An AGV robot test tractor

Abstract

The utility model discloses a kind of AGV robot test tractors, it is related to AGV robot test technical field, including mounting seat, square tube support, directional wheel, center shaft, fish eye joint bearing, shaft sleeve, deep groove ball bearing, nut, bearing sleeve, PCB board and connecting plate;The mounting seat is fixedly connected with square tube support, and the square tube support is fixedly connected with directional wheel;The fish eye joint bearing, shaft sleeve, deep groove ball bearing are sequentially sleeved on the center shaft, and the nut is assembled on center shaft and located in the side of deep groove ball bearing away from shaft sleeve;The PCB board is fixedly connected with bearing sleeve, and the bearing sleeve is fixedly connected with deep groove ball bearing;One end of the connecting plate is fixedly connected with the fish eye bearing sleeve corresponding to fish eye joint bearing, and the other end of the connecting plate is fixedly connected with the bearing sleeve.The utility model can assist AGV robot stable test operation, steering flexible and simple structure.

Description

Technical Field

[0001] This utility model relates to the field of AGV robot testing technology, specifically to an AGV robot testing tractor. Background Technology

[0002] Before being put into formal use, AGV robots need to undergo a trial operation phase to verify their walking accuracy, stroke stability, and other performance characteristics. During this trial operation phase, AGV robots often exhibit unstable strokes and lack stable auxiliary support structures during movement, affecting the accuracy of test data. Existing tractors used for AGV robot testing have significant drawbacks: firstly, their complex structural design involves too many redundant components, leading to high manufacturing costs and hindering mass production; secondly, their unreasonable steering mechanism design limits the steering angle and reduces steering flexibility, making them unsuitable for the diverse walking paths encountered during AGV robot testing; furthermore, the disordered PCB board and wiring harness layout of existing tractors not only affects the overall reliability of the equipment but also increases the difficulty of later maintenance. Therefore, there is an urgent need for a test tractor that can solve the above problems, assist in the stable testing and operation of AGV robots, and possess a simple structure and flexible steering. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide an AGV robot test tractor, which can assist AGV robots in stable test operation, is flexible in steering and has a simple structure, so as to solve the technical problems of unstable stroke and lack of stable auxiliary support in the trial operation stage of existing AGV robots, as well as the technical problems of existing test tractors having complex structure, high cost, inflexible steering and disordered PCB board and wire harness arrangement.

[0004] To solve the above problems, the technical solution provided by this utility model is as follows:

[0005] An AGV robot testing tractor includes a mounting base, a square tube bracket, directional wheels, a central shaft, a fisheye joint bearing, a bushing, a deep groove ball bearing, a nut, a bearing sleeve, a PCB board, and a connecting plate. The mounting base is fixedly connected to the square tube bracket, and the square tube bracket is fixedly connected to the directional wheels. The fisheye joint bearing, bushing, and deep groove ball bearing are sequentially sleeved on the central shaft. The nut is assembled on the central shaft and located on the side of the deep groove ball bearing away from the bushing. The PCB board is fixedly connected to the bearing sleeve, and the bearing sleeve is fixedly connected to the deep groove ball bearing. One end of the connecting plate is fixedly connected to the fisheye bearing sleeve corresponding to the fisheye joint bearing, and the other end of the connecting plate is fixedly connected to the bearing sleeve.

[0006] Its function is to construct a complete, flexibly steerable tractor basic frame. It provides connection points and lower support for the AGV robot through mounting bases and square tube brackets, achieves movement through directional wheels, and realizes multi-degree-of-freedom flexible steering through a precision steering mechanism composed of a central shaft, fisheye joint bearings, and deep groove ball bearings. Finally, the steering motion is transmitted to the entire vehicle body through a connecting plate. The integration of the PCB board also provides the installation foundation for the electrical control of the entire vehicle.

[0007] Optionally, the mounting base and the square tube support are connected by bolts, with at least two bolts evenly distributed along the connection surface between the mounting base and the square tube support.

[0008] Ensure that the connection between these two key load-bearing components has sufficient structural strength and stability to prevent loosening or relative displacement during traction and ensure effective transmission of traction force.

[0009] Optionally, the square tube support and the directional wheel are fixed by welding. The welding adopts a full welding process, and the welding part is the end of the square tube support and the wheel frame of the directional wheel.

[0010] The connection method between the square tube bracket and the directional wheel is specified. Its function is to provide a permanent and high-strength connection method to ensure that the wheel support structure will not break or loosen during long-term testing that may be accompanied by impacts, thus ensuring the durability and safety of the tractor.

[0011] Optionally, the fisheye spherical bearing, bushing, and deep groove ball bearing are arranged sequentially along the same axis on the central shaft, and adjacent components are fitted together.

[0012] Ensure the precise alignment and coaxiality of the core steering components (spherical plain bearings, bushings, and deep groove ball bearings) to guarantee smooth and unhindered steering action transmission, and to ensure that each bearing can correctly withstand the designed load, avoiding premature damage due to uneven loading.

[0013] Optionally, the fisheye spherical bearing is a radial fisheye spherical bearing, wherein the inner ring of the fisheye spherical bearing is clearance-fitted with the central shaft, and the outer ring of the fisheye spherical bearing is interference-fitted with the corresponding bearing sleeve.

[0014] Its function is to clearly define the specific component selection to achieve flexible universal steering, and to optimize the bearing performance through specific matching methods (inner ring clearance fit, outer ring interference fit): ensuring that the central shaft can deflect flexibly within the inner ring of the bearing, while ensuring that the outer ring of the bearing is firmly fixed in the bearing housing and will not loosen.

[0015] Optionally, the PCB board and the bearing sleeve are connected by bolts, with at least two bolts symmetrically distributed on the edge area of ​​the PCB board.

[0016] Its function is to provide a stable and reliable mounting method for precision electronic control boards (PCBs), preventing them from shaking, shifting or falling off in the vibration environment of vehicle movement and steering, protecting the components and solder joints on the board, and improving the reliability of the electrical system.

[0017] Optionally, the connecting plate and the bearing sleeve corresponding to the fisheye joint bearing, and the connecting plate and the bearing sleeve are all connected by bolts, with each connection having at least one bolt.

[0018] Its function is to ensure a firm and reliable connection between the connecting plate and the bearing sleeves at both ends, so that it can accurately transmit the deflection motion of the spherical plain bearing to the bearing sleeve on the side of the deep groove ball bearing, thereby driving the wheel to turn and avoiding steering sluggishness or inaccuracy due to loose connection.

[0019] Optionally, the inner ring of the deep groove ball bearing is interference-fitted with the central shaft, and the outer ring of the deep groove ball bearing is interference-fitted with the bearing sleeve.

[0020] Its function is to ensure that the deep groove ball bearing is precisely and securely positioned between the central shaft and the bearing sleeve. The interference fit between the inner ring and the central shaft prevents the inner ring from slipping on the shaft (creep phenomenon), and the interference fit between the outer ring and the bearing sleeve prevents the outer ring from rotating within the sleeve, together ensuring that the bearing can effectively bear radial loads and rotate smoothly.

[0021] Optionally, an elastic washer is provided between the nut and the deep groove ball bearing, and the elastic washer is sleeved on the central shaft.

[0022] Its function is to provide an anti-loosening measure to prevent the nut from loosening under long-term vibration environment, which would lead to the loss of axial preload of the entire bearing assembly, or even the bearing loosening and falling off, thus ensuring the long-term reliability of axial fixation.

[0023] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0024] This invention uses a mounting base, a square tube bracket, and directional wheels to form a basic support structure, which, together with a central shaft assembly, a PCB board, and a connecting plate, forms a complete auxiliary testing structure. This structure can effectively assist the testing and operation of AGV robots, provide stable support for the movement of AGV robots, ensure the stability of program testing and operation, and solve the problem of unstable travel during the trial operation of existing AGV robots.

[0025] This invention employs a steering structure that combines a fisheye spherical bearing and a deep groove ball bearing. The fisheye spherical bearing enables multi-angle rotation, while the deep groove ball bearing ensures smooth rotation. The combination of the two allows the tractor to have a large steering angle and flexible steering, which can adapt to various walking paths in the AGV robot testing process and solve the problem of inflexible steering of existing tractors.

[0026] The overall structure of this invention only includes core components such as mounting base, square tube bracket, and directional wheel. The number of components is small and the connection method is simple (bolt connection, welding). There is no redundant and complex structure, which not only reduces manufacturing costs but also simplifies the assembly process and solves the problems of complex structure and high cost of existing tractor vehicles.

[0027] This invention uses a bearing sleeve to fix the PCB board to the deep groove ball bearing, and a connecting plate to simultaneously limit the PCB board and the fisheye bearing sleeve, thereby fixing the relative position of the PCB board and related components, avoiding reliability problems caused by misalignment of the PCB board and wiring harness, and improving the overall stability of the equipment. Attached Figure Description

[0028] Figure 1 A schematic diagram of the structure of an AGV robot testing tractor provided for an embodiment of this utility model;

[0029] Figure 2 An exploded view of an AGV robot test tractor provided for an embodiment of this utility model;

[0030] Figure 3 A schematic diagram illustrating the use of an AGV robot testing tractor as an embodiment of this utility model;

[0031] 1. Mounting base; 2. Square tube bracket; 3. Directional wheel; 11. PCB board; 12. Bearing sleeve; 13. Nut; 14. Deep groove ball bearing; 15. Bushing; 16. Fisheye spherical plain bearing; 17. Connecting plate; 18. Central shaft; 19. Mounting plate; 20. Fisheye bearing sleeve. Detailed Implementation

[0032] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0033] Example 1

[0034] Combined with appendix Figure 1-2An AGV robot testing tractor includes a mounting base 1, a square tube bracket 2, a directional wheel 3, a central shaft 18, a fisheye joint bearing 16, a bushing 15, a deep groove ball bearing 14, a nut 13, a bearing sleeve 12, a PCB board 11, and a connecting plate 17. The mounting base 1 is fixedly connected to the square tube bracket 2, and the square tube bracket 2 is fixedly connected to the directional wheel 3. The fisheye joint bearing 16, the bushing 15, and the deep groove ball bearing 14 are sequentially sleeved on the central shaft 18. The nut 13 is assembled on the central shaft 18 and located on the side of the deep groove ball bearing 14 away from the bushing 15. The PCB board 11 is fixedly connected to the bearing sleeve 12, and the bearing sleeve 12 is fixedly connected to the deep groove ball bearing 14. One end of the connecting plate 17 is fixedly connected to the fisheye bearing sleeve 20 corresponding to the fisheye joint bearing 16, and the other end of the connecting plate 17 is fixedly connected to the bearing sleeve 12.

[0035] When the AGV robot 21 moves and drives the tractor, the traction force is transmitted to the entire vehicle body through the mounting base 1 and the square tube bracket 2. When turning is required, the steering force acts on the central shaft 18. The spherical plain bearing 16 allows the central shaft 18 to deflect in any direction within a certain angle (universal motion), thereby initiating the steering action. The deep groove ball bearing 14 mainly bears the radial load and ensures that the central shaft 18 can rotate smoothly during turning, reducing friction. The bushing 15 is used to space and position the bearings. The nut 13 is used to axially fix the entire bearing assembly. The connecting plate 17 accurately transmits the deflection angle of the spherical plain bearing 16 housing to the bearing sleeve 12 fixed to the outer ring of the deep groove ball bearing 14, thereby driving the entire mounting base 1, square tube bracket 2, and directional wheel 3 assembly to deflect together, realizing flexible changes in wheel direction and completing the steering.

[0036] Mounting base 1 and square tube bracket 2 are connected by bolts, with at least two bolts evenly distributed along the connection surface between mounting base 1 and square tube bracket 2.

[0037] By utilizing the preload generated by at least two evenly distributed bolts, the connecting surfaces of the mounting base 1 and the square tube bracket 2 are tightly pressed together. The shear force of the bolt shank and the friction between the connecting surfaces resist various complex torques and loads generated during traction and operation, thereby achieving a reliable and stable connection.

[0038] The square tube support 2 and the directional wheel 3 are fixed by welding. The welding adopts a full welding process, and the welding part is the end of the square tube support 2 and the wheel frame of the directional wheel 3.

[0039] The ends of the square tube support 2 are fused together with the metal material of the wheel frame of the directional wheel 3 using a full welding process, forming a robust, integral structure after cooling. This connection method can withstand large bending moments and torques, directly transmitting the force and vibration from the wheel to the square tube support 2 through the welded joint.

[0040] The fisheye spherical bearing 16, bushing 15, and deep groove ball bearing 14 are arranged sequentially along the same axis on the central shaft 18, and adjacent components are fitted together.

[0041] All components mounted on the central shaft 18 are arranged sequentially along the same axis and fit tightly together. This ensures that when the central shaft 18 is subjected to force and deflects or rotates, the force flow can be transmitted smoothly and continuously through each component, reducing abnormal stress concentration and ensuring the flexibility and accuracy of steering movements.

[0042] The fisheye spherical bearing 16 is a radial fisheye spherical bearing 16. The inner ring of the fisheye spherical bearing 16 is clearance-fitted with the central shaft 18, and the outer ring of the fisheye spherical bearing 16 is interference-fitted with the corresponding bearing sleeve 12.

[0043] The structure of the radial fisheye spherical bearing 16 allows its inner ring to swing within a large angle. The inner ring and the central shaft 18 are fitted with a clearance fit, providing the necessary room for the deflection of the central shaft 18 without interference. The outer ring and the bearing sleeve 12 are fitted with an interference fit, utilizing the huge clamping force generated by the elastic deformation of the material to firmly fix the outer ring of the bearing within the bearing sleeve 12, preventing it from rotating or shifting during operation and ensuring the accurate transmission of steering angle.

[0044] The PCB board 11 and the bearing sleeve 12 are connected by bolts, with at least two bolts symmetrically distributed on the edge area of ​​the PCB board 11.

[0045] The PCB board 11 is securely pressed and fixed to the bearing sleeve 12 using at least two symmetrically distributed bolts. The symmetrical distribution avoids uneven stress during installation and prevents the PCB board 11 from bending. The bolted connection provides robust mechanical restraint, effectively resisting vibration and impact, and ensuring the stability of the electrical connection.

[0046] The connecting plate 17 and the bearing sleeve 12 corresponding to the fisheye spherical bearing 16, as well as the connecting plate 17 and the bearing sleeve 12, are all connected by bolts, and the number of bolts corresponding to each connection is at least 1.

[0047] The connecting plate 17 is firmly fixed to the bearing sleeves 12 at both ends by the tightening force provided by the bolts. The bolted connection forms a rigid connection, which allows any angular displacement of the spherical plain bearing 16 housing to be converted into the rotational motion of the bearing sleeves 12 with almost no delay through the connecting plate 17, ultimately achieving precise tracking of the wheel direction.

[0048] The inner ring of the deep groove ball bearing 14 is interference-fitted with the central shaft 18, and the outer ring of the deep groove ball bearing 14 is interference-fitted with the bearing sleeve 12.

[0049] During installation, the bearing is pressed in by heating the bearing sleeve 12 or cooling the bearing. After cooling, it returns to room temperature. A huge contact pressure is generated between the bearing ring and the mating surface. The friction generated by this pressure is sufficient to resist the rotational torque and axial force during operation, prevent relative slippage, and ensure accurate power transmission and smooth operation.

[0050] An elastic washer is provided between the nut 13 and the deep groove ball bearing 14, and the elastic washer is sleeved on the central shaft 18.

[0051] Mounting base 1 is made of steel plate cutting, square tube bracket 2 is made of aluminum alloy square tube with rectangular cross section, directional wheel 3 is an industrial directional wheel 3 with polyurethane wheel body; fish eye spherical bearing 16 is a radial fish eye spherical bearing 16, deep groove ball bearing 14 is a deep groove ball bearing 14 with outer ring sealing cover, bearing sleeve 12 is made of aluminum alloy material processing, and connecting plate 17 is made of stainless steel sheet cutting.

[0052] Combined with appendix Figure 2 , 3 The assembly process is as follows:

[0053] Assembly of basic support structure: The bottom of the mounting base 1 is fixedly connected to the top of the square tube bracket 2 with 4 M8 bolts, and the bolts are evenly distributed along the edge of the mounting base 1 (2 on each side); The bottom ends of the square tube bracket 2 are welded to the wheel frames of the two directional wheels 3 using a full welding process to ensure that there is no false welding at the weld, thus forming the basic support frame of the tractor.

[0054] Assembly of the central shaft 18 assembly: The spherical plain bearing 16, bushing 15, and deep groove ball bearing 14 are sequentially fitted from one end of the central shaft 18 to the other. The inner ring of the spherical plain bearing 16 is clearance-fitted with the central shaft 18, the inner hole of the bushing 15 is transition-fitted with the central shaft 18, and the inner ring of the deep groove ball bearing 14 is interference-fitted with the central shaft 18. On the side of the deep groove ball bearing 14 away from the bushing 15, an elastic washer is first fitted, and then the hexagonal thin nut 13 is screwed into the external thread end of the central shaft 18 until the nut 13 presses against the elastic washer, so that the spherical plain bearing 16, bushing 15, and deep groove ball bearing 14 do not move axially on the central shaft 18.

[0055] Assembly of PCB board 11 and bearing sleeve 12: Align the preset mounting holes of PCB board 11 with the preset threaded holes of bearing sleeve 12, and use two M4 bolts to fix PCB board 11 to one side of bearing sleeve 12. The bolt tightening torque is controlled at 1.5 N·m to avoid deformation of PCB board 11.

[0056] Assembly of bearing sleeve 12 and deep groove ball bearing 14: The inner hole of bearing sleeve 12 after being connected to PCB board 11 is interference-fitted with the outer ring of deep groove ball bearing 14 to ensure that bearing sleeve 12 and outer ring of deep groove ball bearing 14 rotate synchronously.

[0057] Assembly of connecting plate 17: Align the preset hole at one end of connecting plate 17 with the preset threaded hole of the fisheye bearing sleeve 20 corresponding to the fisheye spherical bearing 16, and fix it with one M6 bolt; align the preset hole at the other end of connecting plate 17 with the preset threaded hole of the bearing sleeve 12, and fix it with one M6 bolt, so that the PCB board 11 and the bearing sleeve 12 can maintain the same rotation angle when turning.

[0058] Combined with appendix Figure 3 The work process is as follows:

[0059] The tractor in this embodiment is fixedly connected to the preset mounting position at the bottom of the AGV robot 21 via the mounting base 1, and the AGV robot 21 is started for program trial operation. During the movement of the AGV robot 21, the directional wheels 3 of the tractor move synchronously with the AGV robot 21, providing auxiliary support for the AGV robot 21. When the AGV robot 21 needs to turn, the fisheye joint bearing 16 can rotate around the central axis 18 at multiple angles, and the deep groove ball bearing 14 ensures smooth rotation during the turning process. At the same time, the connecting plate 17 drives the PCB board 11 and the bearing sleeve 12 to rotate synchronously, ensuring that the position of the PCB board 11 and the wiring harness is stable and will not be disordered due to turning. Throughout the test, the tractor always provides stable support for the AGV robot 21, ensuring the stability of the AGV robot 21's stroke and improving the accuracy of the test data.

[0060] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. An AGV robot test tractor, characterized in that, The device includes a mounting base, a square tube bracket, a directional wheel, a central shaft, a spherical plain bearing, a bushing, a deep groove ball bearing, a nut, a bearing sleeve, a PCB board, and a connecting plate. The mounting base is fixedly connected to the square tube bracket, and the square tube bracket is fixedly connected to the directional wheel. The spherical plain bearing, bushing, and deep groove ball bearing are sequentially sleeved on the central shaft. The nut is assembled on the central shaft and located on the side of the deep groove ball bearing away from the bushing. The PCB board is fixedly connected to the bearing sleeve, and the bearing sleeve is fixedly connected to the deep groove ball bearing. One end of the connecting plate is fixedly connected to the spherical plain bearing sleeve corresponding to the spherical plain bearing, and the other end of the connecting plate is fixedly connected to the bearing sleeve.

2. The AGV robot test tractor according to claim 1, characterized in that, The mounting base and the square tube support are connected by bolts, and the number of bolts is at least 2, which are evenly distributed along the connection surface between the mounting base and the square tube support.

3. The AGV robot test tug of claim 1, wherein, The square tube support and the directional wheel are fixed by welding. The welding adopts a full welding process, and the welding part is the end of the square tube support and the wheel frame of the directional wheel.

4. The AGV robot test tractor according to claim 1, characterized in that, The fisheye spherical bearing, bushing, and deep groove ball bearing are arranged sequentially along the same axis on the central shaft, and adjacent components are fitted together.

5. The AGV robot test tractor according to claim 4, characterized in that, The fisheye spherical bearing is a radial fisheye spherical bearing, with the inner ring of the fisheye spherical bearing having a clearance fit with the central shaft, and the outer ring of the fisheye spherical bearing having an interference fit with the corresponding bearing sleeve.

6. The AGV robot test tug of claim 1, wherein, The PCB board and the bearing sleeve are connected by bolts, and the number of bolts is at least 2, which are symmetrically distributed on the edge area of ​​the PCB board.

7. The AGV robot test tractor according to claim 1, characterized in that, The connecting plate and the bearing sleeve corresponding to the fisheye joint bearing, and the connecting plate and the bearing sleeve are all connected by bolts, with each connection having at least one bolt.

8. The AGV robot test tractor according to claim 1, characterized in that, The inner ring of the deep groove ball bearing is interference-fitted with the central shaft, and the outer ring of the deep groove ball bearing is interference-fitted with the bearing sleeve.

9. The AGV robot test tractor according to claim 8, characterized in that, An elastic washer is provided between the nut and the deep groove ball bearing, and the elastic washer is sleeved on the central shaft.

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