A type of drive-in AGV

Abstract

This utility model provides a drive-in AGV, including a chassis and two drive components. Each drive component includes a rocker arm, a drive wheel, a second driven wheel, a first elastic reset member, and a second elastic reset member. The rocker arm is hinged to the chassis and includes a first arm body and a second arm body. The drive wheel is mounted on the first arm body, and the second driven wheel is mounted on the second arm body. The first elastic reset member applies an elastic force to the first arm body to allow it to swing and then return to its original position. The second elastic reset member applies an elastic force to the second arm body to allow it to swing and then return to its original position. By designing the rocker arm to cooperate with the first and second elastic reset members, the drive wheel and the second driven wheel can flexibly swing around the hinge point, giving them adaptive adjustment capabilities. The drive wheel can adjust up and down according to changes in ground height, avoiding the suspension problem caused by uneven ground in traditional fixed drive wheels, thus reducing the risk of slippage.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, specifically to a drive-in AGV. Background Technology

[0002] The reliability of AGV operation directly determines the continuity of production and logistics processes. Traditional AGV wheel systems mostly adopt a "fixed installation and rigid connection" design, and the position and angle of the drive wheel and driven wheel cannot be dynamically adjusted according to the ground conditions.

[0003] When the driving surface has minor bumps and local depressions, the drive wheels are prone to insufficient contact with the ground, leading to decreased traction and slippage. Slippage not only causes deviations in AGV positioning accuracy, deviations in driving paths, and driving stability, but may also increase equipment energy consumption, accelerate tire wear, and in severe cases, even affect the continuity of the production process. Utility Model Content

[0004] In view of the deficiencies in the prior art, the purpose of this utility model is to provide a drive-in AGV to solve or at least alleviate one or more of the above-mentioned technical problems or other problems existing in the prior art.

[0005] To achieve the above objectives, this utility model provides a drive-in AGV, including a chassis and two drive components. The chassis has two first driven wheels, and the two drive components are respectively arranged on both sides of the chassis. Each drive component includes: a rocker arm hinged to the chassis, the rocker arm having a hinge point with the chassis, the rocker arm including a first arm body and a second arm body, the first arm body and the second arm body being located on both sides of the hinge point; a drive wheel disposed on the first arm body; a second driven wheel disposed on the second arm body; at least one first elastic reset member for applying an elastic force to the first arm body to reset it after swinging; and at least one second elastic reset member for applying an elastic force to the second arm body to reset it after swinging.

[0006] Preferably, the connection point between the first elastic reset member and the first arm body is denoted as the first connection point, and the length between the first connection point and the hinge point is denoted as L1; the connection point between the second elastic reset member and the second arm body is denoted as the second connection point, and the length between the second connection point and the hinge point is denoted as L2, wherein L1 is equal to twice the length of L2.

[0007] Preferably, there are two first elastic reset members.

[0008] Preferably, the two ends of the first elastic reset member are connected to the first arm body and the chassis, respectively.

[0009] Preferably, there are two second elastic reset members.

[0010] Preferably, the two ends of the second elastic reset member are connected to the second arm body and the chassis, respectively.

[0011] Preferably, the drive assembly further includes a first connecting block, a second connecting block, a third connecting block, and a fourth connecting block. The first connecting block and the second connecting block are respectively disposed on the chassis, the third connecting block is disposed on the first arm, and the fourth connecting block is disposed on the second arm. The two ends of the first elastic reset member are respectively connected to the first connecting block and the third connecting block, and the two ends of the second elastic reset member are respectively connected to the second connecting block and the fourth connecting block.

[0012] Preferably, the chassis is provided with two bases, and each rocker arm is hinged to the corresponding base.

[0013] Preferably, the base is provided with a rotating shaft and a limiting block, and the rocker arm is rotatably engaged on the rotating shaft; the rotating shaft is provided with a limiting groove, and the limiting block is engaged in the limiting groove.

[0014] Preferably, the drive wheel is located between the first driven wheel and the second driven wheel on the corresponding side.

[0015] The beneficial effects of this utility model are: This utility model discloses a drive-in AGV that, through the design of a rocker arm cooperating with a first and a second elastic reset component, allows the drive wheel and the second driven wheel to swing flexibly around the hinge point. This gives the drive wheel and the driven wheel an adaptive adjustment capability. When the ground is uneven, the drive wheel can adjust up and down according to the change in ground height, avoiding the suspension problem caused by uneven ground in traditional fixed drive wheels, thus reducing the risk of slippage. The first elastic reset component ensures that the drive wheel is always pressed against the ground through preload and dynamic elastic force, preventing power loss. The design of the second elastic reset component helps maintain the overall support and balance of the AGV, thereby improving driving stability. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0017] Figure 1 This is a schematic diagram of the structure of a drive-in AGV provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the chassis structure; Figure 3 This is a side view of the chassis; Figure 4 This is a partial schematic diagram of the driving component; Figure 5 This is a schematic diagram of the rocker arm structure; Figure label: 10. Chassis; 11. First driven wheel; 12. Base; 13. Rotating shaft; 14. Limiting block; 20. Rocker arm; 21. First arm body; 22. Second arm body; 30. Drive wheel; 40. Second driven wheel; 50. First elastic reset member; 60. Second elastic reset member; 71. First connecting block; 72. Second connecting block; 73. Third connecting block; 74. Fourth connecting block. Detailed Implementation

[0018] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0019] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this utility model pertains.

[0020] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0021] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly defined.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0023] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0024] like Figure 1-5 As shown, in one embodiment of this utility model, a drive-in AGV is provided, including a chassis 10 and two drive components. The chassis 10 is the core load-bearing base, and two first driven wheels 11 are provided on the chassis 10. The first driven wheels 11 are located near the front end of the chassis 10 and are omnidirectional wheels. The two drive components are respectively arranged on both sides of the chassis 10. Specifically, the drive components include a rocker arm 20, a drive wheel 30, a second driven wheel 40, a first elastic reset member 50, and a second elastic reset member 60. The rocker arm 20 is hinged to the chassis 10, and the rocker arm 20 and the chassis 10 have a hinge point. The rocker arm 20 includes a first arm body 21 and a second arm body 22, which are respectively located on both sides of the hinge point.

[0025] The drive wheel 30 is the power output component of the AGV, driven by a geared motor, and is fixedly mounted on the first arm 21. The second driven wheel 40 is fixedly mounted on the second arm 22, and is also a caster wheel. When the first arm 21 swings around the hinge point due to ground undulations, the first elastic reset member 50 generates a reverse elastic force through its own tension, causing the first arm 21 to return to its initial position after swinging, ensuring that the drive wheel 30 always remains in contact with the ground. When the second arm 22 swings due to ground undulations, the second elastic reset member 60 drives the second arm 22 to reset through elastic force, ensuring stable contact between the second driven wheel 40 and the ground.

[0026] This embodiment discloses a drive-in AGV that, through the design of a rocker arm 20 cooperating with a first elastic reset member 50 and a second elastic reset member 60, allows the drive wheel 30 and the second driven wheel 40 to swing flexibly around the hinge point. This gives the drive wheel 30 and the second driven wheel 40 an adaptive adjustment capability. When the ground is uneven, the drive wheel 30 can adjust up and down according to the change in ground height, avoiding the suspension problem caused by uneven ground in traditional fixed drive wheels 30, thereby reducing the risk of slippage. The first elastic reset member 50 ensures that the drive wheel 30 is always pressed against the ground through preload and dynamic elastic force, preventing power loss. The design of the second elastic reset member 60 helps maintain the overall support and balance of the AGV, thereby improving driving stability.

[0027] See Figure 3 In one embodiment, the connection point between the first elastic reset member 50 and the first arm body 21 is denoted as the first connection point, and the length between the first connection point and the hinge point is denoted as L1. The connection point between the second elastic reset member 60 and the second arm body 22 is denoted as the second connection point, and the length between the second connection point and the hinge point is denoted as L2. L1 is equal to twice L2.

[0028] The design of L1 being twice the size of L2 allows for a reasonable ratio between the force exerted by the first elastic reset member 50 on the drive wheel 30 and the force exerted by the second elastic reset member 60 on the second driven wheel 40, preventing unstable grounding caused by uneven force on the drive wheel 30 and the second driven wheel 40. Since the drive wheel 30 is the power core, it requires greater grounding pressure and a more sensitive reset response. Therefore, the longer L1 design allows for a smoother swing amplitude of the first arm 21, which, combined with the elastic force of the first elastic reset member 50, ensures a longer grounding time and more sufficient contact for the drive wheel 30 on undulating ground. The shorter L2 design allows for more flexible swinging of the second driven wheel 40, enabling it to quickly adapt to ground changes and helping to maintain balance. Of course, the numerical range of L1 varies depending on the size adaptability of the AGV, and will not be elaborated upon in this embodiment.

[0029] In one embodiment, two first elastic reset members 50 are provided, and the two first elastic reset members 50 are arranged symmetrically. This structural design can apply a uniform elastic force to the first arm 21, avoiding tilting of the first arm 21 due to force concentration on one side of the first elastic reset member 50, ensuring that the drive wheel 30 is always pressed against the ground, and reducing slippage or wear caused by the tilting of the drive wheel 30. At the same time, the two first elastic reset members 50 form a double protection. Even if one first elastic reset member 50 fails, the other can still function, avoiding grounding failure caused by the drive wheel 30 instantly losing its reset force, thus improving the reliability and safety of AGV operation.

[0030] In one embodiment, the first elastic reset member 50 is a tension spring, with its two ends connected to the first arm body 21 and the chassis 10, respectively. The direct connection between the first elastic reset member 50 and the first arm body 21 and the chassis 10 ensures that the elastic force generated by the first elastic reset member 50 can fully act on the first arm body 21, thereby improving the reset response speed and allowing the drive wheel 30 to quickly adapt to changes in ground conditions. Simultaneously, the direct connection method makes the installation and removal of the first elastic reset member 50 more convenient, allowing for quick replacement during later maintenance.

[0031] In one embodiment, two second elastic reset members 60 are provided, and the two second elastic reset members 60 are arranged symmetrically. This structural design can apply a uniform elastic force to the second arm 22, avoiding tilting of the second arm 22 due to force concentration on one side of the second elastic reset member 60, ensuring that the second driven wheel 40 is always pressed against the ground, and reducing wear and driving deviation caused by the tilting of the second driven wheel 40. At the same time, the two second elastic reset members 60 form a double protection. Even if one second elastic reset member 60 fails, the other can still function, avoiding grounding failure caused by the second driven wheel 40 instantly losing its reset force, thus improving overall reliability.

[0032] In one embodiment, the two ends of the second elastic reset member 60 are connected to the second arm 22 and the chassis 10, respectively. This structural design is similar to that of the first elastic reset member 50, and will not be described in detail here.

[0033] In one embodiment, the drive assembly further includes a first connecting block 71, a second connecting block 72, a third connecting block 73, and a fourth connecting block 74. The first connecting block 71 and the second connecting block 72 are respectively fixedly mounted on the chassis 10, the third connecting block 73 is fixedly mounted on the first arm 21, and the fourth connecting block 74 is fixedly mounted on the second arm 22. The two ends of the first elastic reset member 50 are respectively connected to the first connecting block 71 and the third connecting block 73, and the two ends of the second elastic reset member 60 are respectively connected to the second connecting block 72 and the fourth connecting block 74. The first connecting block 71, the second connecting block 72, the third connecting block 73, and the fourth connecting block 74 form a stable connection point, and the first connecting block 71, the second connecting block 72, the third connecting block 73, and the fourth connecting block 74 are pre-drilled with connection holes, making the installation position of the first elastic reset member 50 and the second elastic reset member 60 more precise, thereby reducing assembly errors.

[0034] In one embodiment, two bases 12 are fixedly mounted on the chassis 10, and each rocker arm 20 is hinged to the corresponding base 12. The base 12 serves as an independent hinged support component, which can enhance the strength of the connection between the rocker arm 20 and the chassis 10.

[0035] In one embodiment, the base 12 is provided with a rotating shaft 13 and a limiting block 14, and the rocker arm 20 is rotatably engaged with the rotating shaft 13. The rotating shaft 13 is provided with a limiting groove, and the limiting block 14 is fixedly installed on one side of the base 12, with the limiting block 14 locked in the limiting groove. The rotating shaft 13 provides stable rotational support for the rocker arm 20, and the bushing reduces the frictional resistance when the rocker arm 20 swings, ensuring that the drive wheel 30 and the second driven wheel 40 respond more sensitively to ground undulations. The engagement of the limiting block 14 with the limiting groove locks the rotating shaft 13 onto the base 12, facilitating the assembly and disassembly of the rotating shaft 13.

[0036] In one embodiment, the drive wheel 30 is located between the first driven wheel 11 and the second driven wheel 40 on the corresponding side. During AGV operation, the drive wheel 30 is always in the middle support area between the first driven wheel 11 and the second driven wheel 40, thereby reducing the probability of the drive wheel 30 being suspended due to ground undulations.

[0037] Numerous specific details are set forth in this specification. However, it will be understood that embodiments of this invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A drive-in AGV, characterized by comprising: It includes a chassis (10) and two drive components. The chassis (10) is provided with two first driven wheels (11), and the two drive components are respectively arranged on both sides of the chassis (10). The driving component includes: A rocker arm (20) is hinged to the chassis (10). The rocker arm (20) and the chassis (10) have a hinge point. The rocker arm (20) includes a first arm body (21) and a second arm body (22). The first arm body (21) and the second arm body (22) are located on both sides of the hinge point, respectively. A drive wheel (30) is mounted on the first arm (21); The second driven wheel (40) is provided on the second arm body (22); At least one first elastic reset member (50) is used to apply an elastic force to the first arm body (21) to reset the first arm body (21) after swinging; and At least one second elastic reset member (60) is provided for applying an elastic force to the second arm body (22) to reset the second arm body (22) after swinging.

2. The drive-in AGV according to claim 1, characterized in that The connection point between the first elastic reset member (50) and the first arm body (21) is denoted as the first connection point, and the length between the first connection point and the hinge point is denoted as L1; The connection point between the second elastic reset member (60) and the second arm body (22) is denoted as the second connection point, and the length between the second connection point and the hinge point is denoted as L2. The L1 is equal to twice the L2.

3. The drive-in AGV according to claim 1 or 2, characterized in that The first elastic reset member (50) is provided in two.

4. The drive-in AGV according to claim 3, characterized in that The first elastic reset member (50) is connected to the first arm body (21) and the chassis (10) at both ends.

5. The drive-in AGV according to claim 4, characterized in that The second elastic reset member (60) is provided in two.

6. The drive-in AGV according to claim 5, characterized in that The two ends of the second elastic reset member (60) are respectively connected to the second arm body (22) and the chassis (10).

7. The drive-in AGV according to claim 6, characterized in that The drive assembly further includes a first connecting block (71), a second connecting block (72), a third connecting block (73), and a fourth connecting block (74). The first connecting block (71) and the second connecting block (72) are respectively disposed on the chassis (10), the third connecting block (73) is disposed on the first arm body (21), and the fourth connecting block (74) is disposed on the second arm body (22). The first elastic reset member (50) is connected to the first connecting block (71) and the third connecting block (73) at both ends, and the second elastic reset member (60) is connected to the second connecting block (72) and the fourth connecting block (74) at both ends.

8. The drive-in AGV according to claim 1, characterized in that The chassis (10) is provided with two bases (12), and each rocker arm (20) is hinged to the corresponding base (12).

9. The drive-in AGV according to claim 8, characterized in that The base (12) is provided with a rotating shaft (13) and a limiting block (14). The rocker arm (20) is rotatably engaged on the rotating shaft (13). The rotating shaft (13) is provided with a limiting groove, and the limiting block (14) is engaged in the limiting groove.

10. The drive-in AGV according to claim 1, characterized in that The drive wheel (30) is located between the first driven wheel (11) and the second driven wheel (40) on the corresponding side.

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