechanism and lurk traction AGV are provided to solve the above problems. SUMMARY

[0004] One of the purposes of the utility model is to provide a kind of mobile directional wheel mechanism and lurk traction AGV, to solve the problem that directional wheel in existing lurk traction AGV needs to be replaced frequently.

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

[0006] The mobile directional wheel mechanism of the utility model includes support assembly;Driving assembly, which is arranged on the support assembly;Directional wheel assembly, which is movably arranged below the support assembly and is in transmission connection with the driving assembly;At least one infrared diffuse reflection assembly, which is fixedly arranged on the directional wheel assembly, the infrared diffuse reflection assembly can detect the position of directional wheel of material trolley;Camera assembly, which is fixedly arranged on the directional wheel assembly and faces ground, the camera assembly can identify the mark on ground;

[0007] Wherein, the driving assembly drives the directional wheel assembly to move relative to the support assembly, so that the directional wheel on the directional wheel assembly and the directional wheel of material trolley overlap or are close to the shaft distance.

[0008] In one of the embodiments, the support assembly comprises a support plate, and a first inductive switch and a second inductive switch are fixedly arranged through the support plate respectively; an inductive screw is fixedly arranged on the directional wheel assembly, and the inductive screw can be inducted by the first inductive switch and the second inductive switch respectively.

[0009] In one of the embodiments, at least one guide rail is fixedly arranged at the bottom of the support plate; and at least one guide seat is fixedly arranged on the directional wheel assembly, and the guide seat is slidingly arranged on the corresponding guide rail.

[0010] In one of the embodiments, the driving assembly comprises a mounting seat fixedly arranged on the support plate; a driving motor fixedly arranged on the mounting seat, and an output shaft of the driving motor is movably arranged through the mounting seat, and the driving motor can be rotated in a square manner; a driving gear connected in transmission with the output shaft of the driving motor; a transmission gear meshingly connected in transmission with the driving gear; and a screw rod structure rotatably arranged on the support plate and connected in transmission with the transmission gear.

[0011] In one of the embodiments, the screw rod structure comprises two screw rod support seats fixedly arranged on the support plate respectively; a screw rod body movably arranged through the two screw rod support seats in a bearing manner, and the screw rod body is connected in transmission with the transmission gear; and a sliding block movably arranged on the screw rod body and fixedly connected with the directional wheel assembly.

[0012] In one of the embodiments, the directional wheel assembly further comprises a sliding plate connected in transmission with the driving assembly and slidingly arranged on the support assembly; and two directional wheel bodies rotatably arranged below the sliding plate respectively.

[0013] In one of the embodiments, the two infrared diffuse reflection assemblies are fixedly arranged at the side edges of the two directional wheel bodies respectively.

[0014] In one of the embodiments, the infrared diffuse reflection assembly comprises a first mounting plate fixedly arranged on the sliding plate and arranged at the side edge of the directional wheel body; and an infrared diffuse reflection device fixedly arranged on the first mounting plate, and the infrared diffuse reflection device can emit infrared rays to the directional wheel of the trolley and receive the reflected infrared rays.

[0015] In one of the embodiments, the camera assembly comprises a second mounting plate and a camera body; the second mounting plate is fixedly arranged on the directional wheel assembly; and the camera body is fixedly arranged on the second mounting plate and penetrates through the directional wheel assembly to face the ground, and the camera body can identify the mark on the ground.

[0016] The utility model discloses a kind of lurking traction AGV, comprising the mobile directional wheel mechanism of any one described above.

[0017] The utility model discloses a mobile directional wheel mechanism and a lurking traction AGV can be realized through the following technical scheme:

[0018] The utility model discloses a mobile directional wheel mechanism and a lurking traction AGV drive directional wheel subassembly relative to support subassembly and move through drive component, make directional wheel on directional wheel subassembly and the directional wheel axle distance of dolly overlap or close, make the instantaneous center of lurking traction AGV and the instantaneous center of dolly coincide or as close as possible to avoid or reduce the sliding friction degree of directional wheel main part and ground, effectively solve the problem that directional wheel in the present lurking traction AGV needs frequently replacement, simultaneously through setting up two inductive switches on support subassembly respectively and setting up inductive screw on directional wheel subassembly, realize the spacing operation of directional wheel subassembly through the inductive operation of inductive screw and two inductive switches. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the following will be simply introduced to the drawing needed to be used in the embodiment, and should understand, the following drawing only shows some embodiments of the utility model, therefore should not be regarded as the limitation to the range, for the ordinary skilled person in the art, under the premise of not paying the creative labor, still can obtain other related drawings according to these drawings.

[0020] Figure 1 It is the structure schematic drawing of a mobile directional wheel mechanism of the utility model;

[0021] Figure 2 It is the structure schematic drawing of another view of a mobile directional wheel mechanism of the utility model;

[0022] Figure 3 It is the explosion structure schematic drawing of a mobile directional wheel mechanism of the utility model, including support subassembly, drive component and directional wheel subassembly;

[0023] Figure 4 It is the structure schematic drawing of support subassembly shown in figure 1; Figure 3

[0024] Figure 5 It is the structure schematic drawing of drive component shown in figure 2; Figure 3

[0025] Figure 6 It is the structure schematic drawing of directional wheel subassembly shown in figure 3; Figure 3

[0026] It is the structure schematic drawing of directional wheel subassembly shown in figure 3; Figure 7

[0027] ​​​Indicated in the figure: 10, mobile orientation wheel mechanism; 11, support assembly; 111, support plate; 1111, guide rail; 1112, through hole; 112, first induction switch; 113, second induction switch; 12, driving assembly; 121, mounting seat; 122, driving motor; 123, driving gear; 124, transmission gear; 125, screw rod structure; 1251, screw rod support seat; 1252, screw rod main body; 1253, sliding block; 13, orientation wheel assembly; 131, sliding plate; 1311, connecting block; 1312, guide seat; 1313, mounting hole; 132, orientation wheel main body; 133, induction screw; 14, infrared diffuse reflection assembly; 141, first mounting plate; 142, infrared diffuse reflection device; 15, camera assembly; 151, second mounting plate; 152, camera main body. DETAILED DESCRIPTION

[0028] 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 with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the 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 here can be arranged and designed in various different configurations.

[0029] Therefore, the detailed description of the embodiments of the present application provided in the drawings below 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.

[0030] Please refer to Figures 1-3As shown, the utility model discloses a mobile directional wheel mechanism 10 including support assembly 11, drive assembly 12, directional wheel assembly 13, at least one infrared diffuse reflection component 14 and camera assembly 15;Support assembly 11 is the support main body, and it is fixedly installed on the lurking traction AGV car body;Drive assembly 12 is arranged on support assembly 11;Directional wheel assembly 13 is movably arranged below support assembly 11 and is transmission connection with drive assembly 12, and drive assembly 12 drives directional wheel assembly 13 to move relative to support assembly 11, to make the directional wheel on directional wheel assembly 13 and the directional wheel axle distance of car overlap or as close as possible, make the instantaneous center of lurking traction AGV and the instantaneous center of car coincide or as close as possible;At least one infrared diffuse reflection component 14 is fixedly arranged on directional wheel assembly 13, and it detects the directional wheel position of car, to trigger the signal of the stop movement of directional wheel assembly 13;Camera assembly 15 is fixedly arranged on directional wheel assembly 13 and is directly facing ground, and it can identify the ground code, color band and ground texture on ground, to trigger the movement signal of directional wheel assembly 13.

[0031] Please refer to Figures 1-4 As shown, in the embodiment, support assembly 11 includes support plate 111, first inductive switch 112 and second inductive switch 113;Support plate 111 is the support main body, and it is fixedly installed on the lurking traction AGV car body;First inductive switch 112, second inductive switch 113 are respectively fixedly arranged on support plate 111, and they can respectively inductive limit operation of the movement of directional wheel assembly 13.Specifically, the bottom of support plate 111 is fixedly provided with at least one guide rail 1111, and directional wheel assembly 13 is slidably arranged on at least one guide rail 1111, and the movement of directional wheel assembly 13 is guided by guide rail 1111, in the embodiment, two guide rails 1111 are fixedly arranged in parallel on the bottom of support plate 111 and are respectively connected with directional wheel assembly 13;Through hole 1112 is further arranged on support plate 111, to facilitate infrared diffuse reflection component 14 and camera assembly 15 to be electrically connected with the lurking traction AGV car body respectively.

[0032] Please refer to Figure 1 、 Figure 2 、 Figure 3 And Figure 5As shown in the drawings, in the embodiment, the driving assembly 12 comprises a mounting base 121, a driving motor 122, a driving gear 123, a transmission gear 124 and a screw rod structure 125; the mounting base 121 is fixedly arranged on the support plate 111; the driving motor 122 is fixedly arranged on the mounting base 121 and the output shaft thereof is movably arranged through the mounting base 121 and can rotate in the positive direction; the driving gear 123 is drivingly connected to the output shaft of the driving motor 122; the transmission gear 124 is drivingly connected in mesh with the driving gear 123; the screw rod structure 125 is rotatably arranged on the support plate 111 and drivingly connected with the transmission gear 124; the directional wheel assembly 13 is drivingly connected with the screw rod structure 125; the driving motor 122 drives the directional wheel assembly 13 to move relative to the support plate 111 through the driving gear 123, the transmission gear 124 and the screw rod structure 125 in sequence. Specifically, the screw rod structure 125 comprises two screw rod support bases 1251, a screw rod main body 1252 and a sliding block 1253; the two screw rod support bases 1251 are fixedly arranged on the support plate 111 respectively; the screw rod main body 1252 is rotatably arranged through the two screw rod support bases 1251 and drivingly connected with the transmission gear 124; the sliding block 1253 is arranged on the screw rod main body 1252 and fixedly connected with the directional wheel assembly 13; the driving motor 122 drives the sliding block 1253 to move on the screw rod main body 1252 through the driving gear 123, the transmission gear 124 and the screw rod main body 1252 in sequence, thereby driving the directional wheel assembly 13 to move relative to the support plate 111.

[0033] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 6 As shown in the drawings, in the embodiment, the directional wheel assembly 13 comprises a sliding plate 131, two directional wheel main bodies 132 and a sensing screw 133; the sliding plate 131 is drivingly connected with the sliding block 1253 and slidingly arranged on the at least one guide rail 1111; the two directional wheel main bodies 132 are rotatably arranged below the sliding plate 131 and move with the sliding plate 131; the sensing screw 133 is fixedly arranged on the sliding plate 131 and can be sensed by the first sensing switch 112 and the second sensing switch 113 respectively, thereby transmitting a signal to the driving motor 122 to stop working. Specifically, the sliding plate 131 is fixedly provided with a connecting block 1311 which is fixedly connected with the sliding block 1253, thereby enabling the driving motor 122 to drive the sliding plate 131 to move relative to the support plate 111 through the driving gear 123, the transmission gear 124 and the screw rod structure 125 in sequence; the sliding plate 131 is fixedly provided with at least one guide base 1312 which is slidingly arranged on the corresponding guide rail 1111, and the guide rail 1111 and the guide base 1312 are matched to realize the guiding operation of the directional wheel assembly 13; the sliding plate 131 is further provided with a mounting hole 1313 through which the camera assembly 15 is arranged.

[0034] As shown in Figures 1-3 In the embodiment, two infrared diffuse reflection components 14 are fixedly arranged at the sides of the directional wheel bodies 132, and detect the position of the directional wheels of the trolley, so as to trigger the signal for stopping the driving motor 122; specifically, the infrared diffuse reflection component 14 comprises a first mounting plate 141 and an infrared diffuse reflection device 142, the first mounting plate 141 is fixedly arranged on the sliding plate 131 and at the side of the directional wheel body 132, and the infrared diffuse reflection device 142 is fixedly arranged on the first mounting plate 141 and can emit infrared rays to the directional wheels of the trolley and receive the reflected infrared rays. In the embodiment, the camera component 15 comprises a second mounting plate 151 and a camera body 152; the second mounting plate 151 is fixedly arranged on the sliding plate 131; the camera body 152 is fixedly arranged on the second mounting plate 151 and penetrates the sliding plate 131 through the mounting hole 1313 and faces the ground, and can identify the ground code, color band and ground texture on the ground, so as to trigger the signal for starting the driving motor 122.

[0035] As shown in Figure 7 As shown in the utility model, the mobile directional wheel mechanism 10 is fixedly arranged below the rear end of the body of the latent traction AGV.

[0036] It should be noted that the specific working process of the mobile directional wheel mechanism and the latent traction AGV is as follows: when the camera body 152 identifies the ground mark that is about to turn, the driving motor 122 starts to work, and drives the directional wheel assembly 13 to move relative to the support plate 111 through the driving gear 123, the transmission gear 124 and the screw structure 125 in turn, while the infrared diffuse reflection device 142 detects the position of the directional wheels of the trolley in real time, when the directional wheel body 132 overlaps or is as close as possible to the shaft distance of the directional wheels of the trolley, the driving motor 122 is controlled to stop working, so that the instantaneous center of the latent traction AGV coincides with or is as close as possible to the instantaneous center of the trolley, so as to avoid or reduce the sliding friction degree of the directional wheel body 132 and the ground; at the same time, the sensing screws 133 are in sensing operation with the first sensing switch 112 and the second sensing switch 113 respectively, so as to realize the limiting operation of the directional wheel assembly 13.

[0037] The technical features of the above-described embodiments can be combined arbitrarily, and in order to make the description simple, not all possible combinations of the technical features in the embodiments are described, however, as long as the combinations of the technical features do not exist contradictory, it should be considered that it is within the scope of the present application.

[0038] The above-described embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but can not therefore be understood as the limitation of the utility model patent range. It should be pointed out that for ordinary skilled person in the art, under the premise of not departing from the utility model concept, several deformations and improvements can be made, which belong to the protection range of the utility model. Therefore, the protection range of the utility model patent should be subject to the appended claims.

Claims

1. A mobile directional wheel mechanism, characterized in that, include: Support components; A drive component, which is disposed on the support component; A directional wheel assembly is movably disposed below the support assembly and is drive-connected to the drive assembly; At least one infrared diffuse reflection component is fixedly mounted on the directional wheel assembly, and the infrared diffuse reflection component is capable of detecting the position of the directional wheel of the material cart; A camera assembly, which is fixedly mounted on the directional wheel assembly and faces the ground, is capable of recognizing markings on the ground; The drive component drives the directional wheel assembly to move relative to the support component, such that the directional wheel on the directional wheel assembly overlaps or approaches the directional wheel wheel of the material cart.

2. The mobile directional wheel mechanism according to claim 1, characterized in that, The support assembly includes a support plate, on which a first inductive switch and a second inductive switch are fixedly disposed and penetrated respectively; an inductive screw is fixedly disposed on the directional wheel assembly, and the inductive screw is capable of sensing operation with the first inductive switch and the second inductive switch respectively.

3. A mobile directional wheel mechanism according to claim 2, characterized in that, At least one guide rail is fixedly provided at the bottom of the support plate; at least one guide seat is fixedly provided on the directional wheel assembly, and at least one guide seat is slidably provided on the corresponding guide rail.

4. A mobile directional wheel mechanism according to claim 2, characterized in that, The drive assembly includes a mounting base fixedly mounted on the support plate; a drive motor fixedly mounted on the mounting base, the output shaft of which movably passes through the mounting base and is capable of clockwise rotation; a drive gear driven by the output shaft of the drive motor; a transmission gear meshing with the drive gear; and a lead screw structure rotatably mounted on the support plate and driven by the transmission gear.

5. A mobile directional wheel mechanism according to claim 4, characterized in that, The lead screw structure includes two lead screw support seats, which are respectively fixedly mounted on the support plate; a lead screw body is rotatably mounted on the two lead screw support seats through bearings and is connected to the transmission gear; and a slider is mounted on the lead screw body and fixedly connected to the directional wheel assembly.

6. A mobile directional wheel mechanism according to claim 1, characterized in that, The directional wheel assembly also includes a sliding plate, which is connected to the drive assembly and slidably disposed on the support assembly; Rotate the two directional wheel bodies located below the sliding plate respectively.

7. A mobile directional wheel mechanism according to claim 6, characterized in that, The two infrared diffuse reflection components are respectively fixedly installed on the sides of the two directional wheel bodies.

8. A mobile directional wheel mechanism according to claim 7, characterized in that, The infrared diffuse reflection assembly includes a first mounting plate, which is fixedly mounted on the sliding plate and disposed on the side of the directional wheel body; and an infrared diffuse reflection device fixedly mounted on the first mounting plate, which is capable of emitting infrared rays to the directional wheel of the material cart and receiving the reflected infrared rays.

9. A mobile directional wheel mechanism according to claim 1, characterized in that, The camera assembly includes a second mounting plate and a camera body; the second mounting plate is fixedly mounted on the directional wheel assembly; the camera body is fixedly mounted on the second mounting plate and passes through the directional wheel assembly, facing the ground, and is capable of recognizing markings on the ground.

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

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