A jaw drill AGV platform

Abstract

The utility model discloses a kind of jaw type drilling and riveting AGV platform, include AGV platform car body and the several groups jaw type wheel body mechanism being set on AGV platform car body, every group jaw type wheel body mechanism includes left side wheel group, right side wheel group and wheel group lifting drive mechanism, left side wheel group and right side wheel group are respectively included wheel body, lifting support, first swing arm and second swing arm.The utility model realizes the lifting of wheel and the wheel body angle always remains unchanged in lifting process, the synchronous lifting of two side wheel bodies, and realizes in situ transverse movement and in situ steering, to adapt to the complex environment in organism.

Description

Technical Field

[0001] This utility model relates to an AGV platform, particularly a jaw drilling and riveting AGV platform, and belongs to the technical field of aircraft manufacturing equipment. Background Technology

[0002] Aircraft manufacturing requires drilling and riveting processes, which are traditionally performed manually. However, manual drilling and riveting demands high skill levels from operators and is inefficient. Therefore, automating the drilling and riveting process in aircraft manufacturing is a crucial issue. Since drilling and riveting is a process used during the assembly of the aircraft's frame and shell, it is difficult to achieve streamlined production. Using AGV platforms to carry related equipment for drilling and riveting, such as industrial robots, tool testing stands, vacuum cleaners, robot control cabinets, electrical cabinets, and nail feeding cabinets, is currently the main method for automating the drilling and riveting process. Traditional AGV platforms mainly use fixed-structure wheels, which can only travel on flat ground and are inconvenient for turning. However, the environment where drilling and riveting takes place is complex, and the walking structure of traditional AGV platforms cannot meet the requirements of the drilling and riveting process in aircraft manufacturing. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a jaw drilling and riveting AGV platform that can move in complex environments to automate the drilling and riveting process.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A jaw drilling and riveting AGV platform includes an AGV platform body and several sets of jaw wheel mechanisms mounted on the AGV platform body. Each set of jaw wheel mechanisms includes a left wheel set, a right wheel set, and a wheel set lifting drive mechanism. The left wheel set and the right wheel set each include a wheel body, a lifting bracket, a first swing arm, and a second swing arm. The lifting bracket is arranged vertically, and the wheel body is fixed to the outside of the lifting bracket. The first swing arm and the second swing arm are arranged in parallel, with one end of the first swing arm and the second swing arm hinged to the inside of the lifting bracket, and the other end of the first swing arm and the second swing arm hinged to the side of the AGV platform body. The lifting brackets of the left wheel set and the right wheel set are respectively connected to the wheel set lifting drive mechanism and are driven by the wheel set lifting drive mechanism to move up and down vertically.

[0005] Furthermore, the wheel assembly lifting drive mechanism includes a double-threaded sleeve, a left screw, a right screw, and a sleeve drive mechanism. The double-threaded sleeve is rotatably mounted on the underside of the AGV platform body. The double-threaded sleeve is connected to the sleeve drive mechanism and is driven to rotate by the sleeve drive mechanism. The double-threaded sleeve has an axially arranged double-threaded through hole. One end of the double-threaded through hole has a first thread, and the other end has a second thread. The first and second threads have opposite thread directions. One end of the left screw has a thread that meshes with the first thread, and one end of the left screw is located at one end of the double-threaded through hole and threadedly connected to the double-threaded sleeve. One end of the right screw has a thread that meshes with the second thread, and one end of the right screw is located at the other end of the double-threaded through hole and threadedly connected to the double-threaded sleeve. The lifting bracket has a vertically arranged guide groove. The other end of the left screw is located in the guide groove of the lifting bracket of the left wheel assembly through a pin, and the other end of the right screw is located in the guide groove of the lifting bracket of the right wheel assembly through a pin.

[0006] Furthermore, the lower side of the AGV platform body is provided with a first sleeve support and a second sleeve support, and the two ends of the double threaded sleeve are rotatably set in the first sleeve support and the second sleeve support through bearings.

[0007] Furthermore, the first thread extends from one end of the double-threaded through hole to the other end of the double-threaded through hole to the midpoint of the double-threaded through hole, and the second thread extends from the other end of the double-threaded through hole to one end of the double-threaded through hole to the midpoint of the double-threaded through hole.

[0008] Furthermore, the sleeve drive mechanism includes a gear ring, a gear, and a gear drive motor. The gear ring has a through hole in the middle that matches the outer diameter of the double-threaded sleeve. The gear ring is sleeved on the outside of the double-threaded sleeve through the through hole and is fixedly connected to the double-threaded sleeve. The gear meshes with the gear ring. The gear is mounted on the output shaft of the gear drive motor and is driven to rotate by the gear drive motor. The gear drive motor is fixed inside the AGV platform vehicle body.

[0009] Furthermore, the gear drive motor is a servo motor.

[0010] Furthermore, the wheel body includes a hub motor and an outer wheel rim. The stator of the hub motor is fixed to the outside of the lifting bracket, and the outer wheel rim is fixed to the outer circumferential surface of the rotor of the hub motor.

[0011] Furthermore, the outer rim is a Mecanum rim.

[0012] Compared with the prior art, this utility model has the following advantages and effects: This utility model discloses a jaw drilling and riveting AGV platform. Through the lifting bracket and two swing arms forming a parallelogram structure with the AGV body, the lifting of the wheels is realized and the wheel angle remains unchanged during the lifting process. The synchronous lifting of the wheels on both sides is realized through the double threaded sleeve structure, thereby changing the chassis height of the AGV platform and improving its obstacle crossing ability. The use of Mecanum wheels enables the AGV platform body to achieve lateral movement and turning in place, thereby adapting to the complex environment inside the machine. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a jaw drilling and riveting AGV platform according to the present invention.

[0014] Figure 2 This is a schematic diagram of the left wheel assembly of a jaw drilling and riveting AGV platform according to this utility model.

[0015] Figure 3 This is a schematic diagram of the wheel assembly lifting drive mechanism of this utility model. Detailed Implementation

[0016] To elaborate on the technical solutions adopted by this utility model to achieve the intended technical objectives, the technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Furthermore, the technical means or technical features in the embodiments of this utility model can be replaced without creative effort. The utility model will be described in detail below with reference to the accompanying drawings and embodiments.

[0017] like Figure 1 As shown, this utility model discloses a jaw drilling and riveting AGV platform, comprising an AGV platform body 1 and several sets of jaw wheel mechanisms mounted on the AGV platform body 1. Each set of jaw wheel mechanisms includes a left wheel set 2, a right wheel set 3, and a wheel set lifting drive mechanism. Figure 2As shown, the left wheel set 2 and the right wheel set 3 respectively include a wheel body 4, a lifting bracket 5, a first swing arm 6 and a second swing arm 7. The lifting bracket 5 is arranged in a vertical direction. The wheel body 4 is fixed on the outside of the lifting bracket 5. The first swing arm 6 and the second swing arm 7 are arranged in parallel. One end of the first swing arm 6 and the second swing arm 7 is hinged to the inside of the lifting bracket 5, and the other end of the first swing arm 6 and the second swing arm 7 is hinged to the side of the AGV platform body 1. The lifting brackets 5 of the left wheel set 2 and the right wheel set 3 are respectively connected to the wheel set lifting drive mechanism and are driven by the wheel set lifting drive mechanism to rise and fall in the vertical direction. Since the side of the AGV platform vehicle body 1 is a vertical plane, and the lifting bracket 5 is set in the vertical direction, the lifting bracket 5 is parallel to the side of the AGV platform vehicle body 1. At the same time, the first swing arm 6 and the second swing arm 7 are parallel to each other. Thus, the lifting bracket 5, the side of the AGV platform vehicle body 1, the first swing arm 6 and the second swing arm 7 form a parallelogram. In this way, when the lifting bracket 5 is raised and lowered, since the opposite sides of the parallelogram remain parallel when deformed, the lifting bracket 5 also remains vertical during the raising and lowering process, so that the angle of the wheel body 4 remains unchanged when it is raised and lowered.

[0018] The wheel assembly lifting drive mechanism includes a double-threaded sleeve 8, a left screw 9, a right screw 10, and a sleeve drive mechanism. The double-threaded sleeve 8 is rotatably mounted on the underside of the AGV platform body 1. The double-threaded sleeve 8 is connected to the sleeve drive mechanism and is driven to rotate by the sleeve drive mechanism. The double-threaded sleeve 8 has an axially arranged double-threaded through hole 11. One end of the double-threaded through hole 11 is provided with a first thread, and the other end is provided with a second thread. The first thread and the second thread have opposite thread directions. One end of the left screw 9 is provided with a screw that meshes with the first thread. One end of the left screw 9 is threaded into the double-threaded through hole 11 and connected to the double-threaded sleeve 8. One end of the right screw 10 is threaded to engage with the second thread, and the other end of the right screw 10 is threaded into the double-threaded through hole 11 and connected to the double-threaded sleeve 8. A guide groove 12 is vertically oriented within the lifting bracket 5. The other end of the left screw 9 is pinned within the guide groove 12 of the lifting bracket 5 on the left wheel assembly 2, and the other end of the right screw 10 is pinned within the guide groove 12 of the lifting bracket 5 on the right wheel assembly 3. The sleeve drive mechanism drives the double-threaded sleeve 8 to rotate. Because the threads at both ends of the double-threaded through hole 11 are in opposite directions, the left screw 9 and the right screw 10 contract and extend synchronously, achieving synchronous lifting and lowering drive operation of the lifting brackets for the left and right wheel assemblies.

[0019] The lower side of the AGV platform vehicle body 1 is provided with a first sleeve support 13 and a second sleeve support 14. The two ends of the double threaded sleeve 8 are rotatably set in the first sleeve support 13 and the second sleeve support 14 through bearings.

[0020] The first thread extends from one end of the double-threaded through hole 11 toward the other end of the double-threaded through hole 11 to the midpoint of the double-threaded through hole 11, and the second thread extends from the other end of the double-threaded through hole 11 toward one end of the double-threaded through hole 11 to the midpoint of the double-threaded through hole 11.

[0021] like Figure 3 As shown, the sleeve drive mechanism includes a gear ring 15, a gear 16, and a gear drive motor 17. The gear ring 15 has a through hole in the center that matches the outer diameter of the double-threaded sleeve 8. The gear ring 15 is fitted onto the outside of the double-threaded sleeve 8 through the through hole and is fixedly connected to it. The gear 16 meshes with the gear ring 15 and is mounted on the output shaft of the gear drive motor 17, which drives its rotation. The gear drive motor 17 is fixed inside the AGV platform body 1. The gear drive motor 17 drives the gear 16 to rotate, which in turn drives the gear ring 15 and the double-threaded sleeve 8 fixed to it to rotate, thereby driving the lifting and lowering of the wheels on both sides. The gear drive motor 17 is a servo motor, which achieves precise height control of the wheels on both sides through precise angle control.

[0022] Wheel 4 comprises a hub motor and an outer wheel rim. The stator of the hub motor is fixed to the outside of the lifting bracket 5, and the outer wheel rim is fixed to the outer circumferential surface of the hub motor rotor. The outer wheel rim is a Mecanum wheel rim. Each wheel 4 is driven by an independent hub motor and uses a Mecanum wheel, enabling the AGV platform to move laterally and turn in place, thus adapting to the complex environment inside the machine.

[0023] This utility model discloses a jaw drilling and riveting AGV platform. Through the lifting bracket and two swing arms forming a parallelogram structure with the AGV body, the lifting of the wheels is realized, and the wheel angle remains unchanged during the lifting process. The synchronous lifting of the wheels on both sides is realized through the double threaded sleeve structure, thereby changing the chassis height of the AGV platform and improving its obstacle crossing ability. The use of Mecanum wheels enables the AGV platform body to move laterally and turn in place, thereby adapting to the complex environment inside the machine.

[0024] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model's technical solution. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present utility model's technical solution, based on the technical essence of the present utility model and within the spirit and principles of the present utility model, shall still fall within the protection scope of the present utility model's technical solution.

Claims

1. A jaw drilling and riveting AGV platform, characterized in that: The system includes an AGV platform vehicle body and several sets of jaw wheel mechanisms mounted on the AGV platform vehicle body. Each set of jaw wheel mechanisms includes a left wheel set, a right wheel set, and a wheel set lifting drive mechanism. The left and right wheel sets each include a wheel body, a lifting bracket, a first swing arm, and a second swing arm. The lifting bracket is arranged vertically, and the wheel body is fixed to the outside of the lifting bracket. The first and second swing arms are arranged in parallel, with one end of the first and second swing arms hinged to the inside of the lifting bracket and the other end of the first and second swing arms hinged to the side of the AGV platform vehicle body. The lifting brackets of the left and right wheel sets are respectively connected to the wheel set lifting drive mechanism and are driven by the wheel set lifting drive mechanism to move up and down vertically.

2. The jaw drilling and riveting AGV platform according to claim 1, characterized in that: The wheel assembly lifting drive mechanism includes a double-threaded sleeve, a left screw, a right screw, and a sleeve drive mechanism. The double-threaded sleeve is rotatably mounted on the underside of the AGV platform body. The double-threaded sleeve is connected to the sleeve drive mechanism and is driven to rotate by the sleeve drive mechanism. The double-threaded sleeve has an axially arranged double-threaded through hole. One end of the double-threaded through hole has a first thread, and the other end has a second thread. The first and second threads have opposite thread directions. One end of the left screw has a thread that meshes with the first thread and is located at one end of the double-threaded through hole and threadedly connected to the double-threaded sleeve. One end of the right screw has a thread that meshes with the second thread and is located at the other end of the double-threaded through hole and threadedly connected to the double-threaded sleeve. The lifting bracket has a vertically arranged guide groove. The other end of the left screw is located in the guide groove of the lifting bracket of the left wheel assembly via a pin, and the other end of the right screw is located in the guide groove of the lifting bracket of the right wheel assembly via a pin.

3. The jaw drilling and riveting AGV platform according to claim 2, characterized in that: The AGV platform body is provided with a first sleeve support and a second sleeve support on its lower side. The two ends of the double threaded sleeve are rotatably set in the first sleeve support and the second sleeve support through bearings.

4. The jaw drilling and riveting AGV platform according to claim 2, characterized in that: The first thread extends from one end of the double-threaded through hole to the other end of the double-threaded through hole to the midpoint of the double-threaded through hole, and the second thread extends from the other end of the double-threaded through hole to one end of the double-threaded through hole to the midpoint of the double-threaded through hole.

5. A jaw drilling and riveting AGV platform according to claim 2, characterized in that: The sleeve drive mechanism includes a gear ring, a gear, and a gear drive motor. The gear ring has a through hole in the middle that matches the outer diameter of the double-threaded sleeve. The gear ring is sleeved on the outside of the double-threaded sleeve through the through hole and is fixedly connected to the double-threaded sleeve. The gear meshes with the gear ring. The gear is mounted on the output shaft of the gear drive motor and is driven to rotate by the gear drive motor. The gear drive motor is fixed inside the AGV platform vehicle body.

6. The jaw drilling and riveting AGV platform according to claim 5, characterized in that: The gear drive motor is a servo motor.

7. The jaw drilling and riveting AGV platform according to claim 1, characterized in that: The wheel body includes a hub motor and an outer wheel rim. The stator of the hub motor is fixed to the outside of the lifting bracket, and the outer wheel rim is fixed to the outer circumferential surface of the rotor of the hub motor.

8. A jaw drilling and riveting AGV platform according to claim 7, characterized in that: The outer rim is a Mecanum rim.

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