Heavy-load driving AGV (Automatic Guided Vehicle)

Abstract

The utility model relates to a heavy-load driving AGV (automatic guided vehicle), which belongs to the field of AGVs and comprises a frame body and a driving unit mounted on the frame body. The driving units comprise the first driving units and the second driving units, the first driving units are symmetrically installed on the two sides of the frame body, the second driving units are arranged opposite to the first driving units, and the frame body is provided with a fixing frame used for installing the first driving units and a hinge frame used for installing the second driving units. The frame main body is provided with a hinge seat for mounting the hinge frame; the first driving units are hinged to the two sides of the fixing frame, and the second driving units are hinged to the two sides of the hinge frame. The method has the effect of improving the stability of the AGV in the driving process.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of AGV trolley, in particular to a heavy load driving AGV trolley. BACKGROUND

[0002] AGV trolley, namely automatic guided vehicle, refers to a device with material handling capacity or operation capacity, wheel type movement as a feature, based on environmental markers or external guiding signals, and moves along the preset line independently.

[0003] The existing AGV trolley mainly includes a frame body and a driving mechanism installed on the frame body. Among them, the driving mechanism is fixedly installed at the bottom of the frame body. When the AGV trolley encounters rough and uneven road surface in the handling process, the center of gravity of the AGV trolley will change constantly, and the fixed driving mechanism is difficult to adjust the support point of the AGV trolley in time, and it is difficult to adapt to the rapid transfer of the center of gravity, which leads to the phenomenon that the AGV trolley is easy to fall or even overturn, affecting the stability and safety of the AGV trolley in the driving process.

[0004] For the related technology in the above, the inventor believes that a AGV trolley that runs more stably is needed. CONTENT OF THE UTILITY MODEL

[0005] In order to improve the stability of AGV trolley in the driving process, the present application provides a heavy load driving AGV trolley.

[0006] The heavy load driving AGV trolley provided by the present application adopts the following technical scheme:

[0007] A heavy load driving AGV trolley, comprising a frame body and a driving unit installed on the frame body; the driving unit is respectively a first driving unit symmetrically installed on both sides of the frame body and a second driving unit arranged opposite to the first driving unit, the frame body is provided with a fixing frame for installing the first driving unit and a hinged frame for installing the second driving unit, and the frame body is provided with a hinged seat for installing the hinged frame; the first driving unit is hinged on both sides of the fixing frame and the second driving unit is hinged on both sides of the hinged frame.

[0008] By adopting the technical scheme, the first driving unit is hinged to the two sides of the fixed frame, the second driving unit is hinged to the two sides of the hinged frame which is hingedly installed on the frame main body, so that when the heavy-load driving AGV cart encounters a road surface with large ups and downs during driving, the driving units can rotate around the respective hinge points to adjust, so that at least three driving units can be in contact with the road surface during driving of the heavy-load driving AGV cart, the stability of the heavy-load driving AGV cart during driving is effectively improved, and the probability of the heavy-load driving AGV cart falling or overturning during carrying is reduced.

[0009] Optionally, the driving unit comprises a hinged support, a hinged support frame rotatably installed on the hinged support, a driving wheel assembly installed on one side of the hinged support frame, and a driven wheel assembly installed on the other side of the hinged support frame; the hinged support comprises two oppositely arranged installation support plates and a hinge shaft rotatably installed on the installation support plates, the hinge shaft is provided with a driving block extending away from the hinge shaft, and the hinged support frame is provided with a fixed block assembly fixedly connected with the driving block.

[0010] By adopting the technical scheme, the specific structure of the driving unit is disclosed, the cooperation between the hinged support and the hinge enables the driving wheel assembly and the driven wheel assembly to swing by a certain angle relative to the frame main body, thereby improving the stability of the heavy-load driving AGV cart during driving and facilitating improvement of the flexibility of the heavy-load driving AGV cart during driving. The cooperation between the fixed block assembly and the hinge shaft facilitates improvement of the stability of the driving unit.

[0011] Optionally, the fixed block assembly comprises a fixed block installed on the hinged support frame and a fixed pressing block for pressing the driving block against the fixed block, and the fixed block is provided with an arrangement groove for arranging the driving block.

[0012] By adopting the technical scheme, the specific structure of the fixed block assembly is disclosed, the cooperation between the fixed block and the fixed pressing block enables the driving block to be limited in the arrangement groove, thereby improving the stability of the cooperation between the hinged support frame and the hinged support.

[0013] Optionally, the driving wheel assembly comprises a mounting support installed on one side of the bottom surface of the hinged support frame, a driving wheel rotatably installed on the mounting support, a driving motor for driving the driving wheel to rotate, and a steering assembly for steering the driving wheel.

[0014] By adopting the technical scheme, the specific content of the driving wheel assembly is disclosed, the driving motor drives the driving wheel to rotate, and then the steering assembly drives the driving wheel to steer, thereby effectively improving the flexibility and maneuverability of the heavy-load driving AGV cart and facilitating improvement of the working efficiency of the heavy-load driving AGV cart.

[0015] Optionally, the steering assembly comprises a steering motor mounted on the mounting bracket, a first gear mounted on an output shaft of the steering motor, and a second gear fixedly mounted on the mounting bracket and engaged with the first gear; the steering motor is mounted on the bottom surface of the mounting bracket and the output shaft of the steering motor extends upward, and the mounting bracket is provided with a mounting through hole for the output shaft of the steering motor to pass through.

[0016] By adopting the above technical scheme, the specific structure of the steering assembly is disclosed, and in the process of steering the driving wheel, the rotation of the first gear is driven by the steering motor, and then the transmission between the first gear and the second gear is realized, so that the mounting bracket can rotate to realize the steering of the driving wheel, which helps to improve the flexibility of the heavy-load driving AGV car running. The design that the steering motor is mounted on the bottom surface of the mounting bracket and the output shaft extends upward effectively saves space and improves the compactness of the structure.

[0017] Optionally, the driven wheel assembly comprises a mounting plate mounted on the other side of the bottom surface of the hinged bracket and a driven wheel rotatably mounted on the bottom surface of the mounting plate, the top surface of the mounting plate is provided with a rotating seat rotatably connected with the hinged seat, the hinged bracket is provided with a rotating shaft extending towards the rotating seat, the rotating seat is provided with a rotating groove for arranging the rotating shaft and a rotating bearing sleeved on the rotating shaft at the rotating groove.

[0018] By adopting the above technical scheme, the specific structure of the driven wheel assembly is disclosed, and the rotating seat is arranged to realize the rotating connection between the mounting plate and the hinged bracket, so that the driven wheel assembly can be adjusted in a certain range, so as to adapt to different road conditions and effectively improve the stability of the heavy-load AGV car during running. The arrangement of the rotating bearing helps to reduce the friction resistance of the rotating shaft and the rotating seat, and improve the smoothness of the rotation of the mounting plate.

[0019] Optionally, the top surface of the mounting plate is provided with a plurality of support side plates, one end of the support side plate is connected to the top surface of the mounting plate and the other end is connected to the outer side wall of the rotating seat.

[0020] By adopting the above technical scheme, the arrangement of the plurality of support side plates on the top surface of the mounting plate helps to improve the connection strength between the mounting plate and the rotating seat, reduce the probability of loosening of the mounting plate during the running of the heavy-load driving AGV car, and ensure the smooth running of the heavy-load driving AGV car.

[0021] Optionally, the bottom surface of the hinged bracket is arranged to be upwardly inclined away from the hinged seat.

[0022] By adopting the technical scheme, the bottom surfaces of the two sides of the articulated frame are arranged upwardly and obliquely away from the articulated seat, which helps to improve the flexibility of the heavy-load driving AGV during running, so that the heavy-load driving AGV can be adjusted according to the ups and downs of the road surface, and the smooth running of the heavy-load driving AGV is ensured.

[0023] Optionally, the vehicle frame body is provided with limiting blocks for abutting against the bottom surfaces of the two sides of the articulated frame.

[0024] By adopting the technical scheme, the limiting blocks for abutting against the bottom surfaces of the two sides of the articulated frame are arranged on the vehicle frame body, which can effectively limit the swing range of the articulated frame, so that the articulated frame swings within a certain range, the probability of structural damage of the articulated frame due to excessive swing is reduced, and the stability of the structure of the heavy-load driving AGV is improved.

[0025] Optionally, the vehicle frame body is provided with a plurality of lightening grooves.

[0026] By adopting the technical scheme, the plurality of lightening grooves are arranged on the vehicle frame body, which helps to improve the lightweight of the heavy-load driving AGV while ensuring the structural strength of the heavy-load driving AGV, unnecessary materials are removed, the energy consumption required by the heavy-load driving AGV during running is reduced, and the heavy-load driving AGV is more energy-saving and environmentally friendly during the execution of the transportation task.

[0027] In summary, the present application has at least one of the following beneficial technical effects:

[0028] 1. A heavy-load driving AGV, which is articulated to the two sides of a fixed frame by a first driving unit, is articulated to the two sides of an articulated frame by a second driving unit, and is articulated to a vehicle frame body by the articulated frame, so that the driving unit can be adjusted according to the ups and downs of the road surface, at least three driving units of the heavy-load driving AGV are in contact with the ground during running, and the stability of the heavy-load driving AGV during running is improved.

[0029] 2. The bottom surfaces of the two sides of the articulated frame are arranged upwardly and obliquely away from the articulated seat, which helps to improve the flexibility of the heavy-load driving AGV during running, so that the heavy-load driving AGV can be adjusted according to the ups and downs of the road surface, and the smooth running of the heavy-load driving AGV is ensured.

[0030] 3. The lightening grooves arranged on the vehicle frame body help to improve the lightweight of the heavy-load driving AGV. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a structural schematic view of the heavy-load driving AGV in the embodiment of the present application.

[0032] Figure 2is a top view of a heavy-load driving trolley in the embodiment of the present application.

[0033] Figure 3 is a structural schematic diagram of the cooperation between the hinged frame and the trolley main body in the embodiment of the present application.

[0034] Figure 4 is a structural schematic diagram of the cooperation between the hinged frame and the second driving unit in the embodiment of the present application.

[0035] Figure 5 is a structural schematic diagram of the cooperation between the hinged support and the hinged support seat in the embodiment of the present application.

[0036] Figure 6 is a structural schematic diagram of the driving wheel assembly in the embodiment of the present application.

[0037] Figure 7 is a structural schematic diagram of the driven wheel assembly in the embodiment of the present application.

[0038] Figure 8 is a sectional view of the cooperation between the rotating seat and the rotating shaft in the embodiment of the present application.

[0039] Legend: 1, trolley main body; 11, fixed frame; 12, hinged frame; 13, hinged seat; 14, limiting block; 2, driving unit; 21, hinged support seat; 211, mounting support plate; 212, hinged shaft; 2121, mounting groove; 2122, driving block; 213, mounting stop ring; 22, hinged support; 221, fixed block assembly; 2211, fixed block; 22111, arrangement groove; 2212, fixed pressing block; 222, rotating shaft; 23, driving wheel assembly; 231, mounting support; 232, driving wheel; 233, driving motor; 234, steering assembly; 2341, steering motor; 2342, first gear; 2343, second gear; 24, driven wheel assembly; 241, mounting plate; 2411, support side plate; 242, driven wheel; 243, rotating seat; 2431, rotating groove; 2432, rotating bearing; 2433, limiting plate; 2434, limiting ring; 24341, limiting protrusion; 25, first driving unit; 26, second driving unit; 3, weight-reducing groove. DETAILED DESCRIPTION

[0040] The following will be described in detail in combination with the accompanying Figures 1-8 The present application will be further described in detail.

[0041] The embodiment of the present application discloses a heavy-load driving AGV trolley. Referring to Figure 1 and Figure 2The application discloses a heavy-load driving AGV (Automatic Guided Vehicle), which comprises a frame body 1 and a driving unit 2 installed on the frame body 1. Four groups of the driving unit 2 are installed on the frame body 1, wherein the four groups of the driving unit 2 are respectively two groups of first driving units 25 symmetrically installed on two sides of the frame body 1 and two groups of second driving units 26 oppositely arranged with the first driving units 25. In order to improve the stability of the heavy-load driving AGV during driving, the frame body 1 is provided with a fixing frame 11 for installing the first driving unit 25 and a hinged frame 12 for installing the second driving unit 26. The first driving unit 25 is hinged on both sides of the fixing frame 11, and the second driving unit 26 is hinged on both sides of the hinged frame 12.

[0042] With reference to Figure 3 The frame body 1 is provided with a hinged seat 13 for installing the hinged frame 12, and the center of the hinged frame 12 is hinged and matched with the hinged seat 13. In order to make the heavy-load driving AGV adapt to the road surface with large ups and downs, the bottom surfaces of both sides of the hinged frame 12 are arranged to be upwardly inclined away from the hinged direction. In order to reduce the probability that both sides of the hinged frame 12 of the heavy-load driving AGV collide with the frame body during driving, the top surfaces of both sides of the hinged frame 12 are arranged to be downwardly inclined away from the hinged seat 13, and the frame body 1 is further provided with a limiting block 14 for abutting the bottom surfaces of both sides of the hinged frame 12.

[0043] With reference to Figure 4 and Figure 5 The four groups of the driving unit 2 installed on the frame body 1 are the same in structure, and the second driving unit 26 is taken as an example in the embodiment. The driving unit 2 comprises a hinged support 21, a hinged support frame 22 rotatably installed on the hinged support 21, a driving wheel assembly 23 installed on one side of the bottom surface of the hinged support frame 22 and a driven wheel assembly 24 installed on the other side of the bottom surface of the hinged support frame 22. The hinged support 21 comprises two oppositely arranged installation support plates 211 and a hinged shaft 212 rotatably installed between the two installation support plates 211. In order to limit the movement of the hinged shaft 212 in the axial direction, the installation support plate 211 is provided with an installation stop ring 213 on the side away from the hinged shaft 212. In order to improve the stability of the hinged support frame 22 during rotation, the hinged shaft 212 is provided with a driving block 2122 extending away from the hinged shaft 212 in the installation groove 2121, and the hinged support frame 22 is provided with a fixed block assembly 221 fixedly connected with the driving block 2122. The fixed block assembly 221 comprises a fixed block 2211 installed on the hinged support frame 22 and two fixed pressing blocks 2212 for pressing the driving block 2122 against the fixed block 2211. The fixed block 2211 is provided with an arrangement groove 22111 penetrating through the upper and lower side surfaces of the fixed block 2211 and used for arranging the driving block 2122, and the two fixed pressing blocks 2212 are respectively abutted against the upper and lower side surfaces of the fixed block 2211 and connected with the fixed block 2211 through screws.

[0044] With reference to Figure 6 The driving wheel assembly 23 comprises a mounting bracket 231 mounted on one side of the bottom surface of the articulated bracket 22, a driving wheel 232 rotatably mounted on the mounting bracket 231, a driving motor 233 mounted on the mounting bracket 231 and used to drive the driving wheel 232 to rotate, and a steering assembly 234 used to steer the driving wheel 232. The steering assembly 234 comprises a steering motor 2341 mounted on the mounting bracket 231, a first gear 2342 mounted on the output shaft of the steering motor 2341, and a second gear 2343 fixedly mounted on the top surface of the mounting bracket 231 and engaged with the first gear 2342. The steering motor 2341 is mounted on the bottom surface of the mounting bracket 231, and the output shaft of the steering motor 2341 extends upward. The mounting bracket 231 is provided with a mounting through hole for the output shaft of the steering motor 2341 to pass through, and the first gear 2342 is arranged on the top surface of the mounting bracket 231. In this embodiment, one driving unit 2 comprises one driving wheel 232.

[0045] With reference to Figure 7 and Figure 8The driven wheel assembly 24 comprises a mounting plate 241 mounted on the other side of the bottom surface of the articulated support 22 and a driven wheel 242 rotatably mounted on the bottom surface of the mounting plate 241. The driven wheel 242 is fixed on the bottom surface of the mounting plate 241 by screws. The top surface of the mounting plate 241 is provided with a rotating seat 243 rotatably connected with the articulated support 21. The articulated support 22 is provided with a rotating shaft 222 extending towards the rotating seat 243, and the rotating shaft 222 is provided with a limiting groove 2221 on the side away from the articulated support 22. The rotating seat 243 is provided with a rotating groove 2431 for arranging the rotating shaft 222, and the rotating seat 243 is provided with a rotating bearing 2432 sleeved on the outer side wall of the rotating shaft 222 in the rotating groove 2431. The two sides of the rotating seat 243 are further provided with limiting plates 2433 for limiting the rotating bearing 2432 from being taken out of the rotating groove 2431. The rotating bearing 2432 and the limiting plates 2433 are further provided with a limiting ring 2434, and the limiting ring 2434 is provided with limiting protrusions 24341 matched with the limiting groove 2221 of the rotating shaft 222, so that the mounting plate 241 can be circumferentially rotated along the rotating shaft 222. In order to improve the stability of the connection between the rotating seat 243 and the mounting plate 241, the bottom surface of the mounting plate 241 is provided with a plurality of supporting side plates 2411. One end of the supporting side plate 2411 is connected with the top surface of the mounting plate 241, and the other end is connected with the outer side wall of the rotating seat 243. In this embodiment, the driven wheel 242 is a universal wheel, and two driven wheels 242 are rotatably mounted on the bottom surface of one mounting plate 241. The two driven wheels 242 are arranged along the length direction of the mounting plate 241. The cross section of the mounting plate 241 is square. The rotating seat 243 is arranged at the center of the top surface of the mounting plate 241. The top surface of the mounting plate 241 is provided with four supporting side plates 2411 extending from the rotating seat 243 to the four corners of the mounting plate 241.

[0046] Reference Figure 3 And Figure 5 In order to ensure that the heavy load driving AGV has ideal structural strength and improve its lightness, a plurality of lightening grooves 3 are formed on the frame body 1 and the driving unit 2, and many connecting pipes in the frame body 1 are hollow square pipes.

[0047] The implementation principle of the heavy-load driving AGV trolley in the embodiment of the application is as follows: the first driving unit 25 is hinged to the two sides of the fixed frame 11, the second driving unit 26 is hinged to the two sides of the hinged frame 12, and the hinged frame 12 is hingedly installed on the trolley main body 1, so that when the heavy-load driving AGV trolley encounters a road surface with large ups and downs during driving, the rotation of each driving unit 2 around the hinge point can be used to adjust according to the ups and downs of the road surface, and it is ensured that there are always three driving units 2 in contact with the road surface, thereby effectively improving the stability of the heavy-load driving AGV trolley during driving, and reducing the probability of tilting or overturning of the heavy-load driving AGV trolley during handling. The setting of the four groups of driving units 2 can effectively improve the working efficiency of the heavy-load driving AGV trolley and make the flexibility more ideal.

[0048] The above are preferred embodiments of the application, and do not limit the protection scope of the application, so that: any equivalent changes made according to the structure, shape, principle of the application should be covered within the protection scope of the application.

Claims

1. A heavy-duty driven AGV trolley, characterized in that, The vehicle includes a frame body (1) and a drive unit (2) mounted on the frame body (1). The drive unit (2) consists of a first drive unit (25) symmetrically mounted on both sides of the frame body (1) and a second drive unit (26) arranged opposite to the first drive unit (25). The frame body (1) is provided with a fixing frame (11) for mounting the first drive unit (25) and a hinge frame (12) for mounting the second drive unit (26). The frame body (1) is provided with a hinge seat (13) for mounting the hinge frame (12). The first drive unit (25) is hinged to both sides of the fixing frame (11) and the second drive unit (26) is hinged to both sides of the hinge frame (12).

2. The heavy-duty driven AGV trolley according to claim 1, characterized in that, The drive unit (2) includes a hinge support (21), a hinge bracket (22) rotatably mounted on the hinge support (21), a drive wheel assembly (23) mounted on one side of the hinge bracket (22), and a driven wheel assembly (24) mounted on the other side of the hinge bracket (22). The hinge support (21) includes two oppositely arranged mounting plates (211) and a hinge shaft (212) rotatably mounted on the mounting plates (211). The hinge shaft (212) is provided with a drive block (2122) extending away from the hinge shaft (212). The hinge bracket (22) is provided with a fixing block assembly (221) fixedly connected to the drive block (2122).

3. The heavy-duty driven AGV trolley according to claim 2, characterized in that, The fixing block assembly (221) includes a fixing block (2211) mounted on the hinge bracket (22) and a fixing pressure block (2212) for pressing the driving block (2122) against the fixing block (2211). The fixing block (2211) has an arrangement slot (22111) for arranging the driving block (2122).

4. A heavy-duty driven AGV trolley according to claim 2, characterized in that, The drive wheel assembly (23) includes a mounting bracket (231) mounted on one side of the bottom surface of the hinge bracket (22), a drive wheel (232) rotatably mounted on the mounting bracket (231), a drive motor (233) for driving the drive wheel (232) to rotate, and a steering assembly (234) for driving the drive wheel (232) to turn.

5. A heavy-duty driven AGV trolley according to claim 4, characterized in that, The steering assembly (234) includes a steering motor (2341) mounted on the mounting bracket (231), a first gear (2342) mounted on the output shaft of the steering motor (2341), and a second gear (2343) fixedly mounted on the mounting bracket (231) and meshing with the first gear (2342); the steering motor (2341) is mounted on the bottom surface of the mounting bracket (231) and the output shaft of the steering motor (2341) extends upward; the mounting bracket (231) has a mounting through hole for the output shaft of the steering motor (2341) to pass through.

6. A heavy-duty driven AGV trolley according to claim 2, characterized in that, The driven wheel assembly (24) includes a mounting plate (241) mounted on the other side of the bottom surface of the hinge bracket (22) and a driven wheel (242) rotatably mounted on the bottom surface of the mounting plate (241). The top surface of the mounting plate (241) is provided with a rotating seat (243) rotatably connected to the hinge support (21). The hinge bracket (22) is provided with a rotating shaft (222) extending toward the rotating seat (243). The rotating seat (243) is provided with a rotating groove (2431) for arranging the rotating shaft (222), and the rotating seat (243) is provided with a rotating bearing (2432) sleeved on the rotating shaft (222) at the rotating groove (2431).

7. A heavy-duty driven AGV trolley according to claim 6, characterized in that, The top surface of the mounting plate (241) is provided with multiple support side plates (2411), one end of the support side plate (2411) is connected to the top surface of the mounting plate (241) and the other end is connected to the outer side wall of the rotating seat (243).

8. A heavy-duty driven AGV trolley according to claim 1, characterized in that, The bottom surfaces of the hinge frame (12) are arranged at an upward angle away from the hinge seat (13).

9. A heavy-duty driven AGV trolley according to claim 8, characterized in that, The frame body (1) is provided with limiting blocks (14) for the bottom surfaces of both sides of the articulated frame (12) to abut against each other.

10. A heavy-duty driven AGV trolley according to claim 1, characterized in that, The frame body (1) has multiple weight-reducing grooves (3).

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