CN111204203A

CN111204203A - Driving mechanism and automatic guide transport vehicle

Info

Publication number: CN111204203A
Application number: CN202010184711.4A
Authority: CN
Inventors: 郝雪蒙; 郭承志; 贾全
Original assignee: Sany Robot Technology Co Ltd
Current assignee: Sany Robot Technology Co Ltd
Priority date: 2020-03-16
Filing date: 2020-03-16
Publication date: 2020-05-29

Abstract

The invention provides a driving mechanism and an automatic guide transport vehicle, and relates to the technical field of logistics equipment. The driving mechanism is used for an automatic guided transport vehicle and comprises a driving assembly and a jacking assembly, wherein the jacking assembly comprises a fixed part and a movable part, the fixed part is connected with the driving assembly, and the movable part is used for being connected with a frame of the automatic guided transport vehicle; the automatic guide transport vehicle comprises a vehicle frame and the driving mechanism, wherein the driving mechanism is installed on the vehicle frame. In this actuating mechanism and the automated guided transporting vehicle who has this actuating mechanism, the movable part of jacking subassembly adapts to the uneven ground of height through going up and down, and to the adaptability reinforcing on ground, bearing capacity also improves simultaneously.

Description

Driving mechanism and automatic guide transport vehicle

Technical Field

The invention relates to the technical field of logistics equipment, in particular to a driving mechanism and an automatic guide transport vehicle.

Background

An Automatic Guided Vehicle (AGV), also known as an Automated Guided Vehicle, an automatic Guided Vehicle, a laser Guided Vehicle, or the like, is equipped with an electromagnetic or optical automatic guiding device, can travel along a prescribed guiding path without manual guidance, and has safety protection and various transfer functions, and a rechargeable battery is used as a power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be set up by using an electromagnetic rail, the electromagnetic rail is adhered to the floor, and the unmanned transport vehicle moves and acts by means of the information brought by the electromagnetic rail.

In the prior art, an automated guided vehicle generally includes a driving mechanism, a frame, a lifting device, and the like, wherein the lifting device is disposed on the frame and used for lifting goods; in addition, the driving mechanism of the prior art automatic guided vehicle adapts to uneven ground through the expansion and contraction of the spring, but the driving mechanism in such an arrangement has low adaptability to the ground and low bearing capacity.

Disclosure of Invention

The first objective of the present invention is to provide a driving mechanism to alleviate the technical problems of the driving mechanism of the automated guided vehicle in the prior art that the driving mechanism adapts to uneven ground through the expansion and contraction of the spring, the adaptability to the ground is low, and the bearing capacity is also low.

The driving mechanism provided by the invention is used for an automatic guided transport vehicle and comprises a driving assembly and a jacking assembly, wherein the jacking assembly comprises a fixed part and a movable part, the fixed part is connected with the driving assembly, and the movable part is used for being connected with a frame of the automatic guided transport vehicle.

Furthermore, the driving assembly comprises a plurality of motors, speed reducers and driving wheels, the number of the motors, the number of the speed reducers and the number of the driving wheels are consistent, the driving wheels are arranged side by side along the axis direction of the driving wheels, and each motor independently drives one driving wheel through one speed reducer;

drive assembly still includes the mount pad, and is a plurality of the reduction gear all fixed set up in the mount pad, the fixed part with the mount pad is articulated, the mount pad is relative to the swing axis of fixed part extends along the horizontal direction and with the axis of drive wheel is and is greater than 0 and be not more than 90 contained angle.

Further, in the driving assembly, the number of the motors, the speed reducers and the driving wheels is two, the two motors and the two speed reducers are located between the two driving wheels, and the four motors and the two speed reducers are distributed in a horizontal plane.

Further, the mount pad includes first mounting panel and fixed set up in the articulated slab of first mounting panel, the fixed part with the articulated slab is through the pivot articulated.

Further, the fixed part includes the cylinder, the movable part includes the rod cover, the jacking subassembly still includes the driving piece, the cylinder with drive assembly is connected, the rod cover be used for with frame connection, the driving piece is used for driving the rod cover for the cylinder is along vertical direction lift.

Further, the driving part comprises a hydraulic cylinder, a cylinder body of the hydraulic cylinder is fixedly arranged in the cylinder barrel, and a piston rod of the hydraulic cylinder is fixedly arranged in the rod sleeve.

Furthermore, the driving mechanism further comprises a limiting piece and an encoder assembly, wherein the limiting piece is used for limiting the rod sleeve to rotate around the vertical direction; the encoder assembly is fixedly arranged on the rod sleeve and is used for detecting the rotation angle of the driving mechanism relative to the frame.

Further, the driving mechanism further comprises a turntable bearing, the turntable bearing is provided with an inner ring and an outer ring, one of the inner ring and the outer ring is fixedly connected with the movable part, and the other of the inner ring and the outer ring is fixedly connected with the frame.

The driving mechanism provided by the invention can produce the following beneficial effects:

the driving mechanism provided by the invention is used for an automatic guided transport vehicle and comprises a driving component and a jacking component, wherein the fixed part of the jacking component is connected with the driving component, and the movable part of the jacking component is used for being connected with a frame of the automatic guided transport vehicle. Compared with the condition that the flexible part of the spring adapts to the uneven ground in the prior art, the movable part of the jacking assembly adapts to the uneven ground through lifting in the driving mechanism, the adaptability to the ground is enhanced, and the bearing capacity is improved simultaneously.

The second objective of the present invention is to provide an automated guided vehicle, so as to alleviate the technical problems that the driving mechanism of the automated guided vehicle in the prior art adapts to uneven ground through the expansion and contraction of the spring, has low adaptability to the ground, and has low bearing capacity.

The automatic guide transport vehicle provided by the invention comprises a vehicle frame and the driving mechanism, wherein the driving mechanism is arranged on the vehicle frame.

Furthermore, the number of the driving mechanisms is four, and the four driving mechanisms are arranged on the frame in two rows and two columns.

The automatic guide transport vehicle provided by the invention has all the beneficial effects of the driving mechanism, and therefore, the automatic guide transport vehicle is not described in detail herein.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is an exploded schematic view of a driving mechanism according to an embodiment of the present invention;

fig. 2 is a bottom view of an automated guided vehicle provided by an embodiment of the present invention;

fig. 3 is a front view of an automated guided vehicle according to an embodiment of the present invention.

Icon:

010-a drive mechanism; 020-vehicle frame;

100-a drive assembly; 110-a motor; 120-a reducer; 130-a drive wheel; 140-a mount; 141-a first mounting plate; 142-a hinge plate; 143-a rotating shaft;

200-a jacking assembly; 210-a cylinder barrel; 220-a rod sleeve; 230-a hydraulic cylinder;

300-a stop;

410-a second mounting plate;

500-slewing bearing.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", etc. do not imply that the components are required to be absolutely horizontal or vertical, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Fig. 1 is an exploded schematic view of the driving mechanism provided in this embodiment.

The embodiment provides a driving mechanism 010, which is used for an automatic guided vehicle, as shown in fig. 1, the driving mechanism 010 includes a driving component 100 and a jacking component 200, the jacking component 200 includes a fixed part and a movable part, the fixed part is connected to the driving component 100, and the movable part is used for being connected with a frame of the automatic guided vehicle.

The driving mechanism 010 provided by the embodiment comprises a driving component 100 and a jacking component 200, wherein a fixed part of the jacking component 200 is connected to the driving component 100, and a movable part of the jacking component 200 is used for being connected with a frame of the automatic guided vehicle. Compared with the condition that the flexible part of the spring adapts to uneven ground in the prior art, in the driving mechanism 010, the movable part of the jacking assembly 200 adapts to uneven ground through lifting, the adaptability to the ground is enhanced, and the bearing capacity is improved at the same time.

In this embodiment, as shown in fig. 1, the driving assembly 100 includes a motor 110, a speed reducer 120 and two driving wheels 130, the number of the motor 110, the number of the speed reducer 120 and the number of the driving wheels 130 are the same, the two driving wheels 130 are arranged side by side along the axial direction thereof, and each motor 110 drives one driving wheel 130 through one speed reducer 120; the driving assembly 100 further includes a mounting base 140, the two speed reducers 120 are both fixedly disposed on the mounting base 140, the fixing portion is hinged to the mounting base 140, and the mounting base 140 extends along the horizontal direction relative to the swing axis of the fixing portion and forms an included angle larger than 0 ° and not larger than 90 ° with the axis of the driving wheel 130. When the driving mechanism 010 is used, if the ground is substantially horizontal, the part above the mounting seat 140 of the driving mechanism 010 and the frame are fixed, when the vehicle runs to a high-low uneven position, the mounting seat 140 can swing relative to the part above the mounting seat 140, so that the mounting seat 140 can drive the two driving wheels 130 to swing, one of the two driving wheels 130 is in contact with a high position of the ground, and the other driving wheel 130 is in contact with a low position of the ground, so that the whole driving mechanism 010 is in good contact with the ground, and the phenomena of slipping and the like are effectively avoided. In addition, under the condition of the arrangement, the rotation directions of the two motors 110 can be controlled to realize the same-direction rotation of the two driving wheels 130, so that the driving mechanism 010 drives the frame and the like to move along the set direction; or the two driving wheels 130 are rotated reversely by controlling the rotation directions of the two motors 110, so that the driving mechanism 010 drives the frame and the like to move along another predetermined direction, that is, the driving mechanism 010 can also realize a steering function in addition to normal walking.

It should be noted that configuring a control component for the driving mechanism 010 or the automatic guided vehicle, and enabling the control component to control the motor 110 of the driving mechanism 010 to rotate forward and backward are mature prior art, and therefore, the present application is not described herein again.

It should be noted that, in other embodiments of the present application, the number of the motors 110, the speed reducers 120 and the driving wheels 130 of the driving assembly 100 is the same but not limited to two, for example, the number of the motors 110, the speed reducers 120 and the driving wheels 130 may also be three, and the three driving wheels 130 are arranged side by side along the axial direction thereof and are respectively driven by one motor 110 alone. That is, the number of the driving wheels 130 and the like is not particularly limited as long as the plurality of driving wheels 130 can perform walking and steering.

Specifically, in the present embodiment, the swing axis of the mounting seat 140 relative to the fixed portion of the jacking assembly 200 is perpendicular to the axis of the driving wheel 130, i.e., the two are at an angle of 90 °. When the driving mechanism 010 drives the vehicle body frame and the like to move forward and encounters a condition of uneven ground, the mounting base 140 and the portion below the mounting base swing left and right relative to the portion above the mounting base.

It should be noted that, in other embodiments of the present application, the angle between the axis of the swing of the mounting seat 140 and the axis of the driving wheel 130 is not limited to 90 °, for example, the angle between the axis of the swing of the mounting seat 140 and the axis of the driving wheel 130 is 45 °.

In the present embodiment, two motors 110 and two reducers 120 are located between two driving wheels 130, and four are distributed in a horizontal plane. This arrangement can reduce the occupied space of the driving assembly 100 and make the structure of the driving assembly 100 more compact, and the driving wheel 130 can also protect the motor 110 and the decelerator 120.

As shown in fig. 1, in the present embodiment, the mounting base 140 includes a first mounting plate 141 and a hinge plate 142 fixedly disposed on the first mounting plate 141, and the fixed portion is hinged to the hinge plate 142 through a rotating shaft 143.

Specifically, the number of the hinge plates 142 and the rotating shafts 143 is two, the two rotating shafts 143 are detachably mounted on the two hinge plates 142, respectively, and the two rotating shafts 143 are coaxially rotatable. The two hinge plates 142 support the above portions, which not only improves the bearing capacity of the driving mechanism 010, but also improves the support stability of the driving mechanism 010. When the hinge assembly is installed, the rotating shaft 143 may be connected to the fixing portion of the lifting assembly 200, and then the rotating shaft 143 may be connected to the hinge plate 142.

It should be noted that, in other embodiments of the present application, the number of the hinge plates 142 and the rotating shafts 143 is not limited to two, for example, the number of the hinge plates 142 and the rotating shafts 143 is three, the three rotating shafts 143 can be detachably mounted on the three hinge plates 142, and the three rotating shafts 143 can rotate coaxially, that is, as long as reliable hinge connection between the mounting seat 140 and the jacking assembly 200 can be achieved, the number of the hinge plates 142 and the rotating shafts 143 is not specifically limited by the present application.

In this embodiment, the fixed portion of the jacking assembly 200 includes a cylinder 210, the movable portion of the jacking assembly 200 includes a rod sleeve 220, the jacking assembly 200 further includes a driving member, the cylinder 210 is connected with the driving assembly 100, the rod sleeve 220 is used for being connected with the frame of the automated guided vehicle, and the driving member is used for driving the rod sleeve 220 to lift in the vertical direction relative to the cylinder 210.

Specifically, the cylinder 210 is hinged to the hinge plate 142 via a rotating shaft 143, and the top end of the rod cover 220 is used for connecting to the frame.

Specifically, in this embodiment, the driving member may include a hydraulic cylinder 230, a cylinder body of the hydraulic cylinder 230 is fixedly disposed in the cylinder barrel 210, and a piston rod of the hydraulic cylinder 230 is fixedly disposed in the rod sleeve 220. The cylinder barrel 210 and the rod sleeve 220 respectively protect the cylinder body and the piston rod, the hydraulic cylinder 230 with different radial sizes can be selected by arranging the cylinder barrel 210 and the rod sleeve 220, and when the hydraulic cylinder 230 fails, the hydraulic cylinder 230 can be conveniently detached for maintenance or replacement.

In this embodiment, the driving mechanism 010 further includes a limiting member 300 and an encoder assembly, the limiting member 300 is used for limiting the rotation of the rod sleeve 220 around the vertical direction; the encoder assembly is fixedly arranged on the rod sleeve 220 and is used for detecting the rotation angle of the driving mechanism 010 relative to the frame.

Specifically, the encoder assembly includes second mounting plate 410 and encoder, and second mounting plate 410 is fixed to be set up in jacking subassembly 200, and the encoder is installed in second mounting plate 410.

It should be noted that the encoder and the working principle thereof for detecting the rotation angle are well established prior art, and no improvement is made to the encoder and the working principle thereof for detecting the rotation angle, and therefore, no detailed description is given here.

More specifically, the second mounting plate 410 is fixedly mounted to the rod sleeve 220.

In this embodiment, the position-limiting member 300 may be a fastening member, the circumferential wall of the cylinder 210 is provided with an oblong hole extending along the axial direction of the cylinder, and the fastening member penetrates through the oblong hole to be fixedly connected with the rod sleeve 220.

In this embodiment, the driving mechanism 010 further includes a turntable bearing 500, the turntable bearing 500 has an inner ring and an outer ring, the inner ring is fixedly connected with the movable portion, and the outer ring is fixedly connected with the frame.

It should be noted that in other embodiments of the present application, the outer ring of the turntable bearing 500 may also be fixedly connected to the movable portion, and the inner ring of the turntable bearing 500 is used for fixedly connecting to the frame.

Fig. 2 is a bottom view of the automated guided vehicle provided in this embodiment, and fig. 3 is a front view of the automated guided vehicle provided in this embodiment.

As shown in fig. 2 and 3, the present embodiment further provides an automated guided vehicle including a frame 020 and the driving mechanism 010 described above, wherein the driving mechanism 010 is mounted on the frame 020.

Specifically, in the automated guided vehicle according to the present embodiment, as shown in fig. 2, the top outer contour of the vehicle frame 020 is rectangular.

However, in other embodiments of the present application, the outer contour of the vehicle frame 020 in a plan view is not limited to a rectangle, and for example, the outer contour of the vehicle frame 020 in a plan view may be a circle, and the user may specifically set the shape of the outer contour of the vehicle frame 020 in a plan view according to the outer contour of the load to be specifically transferred, and the present application is not particularly limited thereto.

Specifically, in the automated guided vehicle according to this embodiment, as shown in fig. 2, the number of the driving mechanisms 010 is four, and the four driving mechanisms 010 are mounted on the frame 020 and are arranged in two rows and two columns.

It should be noted that, in other embodiments of this embodiment, the number of the driving mechanisms 010 of the automatic guided vehicle is not limited to four, but may also be other numbers, and a user may set the specific number of the driving mechanisms 010 according to the weight of the goods to be transferred, for example, the automatic guided vehicle with four driving mechanisms 010 in this embodiment can transfer 20 tons of goods, when the weight of the goods to be transferred is 30 tons, six driving mechanisms 010 may be set, and the arrangement manner of the six driving mechanisms 010 may be three rows and two columns or circular, and the user may specifically set according to the outer contour of the frame 020 and the outer contour of the goods to be transferred, that is, the application does not specifically limit the number of the driving mechanisms 010 in the automatic guided vehicle, and does not specifically limit the arrangement manner of the plurality of driving mechanisms 010.

More specifically, in the present embodiment, the inner ring of the turntable bearing 500 of the driving mechanism 010 is fixedly connected to the rod sleeve 220 of the driving mechanism 010, and the outer ring of the turntable bearing 500 of the driving mechanism 010 is fixedly connected to the frame 020.

In summary, the implementation processes of the functions of walking, steering, lifting, and the like of the automated guided transportation vehicle provided by the embodiment can be summarized as follows:

after goods are loaded on the frame 020, if the driving direction of the driving wheel 130 is different from the set direction, the control assembly controls the eight motors 110 of the four driving mechanisms 010 to drive the eight driving wheels 130 to rotate so as to realize the rotation of the four driving mechanisms 010 relative to the frame 020 in the vertical direction, and the four encoders detect whether the rotation angles of the four driving mechanisms 010 reach the target angle in real time; when the four driving mechanisms 010 all turn to the set direction, the control assembly controls the eight driving wheels 130 of the four driving mechanisms 010 to rotate in the same direction, and therefore the automatic guided vehicle runs along the set direction.

When the goods need to be lifted, the control component controls the piston rod of the hydraulic cylinder 230 to ascend, and the piston rod drives the rod sleeve 220 and further drives the frame 020 and the goods thereon to ascend integrally; when the goods do not need to be lifted, the control component controls the piston rod of the hydraulic cylinder 230 to descend, and the piston rod drives the rod sleeve 220 to further drive the frame 020 and the goods thereon to integrally descend.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides an actuating mechanism, its characterized in that for automated guided transporting vehicle, actuating mechanism includes drive assembly (100) and jacking subassembly (200), jacking subassembly (200) include fixed part and movable part, the fixed part connect in drive assembly (100), the movable part be used for with the connected to frame of automated guided transporting vehicle.

2. The driving mechanism according to claim 1, wherein the driving assembly (100) comprises a motor (110), a speed reducer (120) and a plurality of driving wheels (130), the number of the motor (110), the number of the speed reducer (120) and the number of the driving wheels (130) are the same, the plurality of driving wheels (130) are arranged side by side along the axial direction of the driving wheels, and each motor (110) drives one driving wheel (130) through one speed reducer (120);

drive assembly (100) still include mount pad (140), and is a plurality of reduction gear (120) all fixed set up in mount pad (140), the fixed part with mount pad (140) are articulated, mount pad (140) for the swing axis of fixed part extends along the horizontal direction and with the axis of drive wheel (130) is and is greater than 0 and be not more than 90 contained angle.

3. The drive mechanism according to claim 2, characterized in that in the drive assembly (100), the number of the motors (110), the reducers (120) and the drive wheels (130) is two, two motors (110) and two reducers (120) are located between two drive wheels (130), and four are distributed in a horizontal plane.

4. The drive mechanism according to claim 2 or 3, characterized in that the mounting seat (140) comprises a first mounting plate (141) and a hinge plate (142) fixedly arranged on the first mounting plate (141), and the fixed part is hinged with the hinge plate (142) through a rotating shaft (143).

5. The driving mechanism according to any one of claims 1 to 3, wherein the fixed portion comprises a cylinder (210), the movable portion comprises a rod sleeve (220), the jacking assembly (200) further comprises a driving member, the cylinder (210) is connected with the driving assembly (100), the rod sleeve (220) is used for being connected with the vehicle frame, and the driving member is used for driving the rod sleeve (220) to vertically lift relative to the cylinder (210).

6. The drive mechanism according to claim 5, wherein the drive member comprises a hydraulic cylinder (230), a cylinder body of the hydraulic cylinder (230) being fixedly arranged in the cylinder barrel (210), a piston rod of the hydraulic cylinder (230) being fixedly arranged in the rod sleeve (220).

7. The drive mechanism according to claim 5, further comprising a stopper (300) and an encoder assembly, wherein the stopper (300) is configured to limit the rotation of the rod sleeve (220) in the vertical direction; the encoder assembly is fixedly arranged on the rod sleeve (220), and the encoder assembly is used for detecting the rotation angle of the driving mechanism relative to the frame.

8. A drive mechanism according to any one of claims 1-3, further comprising a turntable bearing (500), the turntable bearing (500) having an inner ring and an outer ring, one of the inner ring and the outer ring being fixedly connected to the movable portion, the other of the inner ring and the outer ring being adapted for fixed connection to the frame.

9. An automated guided vehicle, characterized by comprising a frame (020) and a drive mechanism (010) according to any one of claims 1-8, the drive mechanism (010) being mounted to the frame (020).

10. The automated guided vehicle of claim 9, wherein the number of the drive mechanisms (010) is four, and the four drive mechanisms (010) are mounted on the frame (020) and arranged in two rows and two columns.