Pendulum shaft self-adaptive damping driving mechanism for AGV (Automatic Guided Vehicle)

Abstract

The utility model provides a pendulum shaft self-adaptive damping driving mechanism for an AGV (Automatic Guided Vehicle), which relates to a driving mechanism and comprises three groups of driving units which are mounted on an AGV frame and are distributed in a triangular shape, each group of driving units comprises a group of driving racks, a central shaft transversely penetrating through the two sides of the driving racks, and two groups of driving trundles which are symmetrically erected at the two ends of the central shaft and are independently driven by power driving parts respectively mounted on the driving racks, and a group of pendulum shaft discs are further arranged above the driving racks; the two ends of the pendulum shaft disc are installed in the two sets of pendulum shaft seats through shaft bodies in a rotating connection mode, the pendulum shaft seats are installed on the driving machine frame, the two sets of shaft bodies are coaxially arranged and are perpendicular to the center shaft, and the top side of the pendulum shaft disc is installed on the AGV frame in a rotating connection mode. Three groups of combined structures are distributed to directly replace auxiliary universal wheels on an AGV frame so as to adapt to movement on uneven road surfaces, and the mechanism is compact so as to ensure that the mechanism can adapt to smaller mounting space.

Description

TECHNICAL FIELD

[0001] The utility model relates to a drive mechanism, especially a swing shaft adaptive damping drive mechanism for AGV. BACKGROUND

[0002] Automatic guided vehicle (AGV) as a kind of transport vehicle equipped with electromagnetic or optical automatic guiding device, is widely used in industrial automation field. They can travel along the prescribed guiding path, with safety protection and various transfer functions, and do not need to be operated by driver;AGV is characterized by wheeled movement, compared with other movement modes, such as walking or crawling robot, with the advantages of fast action, high work efficiency, simple structure, strong controllability, good safety, etc.;However, the existing AGV trolley driving structure often lacks effective floating device and servo system, which limits their stability and adaptability on uneven road to some extent.

[0003] In order to solve the stable movement problem of AGV on uneven road, an innovative drive mechanism design emerges as the times require. INVENTION CONTENTS

[0004] The utility model aims at providing a swing shaft adaptive damping drive mechanism for AGV, which is used for installing on AGV frame, directly replaces auxiliary universal wheel on AGV frame through the distribution of three groups of combined structures, to adapt to the movement on uneven road, and the mechanism is also relatively compact, so as to ensure that smaller installation space can be adapted.

[0005] The utility model provides the following technical scheme:

[0006] A swing shaft adaptive damping drive mechanism for AGV, comprising three groups of drive units installed on AGV frame in triangular distribution, three groups of drive units can replace four groups of auxiliary universal wheels installed on AGV frame in traditional way;And each group of drive units can provide a damping swing point;Each group of drive units comprises a drive rack, a center shaft transversely passing through both sides of the drive rack, two groups of drive casters symmetrically erected at both ends of the center shaft and independently driven by power driving part installed on the drive rack, a swing shaft disc is arranged above the drive rack, both ends of the swing shaft disc are connected and installed in two groups of swing shaft seats through shaft body, the swing shaft seat is installed on the drive rack, and two groups of shaft bodies are coaxially arranged and vertically distributed with the center shaft, and the top side of the swing shaft disc is connected and installed on AGV frame.

[0007] Thus, when driving on uneven ground, each group of driving units can provide a damping swing point through two groups of driving casters, that is, when the driving mechanism drives on uneven ground, the two groups of driving casters of each group of driving units can swing left and right to eliminate the height difference of the two wheels caused by uneven ground, so as to achieve the purpose of stability, and the overall structure is relatively compact, and the installation is relatively convenient.

[0008] Preferably, the top side of the swing shaft disc is fixedly connected with a group of rotary support outer rings, a group of rotary support inner rings is rotatably connected in the rotary support outer rings, the top end of the rotary support inner ring is fixedly connected to the AGV frame, and a group of induction trigger plates is further fixed to the top of the rotary support outer ring, which is used for induction with the limit switch fixed to the AGV frame to form soft limit when the driving frame is driven to rotate,

[0009] Thus, when the driving casters are driven to rotate by the respective power driving parts, different speeds and directions of rotation can be realized to achieve the actions of forward movement, backward movement, turning, and rotating in place. To prevent the whole driving mechanism from turning, the limit switch and the induction trigger plate at the rotating position can perform the first safety detection, which forms the soft limit of the driving rotation.

[0010] Preferably, a group of limiting bosses is further fixed on the swing shaft seat, which is used for hard limiting cooperation with the limiting plate on the AGV frame when the driving frame rotates. Therefore, when the soft limit fails, the whole driving mechanism can be directly limited to rotate by the cooperation of the limiting boss and the limiting plate on the AGV frame, so as to achieve hard limiting cooperation, further limit the rotation angle of the driving mechanism, and make the driving mechanism only rotate within a limited angle, avoiding the cable from being twisted and broken.

[0011] In addition, in the driving mechanism, the soft limit is directly installed on the upper part of the rotary support, which ensures that the soft limit is inside the swing shaft seat, greatly saving the installation space required for the upper part of the rotary support. Similarly, the hard limit is also a small boss directly protruding from the swing shaft seat as the hard limit of rotation, which also ensures that the hard limit does not exceed the rotation range of the swing shaft seat, saving the installation space required for the upper part of the rotary support.

[0012] Preferably, the rotary support outer ring is further provided with an outer gear ring, and an angle detection mechanism is further installed on the AGV frame. The rotating end gear of the angle detection mechanism is engaged with the outer gear ring, so that the change value of the angle is transmitted to the angle encoder connected thereto through the follow-up of the gear, and the real-time angle of the whole driving mechanism can be detected by the angle detection mechanism to form a closed loop system.

[0013] Preferably, the power driving part comprises a servo motor reducer installed on the driving frame, and a driving end of the servo motor reducer is connected to a rotating end of the driving caster through a chain wheel and chain transmission.

[0014] The driving mechanism for AGV provided by the utility model has the advantages that the driving mechanism for AGV is used for being installed on an AGV frame, directly replaces auxiliary universal wheels on the AGV frame through three groups of triangularly distributed combinations, thereby adapting to movement on uneven ground, and the mechanism is relatively compact, so that the driving mechanism can adapt to smaller installation space, and when the driving mechanism moves on uneven ground, each group of driving units can provide a damping swing point through two groups of driving casters, that is, the two groups of driving casters of each group of driving units can swing left and right to eliminate the height difference of the two wheels caused by uneven ground, so that the stability of the driving mechanism is improved, and the overall structure is relatively compact, and the driving mechanism is convenient to install. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are included to provide a further understanding of the utility model, and constitute a part of the specification, and are used together with the embodiments of the utility model to explain the utility model, and do not constitute the limitation to the utility model. In the drawings:

[0016] Figure 1 It is a structural schematic view of a group of driving mechanisms of the utility model;

[0017] Figure 2 It is a structural schematic view of the driving mechanism installed on the AGV frame;

[0018] Figure 3 It is Figure 1 the front view;

[0019] Figure 4 It is Figure 1 the top view;

[0020] Figure 5 It is Figure 1 the side view;

[0021] Figure 6 It is Figure 4 the structural sectional view along the A-A section of the utility model;

[0022] Figure 7 It is Figure 4 the structural sectional view along the B-B section of the utility model;

[0023] Markings in the drawings:

[0024] 1. AGV frame; 2. Drive frame; 3. Central shaft; 4. Power drive unit; 5. Drive casters; 6. Swing shaft plate; 7. Swing shaft seat; 8. Shaft body; 9. Outer ring of slewing support; 10. Inner ring of slewing support; 11. Induction trigger plate; 12. Limit switch; 13. Limit boss; 14. External gear ring; 15. Angle detection mechanism; 41. Servo motor reducer; 42. Sprocket and chain. Detailed Implementation

[0025] like Figures 1-7 As shown, an adaptive damping drive mechanism for an AGV includes three sets of drive units arranged in a triangular pattern on the AGV frame 1. These three sets of drive units can replace the four sets of auxiliary casters traditionally mounted on the AGV frame 1. Each drive unit can provide a damping swing point. Each drive unit includes a drive frame 2, a central shaft 3 that passes laterally through both sides of the drive frame, and two sets of drive casters 5 that are symmetrically mounted at both ends of the central shaft 3 and independently driven by power drive units 4 mounted on the drive frame 2. A set of swing shaft discs 6 are also arranged above the drive frame 2. The two ends of the swing shaft discs 6 are rotatably mounted in two sets of swing shaft seats 7 via shafts 8. The swing shaft seats 7 are mounted on the drive frame 2, and the two sets of shafts 8 are coaxially arranged and perpendicular to the central shaft 3. The top side of the swing shaft discs 6 is rotatably mounted on the AGV frame 1.

[0026] Thus, when driving on uneven roads, each drive unit can provide a shock-absorbing swing point through two sets of drive casters 5. That is, when the drive mechanism is driving on uneven roads, the two sets of drive casters 5 of each drive unit can swing left and right to eliminate the height difference between the two wheels caused by the uneven ground, so as to achieve the purpose of stability. Moreover, the overall structure is relatively compact and the installation is relatively convenient.

[0027] A set of slewing support outer rings 9 are fixedly connected to the top side of the swing shaft disk 6. A set of slewing support inner rings 10 are rotatably installed inside the slewing support outer rings. The top of the slewing support inner rings is fixedly connected to the AGV frame 1. A set of induction trigger plates 11 are also fixed to the top of the slewing support outer rings 9. The induction trigger plates 11 are used to sense the limit switch 12 fixed on the AGV frame 1 to form a soft limit when the drive frame 2 is driven to rotate.

[0028] Thus, when the drive casters 5 are driven to rotate by their respective power drive units 4, the entire drive mechanism can move forward, backward, turn, and rotate in place due to the different speeds and directions of rotation. To prevent the entire drive from over-steering, the limit switch 12 and the induction trigger plate 11 that has rotated to the correct position can perform the first safety check, which forms a soft limit for the drive rotation.

[0029] A set of limit bosses 13 are also fixed on the swing shaft seat 7, and the limit bosses 13 are used for hard limiting cooperation with the limiting plate on the AGV frame 1 when the driving frame 2 rotates, so that when the soft limiting fails, the whole driving mechanism can be directly limited to rotate to achieve hard limiting cooperation through the cooperation of the limit bosses 13 and the limiting plate on the AGV frame 1, so as to further limit the rotation angle of the driving mechanism as a whole, so that the driving mechanism as a whole can only rotate within a limited angle and cannot rotate unlimitedly, thereby avoiding the cable from being twisted and broken.

[0030] In the driving mechanism, the rotating soft limiting is directly installed on the upper part of the slewing support, so that the soft limiting is ensured to be inside the swing shaft seat 7, and the installation space required by the upper part of the slewing support is greatly saved; similarly, the hard limiting is directly extended as a small boss on the swing shaft seat 7 as the rotating hard limiting, so that the hard limiting is also ensured not to exceed the rotation range of the swing shaft seat 7, and the installation space required by the upper part of the slewing support is saved.

[0031] The outer ring 9 of the slewing support is further provided with an outer gear ring 14, and the AGV frame 1 is further provided with an angle detection mechanism 15, the rotating end gear of the angle detection mechanism 15 is engaged with the outer gear ring 14, so that the change value of the angle is transmitted to the angle encoder connected thereto through the follow-up of the gear, and the real-time angle of the whole driving mechanism movement can be detected by the angle detection mechanism 15 to form a closed loop system.

[0032] The power driving part 4 comprises a servo motor speed reducer 41 installed on the driving frame 2, and the driving end of the servo motor speed reducer 41 is drivingly connected to the rotating end of the driving caster 5 through a chain wheel and chain 42.

[0033] The working principle of the utility model is: the utility model provides a swing shaft self-adapting damping driving mechanism for AGV, which is used for being installed on the AGV frame 1, and directly replaces the auxiliary universal wheel on the AGV frame 1 through three sets of triangularly distributed combinations, so as to adapt to movement on uneven ground, and the mechanism is relatively compact, so as to ensure that smaller installation space can be adapted, and when driving on uneven ground, each set of driving unit can provide a damping swing point through two sets of driving casters 5, that is, when the driving mechanism drives on uneven ground, the two sets of driving casters 5 of each set of driving unit can swing left and right to eliminate the height difference of the two wheels caused by uneven ground, so as to achieve the purpose of stability, and the overall structure is relatively compact, and the installation is relatively convenient.

[0034] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A swing axle adaptive damping drive mechanism for an AGV, characterized in that, Including the three groups of drive units that are installed on the AGV frame (1) in triangular distribution, each group of drive units includes a group of drive frames (2), the center shaft (3) that is transversely across the two sides of the drive frame, two groups of drive casters (5) that are symmetrically erected at both ends of the center shaft (3) and are independently driven by the power drive part (4) installed on the drive frame (2) respectively, the top of the drive frame (2) is also arranged with a group of swing shaft plates (6), both ends of the swing shaft plate (6) are connected and installed in the two groups of swing shaft seats (7) through the shaft body (8), the swing shaft seat (7) is installed on the drive frame (2), and the two groups of shaft bodies (8) are coaxially arranged and vertically distributed with the center shaft (3), the top side of the swing shaft plate (6) is connected and installed on the AGV frame (1).

2. The swing axle self-adaptive damping driving mechanism for AGV according to claim 1, characterized in that, The top side of the swing shaft plate (6) is fixedly connected with a group of rotary support outer rings (9), a group of rotary support inner rings (10) is connected and installed in the rotary support outer ring, the top end of the rotary support inner ring is fixedly connected on the AGV frame (1), and the top of the rotary support outer ring (9) is also fixed with a group of induction trigger plates (11), the induction trigger plate (11) is used for sensing with the limit switch (12) fixed on the AGV frame (1) to form soft limit when the drive frame (2) is driven to rotate.

3. The swing axle self-adaptive damping driving mechanism for AGV according to claim 1, characterized in that, A group of limiting bosses (13) are also fixed on the swing shaft seat (7), the limiting boss (13) is used for hard limiting cooperation with the limiting plate on the AGV frame (1) when the drive frame (2) is rotated.

4. The swing axle self-adaptive damping driving mechanism for AGV according to claim 2, characterized in that, The rotary support outer ring (9) is also provided with an outer gear (14), and an angle detection mechanism (15) is also installed on the AGV frame (1), and the rotating end gear of the angle detection mechanism (15) is engaged with the outer gear (14).

5. The swing axle self-adapting damping driving mechanism for AGV according to claim 1, characterized in that, The power drive part (4) includes a servo motor reducer (41) installed on the drive frame (2), and the driving end of the servo motor reducer (41) is drivingly connected to the rotating end of the drive caster (5) through a chain wheel and chain (42).

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