CN108622229B - Tilting mechanism, chassis, AGV for AGV - Google Patents
Tilting mechanism, chassis, AGV for AGV Download PDFInfo
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- CN108622229B CN108622229B CN201810662432.7A CN201810662432A CN108622229B CN 108622229 B CN108622229 B CN 108622229B CN 201810662432 A CN201810662432 A CN 201810662432A CN 108622229 B CN108622229 B CN 108622229B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 62
- 230000007306 turnover Effects 0.000 claims abstract description 99
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 239000002184 metal Substances 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 229910001209 Low-carbon steel Inorganic materials 0.000 description 3
- 229910000963 austenitic stainless steel Inorganic materials 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 229910001105 martensitic stainless steel Inorganic materials 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Combustion & Propulsion (AREA)
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to a turnover mechanism for an AGV, a chassis and the AGV, wherein the turnover mechanism comprises a motor mounting plate (10), a turnover support (11), a motor (12), a motor direct-connection gear (13), a rotating shaft direct-connection gear (14), a rotating shaft (16), a sensor support (17), a rotating shaft bearing seat (19), a bearing (20) and a limiting mechanism; the limiting mechanism is used for detecting whether the overturning movement of the overturning bracket (11) reaches a control threshold value. The tilting mechanism, chassis and AGV for AGV have realized compact structure, bearing capacity are big, technical effect that torque transmission efficiency is high.
Description
Technical Field
The invention relates to the technical field of robot structures, in particular to an overturning mechanism for an AGV, a chassis and the AGV provided with the overturning mechanism and the chassis.
Background
Along with the rapid increase of business in the express industry, the intelligent application of the express industry is more and more, huge sorting tasks cannot be completed by manual sorting, the chassis can be used for rapidly sorting express packages, a plurality of sorting robots are operated in a sorting system, the sorting robots take goods from specified package outlets and then walk to specified goods inlets, the packages are smoothly thrown into the specified goods inlets by utilizing a turnover mechanism of the chassis to turn over 45 degrees, and then the sorting robots walk to standby areas to wait for commands. Sorting robots are commonly used for sorting packages below 10 kg. For sorting robots, the component that implements the core of the sorting function is the turnover mechanism on its AGV chassis. Through this tilting mechanism, the fixed point of goods is put in can be realized to the letter sorting robot. The performance of the turnover mechanism determines key performances such as sorting movement efficiency and accuracy.
But existing AGV turnover mechanisms exist: the power torque is insufficient, the torque transmission efficiency is low, the structure is complex, the maintenance is difficult, the service life is limited, and the like. Based on the technical problem, a turnover mechanism with compact structure, high bearing capacity and high torque transmission efficiency, and an AGV chassis and an AGV provided with the turnover mechanism are needed to be provided.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the existing AGV turnover mechanism has the problems of insufficient power torque, lower torque transmission efficiency, complex structure, difficult maintenance, limited service life and the like
The technical scheme adopted for solving the technical problems is as follows:
The turnover mechanism for the AGV comprises a motor mounting plate 10, a turnover bracket 11, a motor 12, a motor direct-connection gear 13, a rotation shaft direct-connection gear 14, a rotation shaft 16, a sensor bracket 17, a rotation shaft bearing seat 19, a bearing 20 and a limiting mechanism; the motor mounting plate 10 is used for supporting a motor 12 and a rotating shaft 16; the motor direct-connection gear 13 is connected with a rotary output shaft of the motor 12 through an expansion sleeve 21 and a bushing 22 and realizes transmission; the motor direct-connection gear 14 realizes transmission through gear engagement with the motor direct-connection gear 13, and the motor direct-connection gear 14 is fixed with the rotating shaft 16 and drives the rotating shaft 16 to rotate; the rotating shaft 16 drives the turnover bracket 11 fixed on the rotating shaft to perform turnover movement; the limiting mechanism is used for detecting whether the overturning movement of the overturning bracket 11 reaches a control threshold.
Further, the motor mounting plate 10 has a larger upper portion and a smaller lower portion, the motor 12 is mounted on the upper portion of one side surface of the motor mounting plate 10, the upper portion of the motor mounting plate 10 is provided with a first through hole and a second through hole, and a rotation output shaft of the motor 12 passes through the first through hole of the motor mounting plate 10, extends to and protrudes from the other side of the motor mounting plate 10.
Further, a bushing 22 closely matched with the motor 12 is arranged on the rotary output shaft of the motor 12, and the motor direct-connection gear 13 is nested on the bushing 22 outside the rotary output shaft of the motor 12 and realizes the rotary transmission of the rotary output shaft of the motor 12; the rotation shaft direct-connection gear 14 is arranged in parallel with the motor direct-connection gear 13; the rotating shaft 16 passes through the center of the rotating shaft direct-connection gear 14 in a key connection mode and is in transmission connection with the rotating shaft direct-connection gear 14; the rotary shaft 16 is arranged in parallel with the rotary output shaft of the motor 12, the rotary shaft 16 passes through the second through hole of the motor mounting plate 10, and both ends thereof are supported by two rotary shaft bearing blocks 19, respectively.
Further, first and second turnover bracket mounting parts with flat mounting openings are respectively provided at both sides of the rotation shaft 16, and a flat slot which is matched with the flat mounting opening of the rotation shaft 16 is provided at one side end of each pair of turnover brackets 11, and can be mutually sleeved with the flat mounting openings at both sides of the rotation shaft 16, and the opening ends of the turnover brackets 11 are fastened by screws, thereby realizing the mutual fixation and transmission of the rotation brackets 11 and the rotation shaft 16.
Further, the limit mechanism includes an upper limit contact 15 and an upper limit sensor 18.
Further, an upper limit contact 15 is further installed at the end of at least one of the turning brackets 11 connected to the rotating shaft 16, the upper limit contact 15 comprises a connecting portion, an arc-shaped rotating portion and a contact from top to bottom, wherein the connecting portion is composed of a metal sheet having a right angle bending shape, and the shape of the sheet having the right angle bending shape is matched with the shape of the surface of the end side of the turning bracket 11; the connecting part is coated on the outer side surface of the tail end of the turnover support 11 and is fixedly connected with the tail end of the turnover support 11 through a screw, the arc rotating part is arranged below the connecting part, the side edge of one side of the arc rotating part facing the rotating shaft 16 is provided with a groove which is matched with the outer edge of the rotating shaft 16 in shape, the arc edge of the groove surrounds the outer edge of part of the rotating shaft 16, the contact is arranged at the tail end of the arc rotating part and is a metal sheet with a rectangular surface shape, the surface of the metal sheet faces the direction of the elastic sheet of the upper limit sensor 18, and along with the upward turnover movement of the turnover support 11, the contact can be contacted with the elastic sheet, so that whether the upward turnover movement of the turnover support 11 reaches a control threshold value is detected.
Further, a bushing 22 of a portion of the rotating output shaft of the motor 12 extending from the other side of the first through hole is nested with a tightening sleeve 21, and the tightening sleeve 21 generates huge holding force between the bushing 22 of the rotating output shaft of the motor 12 and the motor direct-connection gear 13 through the action of a high-strength tension bolt, so that keyless connection between the rotating output shaft of the motor 12 and the outer sleeve 22 thereof and the motor direct-connection gear 13 is realized.
Further, a shaft main body part with a thicker diameter is arranged in the middle of the rotating shaft 16, and a gear mounting part with a key connecting hole and a first turnover bracket mounting part with a flat mounting opening are sequentially arranged at one end of the shaft main body part from inside to outside; a second overturning bracket mounting part and a bearing mounting part with flat mounting openings are sequentially arranged at the other end of the shaft main body part from inside to outside; wherein the gear mounting part is used for mounting the rotation shaft direct-connection gear 14, a second through hole penetrating through the motor mounting plate 10 and a bearing 20 mounted in a rotation shaft bearing seat 19; the first and second flip bracket mounting portions are used for mounting a pair of flip brackets 11; the bearing mounting portion is for mounting to a bearing 20 of another rotary shaft bearing housing 19.
An AGV chassis carrying the turnover mechanism further comprises a bottom plate 101, a lower limit sensor 103, a sensor bracket 104, a supporting rod 105, a plurality of universal wheels 106, a support 107, a pair of driving assemblies 108 and a plurality of universal wheel mounting plates 109; the same side of the upper limit sensor 18 is arranged on the turnover mechanism 102, and a limit sensor 103 is also arranged for controlling the downward turnover position of the turnover bracket 11; the chassis 101 is provided with a supporting rod 105, and the supporting rod 105 is fixedly connected with the chassis 101 and extends vertically upwards; a sensor bracket 104 is arranged on the supporting rod 105, one end of the sensor bracket 104 is fixed on the supporting rod 105, and the other end extends outwards horizontally in a direction away from the turnover mechanism 102; the other end of the sensor bracket 104 is provided with a lower limit sensor 103, the lower limit sensor 103 is provided with a lower limit spring, and along with the downward turning movement of the turning bracket 11, the lower surface of the turning bracket 11 can be contacted with the lower limit spring so as to detect whether the turning movement of the turning bracket reaches a control threshold.
An AGV with the AGV chassis is provided with a shell, a positioning navigation component and a communication component.
The turnover mechanism for the AGV, the chassis and the AGV provided by the invention have the following beneficial effects: the structure is compact, the gear transmission is used, the turnover motor is directly connected with the gear, then the gear drives the turnover support, the transmission torque is large, the turnover support is driven by the same rotating shaft, and the goods are more stable during turnover; the bearing capacity is large, the gears cannot slip, and the moment is large; the control mode is soft, so that the abrasion of the parts can be prevented, and the service life is prolonged; the maintenance and the nursing are convenient.
Drawings
Fig. 1 is a schematic structural perspective view of a turnover mechanism according to embodiment 1 of the present invention.
Fig. 2 is a side elevation view of the structure of the tilting mechanism according to embodiment 1 of the present invention.
Fig. 3 is a cross-sectional view of the tilting mechanism according to embodiment 1 of the present invention along line A-A.
Fig. 4 is a schematic structural diagram of a rotating shaft in embodiment 1 of the present invention.
Fig. 5 is a schematic structural view of a flip bracket according to embodiment 1 of the present invention.
Fig. 6 is a schematic structural diagram of an AGV chassis according to embodiment 2 of the present invention.
Fig. 7 is an upturning state diagram of the AGV chassis provided in embodiment 2 of the present invention.
Detailed Description
The present invention will be described in more detail below with reference to the attached drawings, in which preferred embodiments of the present invention are shown, it being understood that one skilled in the art can modify the present invention described herein while still achieving the beneficial effects of the present invention. Accordingly, the following description is to be construed as broadly known to those skilled in the art and not as limiting the invention.
In the interest of clarity, not all features of an actual implementation are described. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It will be appreciated that in the development of any such actual embodiment, numerous implementation details must be made in order to achieve the developer's specific goals.
In order to make the objects and features of the present invention more comprehensible, embodiments accompanied with figures are described in detail below. It should be noted that the drawings are in a very simplified form and all employ non-precise ratios, and are merely convenient and clear to aid in the description of the embodiments of the invention.
Example 1
The embodiment provides a tilting mechanism for AGV. The structure of the turning mechanism for an AGV according to embodiment 1 of the present invention will be described in further detail with reference to FIGS. 1 to 5. Fig. 1 to 3 are structural views showing a turnover mechanism for an AGV according to embodiment 1 of the present invention, in which fig. 1 is a perspective view of the turnover mechanism, fig. 2 is a side elevation view of the turnover mechanism, and fig. 3 is a sectional view taken along line A-A in fig. 2, and the structural constitution of the turnover mechanism is fully shown in combination with the above three angle views.
The turnover mechanism 102 provided in embodiment 1 of the present invention includes a motor mounting plate 10, a turnover bracket 11, a motor 12, a motor direct-connection gear 13, a rotation shaft direct-connection gear 14, an upper limit contact 15, a rotation shaft 16, a sensor bracket 17, an upper limit sensor 18, a rotation shaft bearing seat 19, a bearing 20, an expansion sleeve 21, and a bushing 22.
The motor mounting plate 10 is a metal plate with a certain thickness, and the material of the motor mounting plate can be martensitic stainless steel, ultra-low carbon steel, austenitic/semi-austenitic stainless steel and the like. The thickness of the motor mounting plate 10 is 2-5mm. Referring to fig. 1-2, the motor mounting plate 10 has a larger area upper portion and a smaller area lower portion. The larger area of the upper part is designed to provide enough space for supporting the motor 12 and the rotating shaft, and the smaller area of the lower part is designed because the motor mounting plate 10 is used as a mounting part of the turnover mechanism 102 and the chassis, so that the reduction of the area of the lower part is beneficial to reducing the mounting occupied area of the whole turnover mechanism 102 and improving the miniaturization of equipment.
Two through holes, i.e., a first through hole and a second through hole, are provided in the upper portion of the motor mounting plate 10. And a motor 12 is mounted on an upper portion of one side surface of the motor mounting plate 10. Four corners of the housing of the motor 12 are connected to the upper portion of one side of the motor mounting plate 10 by four bolts or screws. In addition, the method of mounting the motor may be accomplished by other mounting methods known in the art, such as welding or other fastening structures. The rotation output shaft of the motor 12 passes through the first through hole of the motor mounting plate 10, extends to the other side of the motor mounting plate 10, and protrudes from the other side of the first through hole. The bushing 22 closely matched with the motor is arranged on the rotary output shaft of the motor 12, the motor direct-connection gear 13 is nested on the rotary output shaft of the motor 12, and further rotary transmission of the rotary output shaft of the motor 12 is realized.
In the following, a specific matching manner of the motor 12, the motor mounting plate 10 and the motor direct-connection gear 13 will be described in detail, as shown in fig. 3, a bearing 20 is mounted in the first through hole of the motor mounting plate 10, the bearing 20 is located between the inner wall of the through hole and the rotating output shaft of the motor 12, the outer bearing sleeve of the bearing 20 is tightly matched with the inner wall of the first through hole, and the inner bearing sleeve of the bearing 20 is tightly matched with a bushing 22 mounted on the outer side of the rotating output shaft of the motor 12. The rotation output shaft of the motor 12 can protrude from the through-hole and smooth rotation can be achieved with the support of the bearing 20. The bearings may be ball bearings, cylindrical bearings, etc. The expansion sleeve 21 is nested on the bushing 22 of the part of the rotating output shaft of the motor 12 extending from the other side of the first through hole, and the expansion sleeve 21 generates huge holding force between the bushing 22 of the rotating output shaft of the motor 12 and the motor direct-connection gear 13 through the action of a high-strength tension bolt, so that the keyless connection between the rotating output shaft of the motor 12 and the outer sleeve 22 thereof and the motor direct-connection gear 13 is realized. In the working process, compared with other connection modes, such as a key connection mode, the connection mode realizes a transmission mode with high centering precision, convenient maintenance and adjustment, high strength and stability and reliability by means of the combination pressure of the expansion sleeve 21 and the rotary output shaft of the motor 12, the outer sleeve 22 of the expansion sleeve and the motor direct-connection gear 13 and the concomitant friction force transmission torque.
The motor direct-connection gear 13 and the rotating shaft direct-connection gear 14 are mutually meshed to realize transmission, the rotating shaft direct-connection gear 14 and the motor direct-connection gear 13 are arranged in parallel, the central shaft of the rotating shaft direct-connection gear 14 is a rotating shaft 16, and the rotating shaft 16 is in transmission connection with the rotating shaft direct-connection gear 14 in a key connection mode. The rotation shaft 16 is arranged in parallel with the rotation output shaft of the motor 12. The rotary shaft 16 passes through the second through hole of the motor mounting plate 10, and both ends thereof are supported by two rotary shaft bearing blocks 19, respectively.
As shown in fig. 4, the rotary shaft 16 is specifically structured. A gear mounting part with a key connecting hole and a first turnover bracket mounting part with a flat mounting opening are sequentially arranged at one end of the shaft main body part from inside to outside; a second turnover bracket mounting part and a bearing mounting part with flat mounting openings are sequentially arranged at the other end of the shaft main body part from inside to outside. Wherein the gear mounting part is used for mounting the rotation shaft direct-connection gear 14, a second through hole penetrating through the motor mounting plate 10 and a bearing 20 mounted in a rotation shaft bearing seat 19; the first overturning bracket mounting part and the second overturning bracket mounting part are used for mounting a pair of overturning brackets; the bearing mounting portion is for mounting in a bearing 20 of another rotary shaft bearing housing 19.
As shown in fig. 5, the turnover bracket 11 is a flat bracket body with two right-angle bends, and the material of the turnover bracket can be martensitic stainless steel, ultra-low carbon steel, austenitic/semi-austenitic stainless steel and the like. The thickness of the turnover bracket 11 is 2-5mm. The end of the turnover bracket 11 is provided with a flat slot which is matched with the flat mounting opening of the rotating shaft 16, the flat slot can be mutually sleeved with the flat mounting opening of the rotating shaft 16, and the opening end of the turnover bracket 11 is fastened by a screw, so that the mutual fixation and transmission of the rotating bracket 11 and the rotating shaft 16 are realized.
Referring to fig. 3, the two rotating shaft bearing seats 19 are respectively located at two ends of the rotating shaft 16, and the specific location setting manner is as follows: a rotary shaft bearing seat 19 at one end is arranged on the rotary shaft 16 at one side of the rotary shaft direct-connection gear 14 away from the motor mounting plate 10 and between one turnover bracket 11 and the rotary shaft direct-connection gear 14; the other end of the rotating shaft bearing housing 19 is provided at the tip of the other end of the rotating shaft 16 and is located outside the other tilting bracket 11. The bearing seat 19 of the rotating shaft is a metal plate with a certain thickness, and the material of the bearing seat can be martensitic stainless steel, ultra-low carbon steel, austenitic/semi-austenitic stainless steel and the like. The thickness of the bearing housing 19 of the rotating shaft is 2-5mm. The upper edge of the bearing housing 19 of the rotating shaft is provided with a recess for receiving the bearing 20. Bearings 20 are disposed in the second through hole and the grooves of the rotary shaft bearing housing 19. The bearings may be ball bearings, cylindrical bearings, etc. The rotation shaft 16 can be smoothly rotated by the support of the bearing 20.
As shown in fig. 1-2, an upper limit contact 15 is further installed at the end of the turning support 11, which is located at one side of the rotation shaft direct connection gear 14, connected to the rotation shaft 16. The upper limit contact 15 includes a connection portion, an arc-shaped rotation portion, and a contact point from top to bottom. Wherein the connecting portion is formed of a metal sheet having a right-angle bent shape, and the shape of the sheet of the right-angle bent shape is mutually matched with the shape of the distal side surface of the flip bracket 11; the connecting part is coated on the outer side surface of the tail end of the turnover bracket 11 and is fixedly connected with the tail end of the turnover bracket 11 through a screw. The arc-shaped rotating part is positioned below the connecting part, and the side edge of the arc-shaped rotating part, which faces the rotating shaft 16, is provided with a groove which is matched with the outer edge of the rotating shaft 16 in shape, and the arc-shaped edge of the groove surrounds part of the outer edge of the rotating shaft 16. Preferably, the arcuate edge surrounds 1/4 of the outer edge of the rotational axis 16. The contact 15 is located at the end of the arc-shaped rotating portion, and is a metal sheet with a rectangular surface shape, the surface of the metal sheet facing the extending direction of the flip bracket 11 toward the other end and the direction of the spring piece of the upper limit sensor.
Referring to fig. 1-2 again, a sensor bracket 17 is further disposed on a rotating shaft bearing seat 19 on one side of the rotating shaft direct-connected gear 14, one end of the sensor bracket is fixed on the rotating shaft bearing seat 19 through a bolt, the other end extends along the horizontal direction, an upper limit sensor 18 is mounted on the other end of the sensor bracket 17, and a spring sheet is disposed on the upper limit sensor 18. When the turnover bracket 11 is at the original position, the spring plate of the upper limit sensor and the contact point of the upper limit contact 15 face each other with a certain interval.
The compactness of the component is improved through the structure, the rotating shaft of the motor 12 is directly connected with the gear, and the turnover support is driven by the gear transmission, so that the efficiency of transmitting torque is maximized, and the working efficiency of the component is improved. In addition, because the same rotating shaft is used for driving the overturning bracket, the rotating moment is larger, and the goods are more stable during overturning.
The working principle of the turnover mechanism is described in detail below in combination with the structure of the turnover mechanism:
after receiving the working instruction, the control part of the motor 12 controls the motor 12 to rotate, the rotating output shaft of the motor 12 outputs torque, the rotating output shaft drives the motor direct-connection gear 13 to rotate and drives the rotating shaft direct-connection gear 14 to rotate through the meshing transmission, the rotating shaft direct-connection gear 14 drives the rotating shaft 16 to rotate in a key connection mode, and the rotating shaft 16 further drives one tail end of the turnover support 11 to realize rotating motion, so that integral upturning or downturning of the turnover support 11 is finally realized. When one end of the turnover support 11 realizes rotation, the upper limit contact 15 positioned on the turnover support also rotates along with the rotation, and along with the increase of the rotation angle of the turnover movement, the contact point of the upper limit contact 15 is contacted with the elastic sheet of the upper limit sensor 18. After the two are contacted, the upper limit sensor 18 receives a change of an electrical signal caused by the contact, so as to determine that the upturning motion has reached a control threshold, and transmit a sensing signal to a control component of the motor 12, wherein the control component controls the rotation of the motor 12 to stop the rotation output of the motor in the direction, and a specific control method of the control component will be described in detail below and will not be repeated herein.
Example 2
This embodiment 2 provides an AGV chassis with the turnover mechanism of embodiment 1 mounted thereon. The structure of the AGV chassis provided in embodiment 2 of the present invention is described in further detail below with reference to FIGS. 6-7. Fig. 6-7 show structural views of an AGV chassis according to embodiment 2 of the present invention, wherein fig. 6 is a perspective view of the AGV chassis, and fig. 2 is an upturned use state of the AGV chassis.
Since the AGV chassis in this embodiment carries the AGV tilting mechanism 102 in embodiment 1, the AGV tilting mechanism and the principle of operation thereof for the AGV chassis in embodiment 2 are the same as those in embodiment 1.
As shown in fig. 6, the AGV chassis includes a base plate 101, a turnover mechanism 102, a lower limit sensor 103, a sensor bracket 104, a support bar 105, a plurality of universal wheels 106, a support 107, a pair of drive assemblies 108, and a plurality of universal wheel mounting plates 109.
Wherein the bottom plate 101 is a plate with a round overall shape, and a mounting hole is formed in the center of the plate for mounting other functional components. Two driving assembly accommodating grooves are respectively formed at two ends of one diameter of the circular plate, the driving assembly accommodating grooves are used for accommodating driving assemblies 108, and the driving assemblies 108 can be driving rollers or small tires which are common in the field. The drive shafts of the respective drive units 108 are connected to drive motors provided on the upper surface of the chassis 101 and located inside the drive units 108, respectively. The drive motor is fixed to the chassis 101 by means of a support 107.
A universal wheel slot is further formed at four corners of the chassis 101, and the universal wheel slot is used for accommodating four universal wheels 106, and the universal wheels 106 respectively pass through the universal wheel slots and are installed and fixed by a universal wheel mounting plate 109 located right above the universal wheel slots. The caster mounting plate 109 has an "Ω" shape, which is fixed to the base plate 101 and the caster 106 by screws, respectively. By adopting the cooperation of the driving assembly 108 and the universal wheels 106, the flexibility and the smoothness of the movement of the AGV chassis can be realized, and the movement capacity of the robot is greatly improved.
The tilting mechanism 102 is secured to the base plate 101 by the motor mounting plate 10 and the two-piece rotatable shaft bearing 19, which may be screw-mounted or other attachment means known in the art.
One side of the turnover mechanism 102, where the upper limit sensor 18 is arranged, may also be provided with a lower limit sensor 103 for controlling the position of the turnover bracket 11 turned down. The specific installation mode of the lower limit sensor 103 is as follows: a support bar 105 is installed at a proper position of the chassis 101 at the side of the turnover mechanism 102 where the upper limit sensor 18 is installed, and the support bar 105 is fixedly connected with the chassis 101 and extends vertically upwards. A sensor bracket 104 is provided at an upper position of the support rod 105, and one end of the sensor bracket 104 is fixed to the support rod 105, and the other end extends horizontally in a direction away from the tilting mechanism 102. The other end of the sensor bracket 104 is provided with a lower limit sensor 103, and the lower limit sensor 103 is provided with a lower limit spring sheet, so that a control threshold value of the downward turning motion of the turning bracket is detected.
The working principle of the turnover mechanism is described in detail below in combination with the structure of the turnover mechanism:
Referring to fig. 7, the motor 12 is mounted on the motor mounting plate 10, and the motor direct-connection gear 13 is fixed on the output shaft of the motor 12 through the bushing 22 and the expansion sleeve 21, and the motor direct-connection gear 13 is meshed with the rotation shaft direct-connection gear 14. And then drive rotation axis 16 to rotate, flip support 11 is fixed on rotation axis 16, and when rotation axis 16 rotates, drive flip support 11 upset certain angle. The upper limit sensing detection principle is the same as that of embodiment 1. The lower limit sensing detection principle is as follows: with the increase of the rotation angle of the downward turning motion, the lower surface of the turning bracket 11 is in contact with the spring piece of the lower limit sensor 103. After the two are contacted, the lower limit sensor 18 receives a change of an electrical signal caused by the contact, so as to determine that the downward turning motion has reached a control threshold, and transmits a sensing signal to a control component of the motor 12, wherein the control component controls the rotation of the motor 12 to stop the rotation output of the motor in the direction, and a specific control method of the control component will be described in detail below and will not be repeated herein.
Example 3
Embodiment 3 of the present invention provides an AGV having the turnover mechanism of embodiment 1 and the chassis of embodiment 2, and having other functional components required by the AGV. The functional component may be a positioning navigation component, a housing, a transmitting/receiving device, etc.
Example 4
The embodiment 4 of the invention provides the turnover mechanism for the AGV, the chassis and the control method for the upturning and downturning movement of the AGV.
The control method comprises the following steps:
S01, the control part receives a control signal and drives the motor 12 to rotate forwards or reversely to drive the turnover bracket 11 to turn upwards or downwards;
S02, an upper limit sensor 18 detects the change of an electric signal caused by initial contact between an upper limit contact 15 and an elastic sheet thereof; or the lower limit sensor 103 detects a change of an electrical signal caused by initial contact between the lower surface of the flip bracket 11 and the elastic sheet thereof, so as to determine that the flip-up or flip-down movement reaches the control threshold of flip-up or flip-down.
Preferably, the change in the electrical signal may be a change in the generation, decrease or increase of current, voltage or resistance in the sensing circuit due to the initial contact. The arrangement of the sensing electric signals is common knowledge in the art.
S03, the upper limit sensor 18 or the lower limit sensor 103 transmits the sensing signal to a motor control part, and the motor control part controls the motor to gradually reduce the rotation number so that the motor 12 stops rotating output in the direction in a damped manner.
Specifically, the control means controls the function of gradually decreasing the number of revolutions of the motor 12 as
ω(t)＝log(θth/360)t
Wherein ω (t) is the real-time revolution number (unit: revolution/second) of the motor 12, t is the time (unit: second) after the upturning or downturning motion reaches the upturning or downturning control threshold, and the value of t is less than or equal to 1 second, so that the motor 12 can stop outputting the torque in a short time, θth is the upturning or downturning control threshold (unit: degree), and the value of θth is 40-60 degrees.
The braking control mode of the controller for the rotating output shaft of the motor 12 can be electric braking, in particular reverse braking or energy consumption braking. The controller applies a corresponding reverse current or a corresponding direct current to the motor 12 according to the above-defined control function, thereby causing the motor 12 to stop dampened in accordance with the above-described function.
Compared with the existing control mode of immediately stopping the motor output when the control threshold is reached, the control mode provided by the invention is softer, so that the action control of the AGV in the working process is softer, unnecessary vibration and abrasion to parts caused by sudden stopping are avoided, the service life of the AGV is prolonged, and the working stability is improved.
In the description of the present invention, it should be understood that the terms "upper," "lower," "vertical," "top," "bottom," "inner," "outer," "front," "rear," "left," "right," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. Tilting mechanism for AGV, its characterized in that: the turnover mechanism comprises a motor mounting plate (10), a turnover bracket (11), a motor (12), a motor direct-connection gear (13), a rotating shaft direct-connection gear (14), a rotating shaft (16), a sensor bracket, a rotating shaft bearing seat (19), a bearing (20) and a limiting mechanism; the motor mounting plate (10) is used for supporting the motor (12) and the rotating shaft (16); the motor direct-connection gear (13) is connected with a rotary output shaft of the motor (12) through an expansion sleeve (21) and a bushing (22) and realizes transmission; the motor direct-connection gear (13) realizes transmission through gear engagement with the motor direct-connection gear (13), and the motor direct-connection gear (13) is fixed with the rotating shaft (16) and drives the rotating shaft (16) to rotate; the rotating shaft (16) drives the turnover bracket (11) fixed on the rotating shaft to perform turnover movement; the limiting mechanism is used for detecting whether the overturning movement of the overturning bracket (11) reaches a control threshold value or not;
A bushing (22) which is tightly matched with the rotary output shaft of the motor (12) is arranged on the rotary output shaft;
The limiting mechanism comprises an upper limiting contact piece (15) and an upper limiting sensor (18);
An upper limit contact (15) is further arranged at the tail end of at least one turnover support (11) connected with the rotating shaft (16), the upper limit contact (15) comprises a connecting part, an arc-shaped rotating part and a contact from top to bottom, wherein the connecting part is formed by a metal sheet with a right-angle bending shape, and the shape of the sheet with the right-angle bending shape is matched with the shape of the tail end side surface of the turnover support (11); the connecting part is coated on the outer side surface of the tail end of the turnover support (11) and is fixedly connected with the tail end of the turnover support (11) through a screw, the arc-shaped rotating part is arranged below the connecting part, the side edge of the arc-shaped rotating part, which faces one side of the rotating shaft (16), is provided with a groove which is matched with the outer edge of the rotating shaft (16), the arc-shaped edge of the groove surrounds the outer edge of part of the rotating shaft (16), the contact is positioned at the tail end of the arc-shaped rotating part and is a metal sheet with a rectangular surface shape, the surface of the metal sheet faces the direction of a spring piece of the upper limit sensor (18), and along with the upward turnover movement of the turnover support (11), the contact can be contacted with the spring piece, so that whether the upward turnover movement of the turnover support (11) reaches a control threshold value is detected;
a bushing (22) of a part of the rotating output shaft of the motor (12) extending from the other side of the first through hole is nested with a tension sleeve (21), and the tension sleeve (21) generates huge holding force between the bushing (22) of the rotating output shaft of the motor (12) and the motor direct-connection gear (13) through the action of a high-strength tension bolt, so that the keyless connection between the rotating output shaft of the motor (12) and the bushing (22) thereof and the motor direct-connection gear (13) is realized;
The middle part of the rotating shaft (16) is provided with a shaft main body part with a thicker diameter, and one end of the shaft main body part is sequentially provided with a gear installation part with a key connection hole and a first turnover bracket installation part with a flat installation opening from inside to outside; a second overturning bracket mounting part and a bearing mounting part with flat mounting openings are sequentially arranged at the other end of the shaft main body part from inside to outside; the gear mounting part is used for mounting a rotating shaft direct-connection gear (14), a second through hole penetrating through the motor mounting plate (10) and a bearing (20) mounted in a rotating shaft bearing seat (19); the first and second overturning bracket mounting parts are used for mounting a pair of overturning brackets (11); the bearing mounting portion is for mounting a bearing (20) to another rotary shaft bearing housing (19).
2. The turnover mechanism for an AGV according to claim 1, wherein: the motor mounting plate (10) is provided with an upper part with a larger area and a lower part with a smaller area, the motor (12) is mounted on the upper part of one side surface of the motor mounting plate (10), a first through hole and a second through hole are formed in the upper part of the motor mounting plate (10), and a rotating output shaft of the motor (12) penetrates through the first through hole of the motor mounting plate (10), extends to the other side of the motor mounting plate (10) and extends out of the other side of the first through hole.
3. The turnover mechanism for an AGV according to claim 2, wherein: the motor direct-connection gear (13) is nested on a bushing (22) at the outer side of the rotary output shaft of the motor (12), and realizes the rotary transmission of the rotary output shaft of the motor (12); the rotating shaft direct-connection gear (14) is arranged in parallel with the motor direct-connection gear (13); the rotating shaft (16) passes through the center of the rotating shaft direct-connection gear (14) in a key connection mode and is in transmission connection with the rotating shaft direct-connection gear (14); the rotary shaft (16) is arranged in parallel with the rotary output shaft of the motor (12), the rotary shaft (16) passes through the second through hole of the motor mounting plate (10), and both ends thereof are respectively supported by two rotary shaft bearing blocks (19).
4. The turnover mechanism for an AGV according to claim 3, wherein: the two sides of the rotating shaft (16) are respectively provided with a first turnover bracket mounting part and a second turnover bracket mounting part with flat mounting openings, one side tail end of each pair of turnover brackets (11) is provided with a flat straight slot which is mutually matched with the flat mounting openings of the rotating shaft (16), the slots are mutually sleeved with the flat mounting openings on the two sides of the rotating shaft (16), and the opening ends of the turnover brackets (11) are fastened by screws, so that the mutual fixation and transmission of the turnover brackets (11) and the rotating shaft (16) are realized.
5. An AGV chassis having the turnover mechanism of claim 1 mounted thereon, wherein: the chassis further comprises a chassis (101), a lower limit sensor (103), a sensor bracket, a supporting rod (105), a plurality of universal wheels (106), a support (107), a pair of driving components (108) and a plurality of universal wheel mounting plates (109); the same side of the upper limit sensor (18) is arranged on the turnover mechanism (102), and the limit sensor is also arranged for controlling the downward turnover position of the turnover bracket (11); a supporting rod (105) is arranged on the chassis (101), and the supporting rod (105) is fixedly connected with the chassis (101) and extends vertically upwards; a sensor bracket is arranged on the supporting rod (105), one end of the sensor bracket is fixed on the supporting rod (105), and the other end of the sensor bracket extends outwards horizontally in a direction away from the turnover mechanism (102); the other end of the sensor support is provided with a lower limit sensor (103), the lower limit sensor (103) is provided with a lower limit spring plate, and along with the downward turning movement of the turning support (11), the lower surface of the turning support (11) can be contacted with the lower limit spring plate so as to detect whether the downward turning movement of the turning support reaches a control threshold value.
6. An AGV having an AGV chassis according to claim 5 wherein: an outer housing, a positioning navigation assembly and a communication assembly are provided on the AGV chassis according to claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810662432.7A CN108622229B (en) | 2018-06-25 | 2018-06-25 | Tilting mechanism, chassis, AGV for AGV |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810662432.7A CN108622229B (en) | 2018-06-25 | 2018-06-25 | Tilting mechanism, chassis, AGV for AGV |
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| CN108622229A CN108622229A (en) | 2018-10-09 |
| CN108622229B true CN108622229B (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810662432.7A Active CN108622229B (en) | 2018-06-25 | 2018-06-25 | Tilting mechanism, chassis, AGV for AGV |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109573543A (en) * | 2018-12-12 | 2019-04-05 | 浙江盛达铁塔有限公司 | Angle steel turnover mechanism, angle steel feeding blanking device and angle steel process equipment |
| CN114273241A (en) * | 2021-11-25 | 2022-04-05 | 云南昆船智能装备有限公司 | A two-way tilting mechanism for AGV letter sorting |
| WO2024000188A1 (en) * | 2022-06-28 | 2024-01-04 | 深圳市闪至科技有限公司 | Robot |
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| JP6552459B2 (en) * | 2016-06-27 | 2019-07-31 | 株式会社クボタ | Work vehicle |
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| CN103171896A (en) * | 2013-04-10 | 2013-06-26 | 民航成都物流技术有限公司 | Electric tipping device of overturning disk type high-speed automatic luggage sorting machine |
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| CN108622229A (en) | 2018-10-09 |
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