AGV mobile wheel capable of automatically adjusting height

Abstract

The utility model relates to mobile wheel technical field, concretely relates to a kind of AGV mobile wheel of height can be automatically adjusted, comprising: gyro wheel, the top of gyro wheel is equipped with lifting device. Servo motor, transmission gear drive lifting screw rotation, match ultrasonic ranging sensor real-time collection lifting mounting frame and the distance data of rack, AGV control system can close-loop control motor positive and negative rotation, match preset height, bearing can limit lifting screw radial deviation, avoid shaking influence precision, limiting rod and limiting ring can also prevent lifting mounting frame excessive sliding from screw, it is favorable to avoid adjustment failure, through wheel body support, axle and rack rotary connection, whether height adjustment process or after adjustment, gyro wheel can freely roll, and can be through the cooperation of axle and rack steering, will not be due to height change interference moving performance, it is favorable to AGV in different height demand scene, both can complete height adjustment, can also normal driving operation.

Description

Technical Field

[0001] This utility model relates to the field of mobile wheel technology, specifically to an AGV mobile wheel that can automatically adjust its height. Background Technology

[0002] Most existing AGV mobile wheels are designed with a fixed height, which cannot adapt to the dynamic needs of uneven ground and different height operation scenarios. Some adjustable models also rely on manual operation, lack real-time height detection, and the height adjustment is inaccurate.

[0003] Therefore, this utility model provides an AGV moving wheel that can automatically adjust its height. The automatic adjustment structure is composed of a servo motor, transmission gears, and a lifting screw. It is equipped with an ultrasonic sensor to measure distance in real time and provide feedback, forming a closed-loop control. The bearing limits the screw offset, and the limit rod and limit ring prevent the mounting bracket from disengaging. The roller is rotatably connected to the frame via a wheel bracket and axle. It still maintains normal movement function during adjustment, thus meeting the needs of the moving wheel industry for AGV moving wheels that can automatically adjust their height. Utility Model Content

[0004] To address the shortcomings of existing technologies, the technical solution adopted by this utility model is as follows: an AGV moving wheel capable of automatically adjusting height, comprising: a roller, with a lifting device at the top of the roller; the lifting device includes a frame, a servo motor fixedly connected to the outer wall of the frame, a lifting screw on one side of the servo motor, drive gears fixedly connected to the outer walls of both the output end of the servo motor and the bottom end of the lifting screw, a transmission gear meshing with the outer wall of the drive gear, the transmission gear being located in the middle of the drive gear, a bearing fixedly connected to the outer wall of the lifting screw, and a lifting mounting frame threadedly connected to the outer wall of the lifting screw, the inner wall of the lifting mounting frame being symmetrically slidably connected. With a limit rod, an ultrasonic ranging sensor is fixedly connected to the inner wall of one side of the lifting mounting frame. Before using the AGV moving wheels that can automatically adjust the height, basic assembly and connection must be completed first. The lifting mounting frame is fixedly connected to the corresponding part of the external AGV equipment through the mounting holes opened on its side wall, ensuring that the connection is firm and without looseness. At the same time, the ultrasonic ranging sensor fixed to the inner wall of the lifting mounting frame and the servo motor fixed to the outer wall of the frame are electrically connected to the control system of the external AGV equipment, so that the ultrasonic ranging sensor can transmit height data to the system in real time, and the servo motor can receive start, stop and forward / reverse commands issued by the system, laying the hardware and signal foundation for subsequent automatic height adjustment.

[0005] The transmission gear is rotatably connected to the inner wall of the frame via a bracket. The outer wall of the bearing is fixedly connected to the inner wall of the frame. The bottom outer wall of the limiting rod is fixedly connected to the top outer wall of the frame. Limiting rings are provided on the top outer walls of both the limiting rod and the lifting screw to prevent the lifting mounting frame from detaching from the lifting screw. The ultrasonic ranging sensor is used to measure the distance between the lifting mounting frame and the top outer wall of the frame. Mounting holes are provided on the side walls of the lifting mounting frame for fixed connection to external equipment. When the AGV needs to adjust the height of its moving wheels, its control system sends a start command to the servo motor according to preset height parameters. After the servo motor starts, it drives the drive gear fixed at its output end to rotate synchronously. Since the transmission gear is rotatably connected to the inner wall of the frame via a bracket and meshes precisely between the drive gear at the output end of the servo motor and the drive gear at the bottom end of the lifting screw, the rotation of the drive gear at the servo motor end is transmitted through the transmission gear to the drive gear at the bottom end of the lifting screw, thereby causing the lifting screw to start rotating. At this time, the outer wall of the lifting screw is fixedly connected to the inner wall of the frame through bearings. The bearings can effectively limit the radial displacement of the lifting screw and ensure that the lifting screw rotates stably only along its own axis.

[0006] The outer wall of the roller is rotatably connected to a wheel bracket by bolts. The top outer wall of the wheel bracket is fixedly connected to a wheel axle. The lifting screw and the lifting mounting frame are threaded together. The bottom end of the limiting rods symmetrically sleeved on the inner wall of the lifting mounting frame is fixed to the top outer wall of the frame. The limiting rods will form a circumferential limit on the lifting mounting frame, preventing it from rotating synchronously with the rotation of the lifting screw. It can only slide up and down along the axial direction of the limiting rod, thereby converting the rotational motion of the lifting screw into the linear lifting motion of the lifting mounting frame. During the lifting process, the ultrasonic ranging sensor (model UM18-218126111) emits ultrasonic waves towards the outer wall of the top of the frame and receives the echoes. By calculating the time difference of sound wave propagation, the real-time distance between the lifting mounting frame and the frame is obtained. The distance data is then converted into analog or digital electrical signals and continuously transmitted to the AGV control system via electrical connection. The AGV control system compares the real-time height data with the preset height parameter. If the real-time height is lower than the preset height, it controls the servo motor to maintain the current direction, causing the lifting mounting frame to continue rising. If the real-time height is higher than the preset height, it controls the servo motor to rotate in the opposite direction, causing the lifting mounting frame to descend until the real-time height matches the preset height. At this point, the control system issues a stop command, the servo motor stops operating, and the lifting mounting frame stabilizes at the target height. Simultaneously, the limit rod and the limit ring on the outer wall of the top of the lifting screw act as a stop when the lifting mounting frame slides to its limit position, helping to prevent the lifting mounting frame from detaching from the lifting screw due to excessive sliding.

[0007] The outer wall of the axle is rotatably connected to the bottom outer wall of the frame. During and after height adjustment, the roller maintains normal movement. The roller is rotatably connected to the wheel bracket via bolts, and the outer wall of the axle fixed at the top of the wheel bracket is rotatably connected to the bottom outer wall of the frame. This structural design allows the roller to roll freely according to the movement needs of the AGV equipment, and also adapts to the turning needs of the AGV in different travel directions through the rotational cooperation between the axle and the frame. Even when the lifting device drives the frame and roller as a whole to adjust their height with the lifting mounting frame, the rotational connection between the roller and the wheel bracket, and between the axle and the frame, remains stable. The rolling performance of the roller is not affected by height changes, which is beneficial for the AGV equipment to continue to move normally after height adjustment, achieving coordinated adaptation between height adjustment and movement functions.

[0008] The beneficial effects of this utility model are as follows: 1. This utility model uses a servo motor and transmission gears to drive the lifting screw to rotate, and an ultrasonic ranging sensor to collect the distance data between the lifting mounting frame and the machine frame in real time. The AGV control system can control the forward and reverse rotation of the motor in a closed loop and match the preset height. The bearing can limit the radial offset of the lifting screw to avoid shaking and affecting accuracy. The limit rod and limit ring can also prevent the lifting mounting frame from sliding excessively and detaching from the screw, which helps to avoid adjustment failures.

[0009] 2. By setting up a wheel bracket and a rotatable connection between the wheel axle and the frame, the roller can roll freely both during and after height adjustment. It can also turn by coordinating the wheel axle and the frame. The movement performance will not be affected by height changes. This is beneficial for the AGV to complete height adjustment and normal operation in different height requirement scenarios. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the back structure of this utility model; Figure 3 This is a schematic diagram of the internal structure of this utility model; Figure 4 This is a structural schematic diagram of the lifting device of this utility model; Figure 5 This is the control principle diagram of this utility model.

[0011] In the diagram: 1. Roller; 2. Wheel bracket; 3. Axle; 4. Lifting device; 40. Frame; 41. Servo motor; 42. Lifting screw; 43. Drive gear; 44. Transmission gear; 45. Bearing; 46. Lifting mounting frame; 47. Limiting rod; 48. Ultrasonic ranging sensor. Detailed Implementation

[0012] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical applications of the present invention, and to enable those skilled in the art to understand the present invention and design various embodiments with various modifications suitable for a particular purpose. Example

[0013] Please see Figure 1 - Figure 5 This utility model provides a technical solution: an AGV mobile wheel that can automatically adjust its height, including: a roller 1, with a lifting device 4 on the top of the roller 1; the lifting device 4 includes a frame 40, a servo motor 41 fixedly connected to the outer wall of the frame 40, a lifting screw 42 on one side of the servo motor 41, a drive gear 43 fixedly connected to the outer wall of both the output end of the servo motor 41 and the bottom end of the lifting screw 42, a transmission gear 44 meshing with the outer wall of the drive gear 43, the transmission gear 44 being located in the middle of the drive gear 43, a bearing 45 fixedly connected to the outer wall of the lifting screw 42, a lifting mounting frame 46 threadedly connected to the outer wall of the lifting screw 42, limit rods 47 symmetrically slidingly connected to the inner wall of the lifting mounting frame 46, and an ultrasonic ranging sensor 48 fixedly connected to the inner wall of one side of the lifting mounting frame 46.

[0014] The transmission gear 44 is rotatably connected to the inner wall of the frame 40 via a bracket. The outer wall of the bearing 45 is fixedly connected to the inner wall of the frame 40. The bottom outer wall of the limiting rod 47 is fixedly connected to the top outer wall of the frame 40. Limiting rings are provided on the top outer walls of both the limiting rod 47 and the lifting screw 42 to prevent the lifting mounting frame 46 from disengaging from the lifting screw 42. The ultrasonic ranging sensor 48 is used to measure the distance between the lifting mounting frame 46 and the top outer wall of the frame 40. Mounting holes are provided on the side wall of the lifting mounting frame 46 for fixed connection with external equipment.

[0015] The outer wall of the roller 1 is rotatably connected to the wheel bracket 2 by bolts. The top outer wall of the wheel bracket 2 is fixedly connected to the axle 3. The outer wall of the axle 3 is rotatably connected to the bottom outer wall of the frame 40.

[0016] Working principle: Before using the AGV's height-adjustable moving wheels, basic assembly and connection must be completed. The lifting mounting frame 46 is fixedly connected to the corresponding part of the external AGV equipment through the mounting holes opened on its side wall, ensuring that the connection is firm and without looseness. At the same time, the ultrasonic ranging sensor 48 fixed on the inner wall of the lifting mounting frame 46 and the servo motor 41 fixed on the outer wall of the frame 40 are electrically connected to the control system of the external AGV equipment, so that the ultrasonic ranging sensor 48 can transmit height data to the system in real time, and the servo motor 41 can receive start, stop and forward / reverse commands issued by the system, laying the hardware and signal foundation for subsequent automatic height adjustment.

[0017] When the AGV equipment needs to adjust the height of its moving wheels, its control system sends a start command to the servo motor 41 according to the preset height parameters. After the servo motor 41 starts, it drives the drive gear 43 fixed at its output end to rotate synchronously. Since the transmission gear 44 is rotatably connected to the inner wall of the frame 40 through the bracket and is precisely meshed between the drive gear 43 at the output end of the servo motor 41 and the drive gear 43 at the bottom end of the lifting screw 42, the rotation of the drive gear 43 at the end of the servo motor 41 is transmitted to the drive gear 43 at the bottom end of the lifting screw 42 through the transmission gear 44, thereby driving the lifting screw 42 to start rotating. At this time, the outer wall of the lifting screw 42 is fixedly connected to the inner wall of the frame 40 through the bearing 45. The bearing 45 can effectively limit the radial displacement of the lifting screw 42, ensuring that the lifting screw 42 rotates only along its own axis.

[0018] The lifting screw 42 and the lifting mounting frame 46 are connected by threads. The bottom end of the limiting rod 47, which is symmetrically sleeved on the inner wall of the lifting mounting frame 46, is fixed to the outer wall of the top of the frame 40. The limiting rod 47 will form a circumferential limit on the lifting mounting frame 46, so that it cannot rotate synchronously with the rotation of the lifting screw 42, but can only slide up and down along the axial direction of the limiting rod 47, thereby converting the rotational motion of the lifting screw 42 into the linear lifting motion of the lifting mounting frame 46. During the lifting process, the ultrasonic ranging sensor 48 (model UM18-218126111) emits ultrasonic waves towards the outer wall of the top of the frame 40 and receives the echoes. By calculating the time difference of sound wave propagation, the real-time distance between the lifting mounting frame 46 and the frame 40 is obtained. This distance data is then converted into analog or digital electrical signals and continuously transmitted to the AGV control system via an electrical connection. The AGV control system compares the real-time height data with the preset height parameter. If the real-time height is lower than the preset height, it controls the servo motor 41 to maintain its current direction, causing the lifting mounting frame 46 to continue rising. If the real-time height is higher than the preset height, it controls the servo motor 41 to rotate in the opposite direction, causing the lifting mounting frame 46 to descend until the real-time height matches the preset height. At this point, the control system issues a stop command, the servo motor 41 stops operating, and the lifting mounting frame 46 stabilizes at the target height. Simultaneously, the limit rod 47 and the limit ring on the outer wall of the top of the lifting screw 42 act as a stop when the lifting mounting frame 46 slides to its limit position, preventing the lifting mounting frame 46 from detaching from the lifting screw 42 due to excessive sliding.

[0019] During and after height adjustment, roller 1 maintains normal movement: roller 1 is rotatably connected to wheel bracket 2 via bolts, and the outer wall of the axle 3 fixed at the top of wheel bracket 2 is rotatably connected to the outer wall of the bottom of frame 40. This structural design allows roller 1 to roll freely according to the movement needs of the AGV equipment, and also adapts to the turning needs of the AGV in different travel directions through the rotational cooperation between axle 3 and frame 40. Even when the lifting device 4 drives the frame 40 and roller 1 to adjust their height up and down with the lifting mounting frame 46, the rotational connection between roller 1 and wheel bracket 2, and between axle 3 and frame 40 remains stable. The rolling performance of roller 1 will not be affected by height changes, which is beneficial for the AGV equipment to continue to move normally after height adjustment, achieving coordinated adaptation of height adjustment and movement functions.

[0020] Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of this utility model without creative effort should fall within the protection scope of this utility model. Structures, devices, and operating methods not specifically described and explained in this utility model, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. An AGV (Automated Guided Vehicle) moving wheel capable of automatically adjusting height, comprising: The roller (1) is characterized in that a lifting device (4) is provided on the top of the roller (1). The lifting device (4) includes a frame (40), a servo motor (41) is fixedly connected to the outer wall of the frame (40), a lifting screw (42) is provided on one side of the servo motor (41), a drive gear (43) is fixedly connected to the outer wall of the output end of the servo motor (41) and the bottom end of the lifting screw (42), a transmission gear (44) is meshed with the outer wall of the drive gear (43), the transmission gear (44) is located in the middle of the drive gear (43), a bearing (45) is fixedly connected to the outer wall of the lifting screw (42), a lifting mounting frame (46) is threadedly connected to the outer wall of the lifting screw (42), a limit rod (47) is symmetrically slidably connected to the inner wall of the lifting mounting frame (46), and an ultrasonic ranging sensor (48) is fixedly connected to the inner wall of one side of the lifting mounting frame (46).

2. The AGV moving wheel with automatically adjustable height according to claim 1, characterized in that: The transmission gear (44) is rotatably connected to the inner wall of the frame (40) through the bracket. The outer wall of the bearing (45) is fixedly connected to the inner wall of the frame (40). The bottom outer wall of the limiting rod (47) is fixedly connected to the top outer wall of the frame (40). The top outer walls of the limiting rod (47) and the lifting screw (42) are both provided with limiting rings to prevent the lifting mounting frame (46) from disengaging from the lifting screw (42). The ultrasonic ranging sensor (48) is used to measure the distance between the lifting mounting frame (46) and the top outer wall of the frame (40). The side wall of the lifting mounting frame (46) is provided with mounting holes for fixed connection with external equipment.

3. The AGV moving wheel with automatic height adjustment according to claim 1, characterized in that: The outer wall of the roller (1) is rotatably connected to the wheel body bracket (2) by bolts, and the top outer wall of the wheel body bracket (2) is fixedly connected to the wheel axle (3).

4. The AGV moving wheel with automatically adjustable height according to claim 3, characterized in that: The outer wall of the axle (3) is rotatably connected to the bottom outer wall of the frame (40).

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