CN209479814U - A kind of unidirectional latent traction AGV of single drive - Google Patents

Abstract

The utility model discloses a kind of single unidirectional latent traction AGV of drive, including AGV vehicle ontology, AGV vehicle ontology includes headstock section, power section and tailstock section, headstock section is equipped with push rod component, push rod component includes mandril bracket, drive disk, the mandril and horizontally arranged mandril motor of vertical direction setting, mandril motor output shaft passes through mandril rack side plate and enters mandril internal stent, and it is connect with drive disk, drive disk is equipped with driven roller, driven roller is connect by removable connecting plate with mandril, the first resetting apparatus is cased with outside mandril between mandril bracket and removable connecting plate；Power section includes the battery case of upper end opening; the battery case includes battery box panel; rectangular panel is equipped with knob, and rectangular panel lower part is equipped with keeper, and keeper is equipped with vertical bolt; this AGV is easy to operate, accuracy is high, highly reliable; in mandril electrical fault, mandril is protected not to be damaged, is separated with trolley; battery altering is convenient, improves production efficiency.

Description

A kind of unidirectional latent traction AGV of single drive

Technical field

The utility model relates to automated guided vehicle technical fields, and in particular to single to drive unidirectional latent traction AGV.

Background technique

AGV, i.e. automated guided vehicle, also commonly referred to as AGV trolley refer to and magnetically or optically wait homing guidances equipped with electricity Device, it can be travelled along defined guide path, and the transport vehicle with safeguard protection and various transfer functions is answered in industry Its travelling route can be generally controlled by computer using rechargeable storage battery as its power resources with middle automatic driving car And behavior, or electromagnetic path is sticked on floor, AGV trolley then rely on message brought by electromagnetic path carry out it is mobile with Movement, it is ensured that deliver article safety in carry process and reduce the loss occurred during manual operation, reduce production Cost improves the economic benefit of industry；Another feature of AGV is that soft type is good, and high degree of automation and intelligent level are high, AGV generally is equipped with charging crane, can realize cargo and material handling with other logistics equipments from mobile interface and carry full mistake Process automation.

Existing AGV mainly includes that towed, backpack, submarine etc. are several according to means of conveyance difference, towed AGV Refer to the AGV for not carrying or not exclusively carrying moving object weight；Backpack AGV is to put feeding rack, roller or week on the car body Turnning box is guided by magnetic stripe and reads terrestrial reference, the automation transfer for selecting website to stop；Submarine AGV, AGV trolley is hidden to platform Under vehicle, traction chassis is linked up with using electric up-down stick, after trolley is drawn to designated position, AGV trolley is separated with trolley automatically, Then it gets into below empty station vehicle, empty trolley is dragged away, submarine AGV vehicle body is short, bearing capacity is big, is suitable for material supply Big production system and flexible production line are measured, it is widely used.However, the driving structure of submarine AGV used at present is occurring Driving wheel can not be driven to rotate when failure, it is artificial to push hard, be difficult to withdraw scene, bring a great deal of trouble trouble to carry, also for Other AGV vehicles increase obstacle.

In Patent No. 201720254073, one is disclosed in the utility model patent file that the day for announcing is 2017.11.17 Unidirectional single drive submarine AGV of the kind based on magnetic navigation, including sequentially connected headstock section, power section and tailstock section, the vehicle Head section includes frame head, and the tail portion of frame head is connected with the mobile main driving assembly of driving vehicle, the main driving assembly Box is driven including main motor, one is respectively arranged on two opposite side walls of main motor driving box to drive box with respect to main motor The main drive wheel of rotation, each main drive wheel drive the driving electricity containing speed reducer inside box by drive shaft and main motor Machine connection, the main motor drive and are provided with damping on box, and the damping and driving main motor drive box lifting Hoisting mechanism connection is driven, the driving hoisting mechanism includes the promotion motor installation for being connected to main motor driving box upper surface Plate, the horizontally disposed output shaft for promoting motor are connected after passing through promotion motor mounting plate with lift cam, the lift cam It connect with damping, is rotated by lift cam, damping is driven to move up and down, damping drives main motor to drive box It moves up and down；Push rod component is additionally provided on the frame head, the push rod component includes the top being mounted in frame head The output shaft of bar assembly mounting plate, horizontally disposed mandril motor extend into push rod component peace by the side wall of push rod component mounting plate It connecting inside loading board with drive disk, is connect by turntable in the linear bearing being vertically arranged, mandril passes vertically through linear bearing, Mandril top is extend out to except frame head, and push rod spring is arranged between mandril lower part and push rod component mounting plate bottom surface；It is described Power section includes power supply segment frames, and power section frame is provided with rear clump weight on bottom surface, is arranged on rear clump weight upper surface recessed Slot, battery case are placed in the groove on rear clump weight, and the rear clump weight is that plurality of steel plates is superimposed to be formed, the utility model Unidirectional single drive submarine AGV promotes the output shaft rotation of motor, drives damping lifting when driving motor breaks down, And then drive main motor to drive box lifting by damping, realize the dynamic main drive wheel lifting thereon of main motor driving tape, To make main drive wheel be detached from ground, headstock section is time saving and energy saving convenient for manually pushing not by resistance, but this unidirectional single drives is hidden The push rod spring of the push rod component of formula AGV is located between mandril lower part and push rod component mounting plate bottom surface, and mandril motor is by turning Disk is connect in the linear bearing being vertically arranged, and turntable is equipped with mini-roundabout, when mandril motor does not work, in the work of reset spring Under, mandril is risen, and AGV vehicle is connect with trolley, and after arriving at the destination, the rotation of mandril motor drives the rotation of mini-roundabout, thus Mandril decline is driven, AGV falls off with trolley, and when the failure of mandril motor can not rotate, mandril is difficult to be detached from from trolley, It is easily damaged mandril, it is necessary to trolley is born away using external force such as fork trucks, it is time-consuming and laborious；The unidirectional list drives submarine AGV's simultaneously Battery case is placed directly in groove, is placed in power supply segment frames, and battery is finished when needing replacing, need manually by battery case from It is proposed in groove, since battery case is placed in groove than heavier and battery case, thus it is troublesome in poeration, artificial burden is increased, Also increase cost of labor.

Summary of the invention

To solve problems of the prior art, the utility model provides a kind of unidirectional latent traction AGV of single drive, should AGV is easy to use, is hardly damaged, is highly-safe, easy to operate, save the cost.

To achieve the above purpose, the technical solution of the present invention is:

A kind of unidirectional latent traction AGV of single drive, including AGV vehicle ontology, AGV vehicle ontology include headstock section, power section and vehicle Endpiece, headstock section be equipped with push rod component, push rod component include mandril bracket, drive disk, vertical direction setting mandril and level The mandril motor of direction setting, mandril motor output shaft pass through mandril rack side plate and enter mandril internal stent, and and drive disk It connects, the position that driving disk center is deviateed on drive disk is equipped with driven roller, and driven roller passes through removable connecting plate and connects with mandril It connects, the upper end of mandril passes through mandril bracket and is pierced by the top surface of AGV vehicle ontology, and the lower end of mandril passes through removable bottom plate of connecting plate And be fixed on bottom plate of connecting plate, it is cased with the first resetting apparatus outside the mandril between mandril bracket and removable connecting plate, The upper end of first resetting apparatus is abutted against with mandril bracket, and the lower end of the first resetting apparatus is abutted against with removable connecting plate；

Power section includes the battery case of AGV power supply piece housing, the upper end opening being detachably connected with AGV power supply piece housing, Battery case includes battery block panel assemblies, battery case back plate, battery box plate and battery case side plate, and battery block panel assemblies include Rectangle front panel, rectangular-shaped top plate and the rectangle rear baffle equipped with rectangular hollow structure, rectangle front panel are parallel with rectangle rear baffle Setting, rectangle front panel, rectangular-shaped top plate and the rectangle rear baffle equipped with rectangular hollow structure form cavity structure, rectangle front panel It is equipped with the first knob with recessed portion, rectangle front panel lower part is equipped with the recessed groove being recessed to rectangle rear panel direction, recessed It falling into and is equipped with keeper in slot, keeper is equipped with vertical bolt, and vertical bolt extends to front panel bottom end, and vertical bolt is equipped with handle, The bottom surface of AGV power supply piece housing and the corresponding position of vertical bolt are equipped with the first jack corresponding with bolt.

The utility model AGV, when such as needing to drive trolley mobile, moving of car to trolley bottom surface suitable position, mandril electricity Machine rotation drives drive disk rotation, so that the driven roller on drive disk be driven to be rotated up, driven roller drives connecting plate to rise, To drive connecting rod to rise, it is connect with trolley, after arriving at the destination, mandril motor stalls, driven roller returns to initial bit It sets, connecting plate resets downwards under the action of resetting apparatus, and mandril decline separates, compared with the prior art one kind is based on trolley Unidirectional single drive submarine AGV of magnetic navigation, first resetting apparatus of the utility model are located in bearing support top plate and removable company Between fishplate bar, therefore AGV is during the work time, and the failure of mandril motor stops operating, and connecting plate also can reset dress first It is resetted downwards under the action of setting, so that mandril be driven to decline, makes mandril be easy to detach from trolley, set without enabling other It is standby that trolley is moved from AGV, it is time saving and energy saving, other AGV can also be distributed and continued trolley movement to destination, it will not be because of AGV failure delays production, saves the production time, improves production efficiency, save the cost, while effectively protecting connecting rod Will not make to have obtained because of the effect of inertia of trolley causes to be damaged after destination since mandril can not reset, highly-safe, It is highly reliable；First resetting apparatus is located at outside mandril, mandril plays the role of guiding to the first resetting apparatus, prevents first Resetting apparatus deviates during the motion.

After battery is put into battery case in the utility model, directly battery case is pushed into power supply piece housing, before rectangle It is compared with the prior art a kind of based on the unidirectional of magnetic navigation in the first jack on bolt insertion power supply piece housing on the keeper of plate Single to drive submarine AGV, this AGV realizes battery in the fixed placement of AGV power section, will not fall off, securely and reliably, on bolt Equipped with handle, bolt is made to have stress point, bolt is facilitated to move up and down, to open or close keeper；It is set on rectangle front panel Have the first knob with recessed portion, facilitate fetching for battery case, the first knob is equipped with recessed portion, prevent prominent panel it Outside, it takes up space larger, scraping collision to other articles；Battery block panel assemblies are cavity structure, so that being equipped with after battery When battery case is pushed into and is limited on AGV power supply piece housing, due to effect of inertia, the battery in battery case will continue to transport forward Dynamic, cavity structure travels forward to battery and leaves cushion space, keeps off to reduce battery to the impact force of battery case, and after rectangle Plate is rectangular hollow structure, and when battery impinges upon on battery box panel under external force, rear baffle uses this structure, has dispersion The effect of impact force.

Further, the mandril bracket includes mandril rack plate, is connected to the mandril branch at mandril rack plate both ends The junction of frame side plate, the mandril rack plate and mandril rack side plate is equipped with chamfering structure, the bottom end of mandril rack side plate It is connected with mandril bracket bottom plate, the both ends of mandril bracket bottom plate are equipped with mandril bracket bottom that is vertical with bracket bottom plate and upwardly extending The medial surface of plate side plate, the lateral surface and mandril bracket bottom plate side plate of mandril rack side plate abuts against, the bottom of mandril rack side plate Face and the top surface of mandril bracket bottom plate abut against；

The removable connecting plate includes horizontally disposed bottom plate of connecting plate, is connected to bottom plate of connecting plate one end and prolongs upwards The the first connecting plate side plate stretched, the connecting plate top plate for being connected to the first connecting plate side plate upper end and laterally extending to drive disk direction With the second connection for being connected to the one end of connecting plate top plate far from the first connecting plate side plate and extending to mandril bracket bottom plate direction Plate side plate, the first connecting plate side plate, connecting plate top plate and the second connecting plate side plate constitute a holding tank, the driven roller It is placed in holding tank；It is equipped with the first guide sleeve of vertical direction on the mandril rack plate, the is equipped in the first guide sleeve The upper end of one wear-resistant sleeve, mandril passes through the first wear-resistant sleeve；

Arrangement above constitutes a holding tank by the first connecting plate side plate, connecting plate top plate and the second connecting plate side plate, The driven roller is placed in holding tank, and structure is simple and convenient for connection, passes through the first guide sleeve of setting and first wear-resisting outside mandril Set, the first guide sleeve has guiding role to the axial movement of mandril, and the wear-resisting property of the first wear-resistant sleeve is good, improves mandril Service life, save cost；

Further, rectangle rear baffle bottom end two sides and battery case back plate bottom end two sides are equipped with the level positioned at sustained height Pulley assembly, the bottom surface of AGV power supply piece housing are set on position corresponding with the horizontal trolley component of rectangle rear baffle bottom end two sides There is the second jack for blocking horizontal trolley component, the minimum point of horizontal trolley component is lower than battery case bottom surface, and battery case back plate is left Right two sides are equipped with vertical pulley assembly, the prominent battery case side of the outermost of vertical pulley assembly.

In battery case bottom end, setting horizontal trolley component is vertical and pulley assembly, reduces battery case and AGV cell section shell Friction between body bottom surface and side makes battery case be easier to move in power supply piece housing, facilitates pull, dismounting cell is more It is convenient, due to being equipped with the horizontal trolley group positioned at sustained height in rectangle rear baffle bottom end two sides and battery case back plate bottom end two sides Part, horizontal trolley component match with the second jack, play the role of limit and prompt install successful.

Further, horizontal trolley component includes the first mounting ear and the second mounting ear, and the first mounting ear and second are installed Ear be equipped with horizontal through trunnion axis, trunnion axis is located at the first mounting ear and the second mounting ear exterior portion passes through fixed screw Fixed, trunnion axis is located at the first mounting ear and the second mounting ear middle section is cased with first pulley, and vertical pulley assembly includes the Three mounting ears and the 4th mounting ear, third mounting ear and the 4th mounting ear are equipped with the vertical axes passed vertically through, and vertical axes are located at Third mounting ear and the 4th mounting ear exterior portion are fixed by fixed screw, and vertical axes are located at third mounting ear and the 4th installation Ear middle section is cased with second pulley, and pulley blocks use this structure, and fluent motion, rotation direction is stably and controllable, installation fastening, Structure is simple, easy to operate.

Further, the rear end of headstock section is equipped with driving wheel lifting device, and driving wheel lifting device includes bearing support, second Resetting apparatus promotes driving mechanism, lift lever and AGV drive wheel mechanism；Second guide sleeve is installed on bearing support, is led second Second wear-resistant sleeve is installed, lift lever sliding passes through the second wear-resistant sleeve, and the second resetting apparatus is mounted on bearing support and mentions in set It rises between driving mechanism or lift lever, promotes driving mechanism and be mounted on bearing support, promote driving mechanism and lift lever acts on, AGV drive wheel mechanism is mounted on the lower end of lift lever.

Above structure such as needs to be promoted AGV drive wheel mechanism, and starting promotes driving mechanism, promotes driving mechanism drive and mentions Rising stem overcomes the elastic force of the second resetting apparatus to move upwards, and lift lever drives AGV driving mechanism to be lifted up, and realizes to be promoted and move Make, such as needs that AGV drive wheel mechanism is allowed to decline, allow driving wheel hoisting mechanism to reset, effect of the lift lever in the second resetting apparatus The second guide sleeve and the second wear-resistant sleeve, the second guide sleeve is arranged to realize that AGV drive wheel mechanism declines in lower reset outside lift lever There is guiding role to the axial movement of lift lever, and the wear-resisting property of the second wear-resistant sleeve is good, therefore, driving wheel hoisting mechanism Promotion good reliability, long service life is also smaller with the frictional force of lift lever, and lift lever can be rotated relative to wear-resistant sleeve, can The spinning movement of drive wheel mechanism is realized, consequently facilitating realizing the steering of AGV.

Further, bearing support includes lower supporting frame and upper bearing support, and lower supporting frame includes bearing plate, is connected to bearing Bottom plate both ends and the first supporting side plate for upwardly extending and be connected on the first supporting side plate and laterally outward side extends First support connecting plate, upper bearing support include top support plate, the second bearing that is being connected to top support plate both ends and extending downwardly The second support connecting plate being connect with the first support connecting plate on side plate and supporting side plate and that laterally outward side extends, first The size of support connecting plate is greater than the size of the second support connecting plate,

Using the structure, the second guide sleeve and the second wear-resistant sleeve are mounted on bearing plate, in this way, entire AGV driving wheel mentions The center for rising device moves down, and stability is good；The size of first support connecting plate is greater than the size of the second support connecting plate, can make Upper support connecting plate is connected to well on lower support connecting plate, lower support connecting plate part outstanding and AGV leading portion other Plate connection.

Further, it is equipped on bearing support top plate across promotion driving mechanism and extend into the guiding in lift lever Column；Second resetting apparatus is reset spring, and reseting spring sleeve is being located at top support plate and is being promoted between driving mechanism or lift lever Guide post on,

Guide post has the function of guiding to reset spring, and reset spring is avoided to occur bending and deformation.

Further, AGV drive wheel mechanism includes pedestal, the drive motor being mounted on pedestal and is mounted on drive motor On driving wheel；Pedestal has through-hole, and the upper end of pedestal is equipped with stepped hole coaxial with the through hole, and the lower end of lift lever extend into logical In hole, passing through between pedestal and lift lever has pin shaft；The lower end of second guide sleeve and the second wear-resistant sleeve is extend into stepped hole,

Lift lever and pedestal are connected using pin shaft, are easily installed and dismantle AGV drive wheel mechanism.

Further, rectangular-shaped top plate includes the first rectangular-shaped top plate and the second rectangular-shaped top plate being sequentially connected, the first rectangular top Plate is obliquely installed with the second rectangular-shaped top plate, and the first rectangular-shaped top plate and the second rectangular-shaped top plate junction are equipped with chamfering structure, in battery Box back plate is equipped with the second knob.

It is obliquely installed by the first rectangular-shaped top plate and the second rectangular-shaped top plate, the first rectangular-shaped top plate is connect with the second rectangular-shaped top plate Place is equipped with chamfering structure, and top plate uses this structure, by power section cover top plate after preventing battery case from entering the shell of power section It blocks, facilitates pull；The second knob in battery case back plate is used cooperatively with the first knob on battery case front panel, facilitates two One origin or beginning of hand is discharged pond, more laborsaving, is also prevented from battery and is fallen off from battery case, safety and stability.

Further, the front end of headstock section is equipped with Main Control Tank, and the antetheca lower part of headstock is equipped with the anti-collision rubber set of protrusion, prevents It hits and is equipped with inductive switch in rubber sleeve, be equipped with the first detection of obstacles sensor, the first detection of obstacles in the middle part of the antetheca of headstock Sensor sides are equipped with radio frequency transmissions device；The bottom both sides of headstock section front end are respectively equipped with can be before the rotation of headstock section Universal wheel, the bottom both sides of tailstock section are respectively equipped with the directional wheel that can be rotated relative to tailstock section, are equipped with the second obstacle in tailstock section Analyte detection sensor,

Since anti-collision rubber set is arranged in headstock section, shock of the barrier of front side to headstock section can be effectively resisted, together When, when hitting generation, the inductive switch inside anti-collision rubber set is acted, and signal is fed back to AGV vehicle, it is desirable that AGV vehicle is immediately Parking avoids continuing downthrust；Meanwhile preceding universal wheel is arranged in headstock section, preceding universal wheel is convenient for turning to the offer of AGV vehicle auxiliary It helps, after directional wheel enters pallet bottom convenient for AGV wagon drill, keeps trolley consistent with AGV vehicle direction of travel, avoid double swerve；Second Detection of obstacles sensor is convenient in the process of backing up, detection barrier prevents from colliding.

Detailed description of the invention

Fig. 1 is the schematic perspective view that the utility model removes AGV vehicle ontology top plate；

Fig. 2 is the schematic perspective view that the utility model removes the top plate of AGV vehicle ontology and the side plate of headstock section；

Fig. 3 is the schematic perspective view of the push rod component of the utility model；

Fig. 4 is the front view of the push rod component of the utility model；

Fig. 5 is the A-A cross-sectional view of Fig. 4.

Fig. 6 is the AGV power supply piece housing and battery case decomposition diagram of the utility model.

Fig. 7 is the battery case schematic perspective view of the utility model.

Fig. 8 is the battery case decomposition diagram of the utility model.

Fig. 9 is the front view of the battery case of the utility model.

Figure 10 is the rearview of the battery case of the utility model.

Figure 11 is the schematic perspective view of the driving wheel lifting device of the utility model.

Figure 12 is the top view of the driving wheel lifting device of the utility model.

Figure 13 is the B-B cross-sectional view of Figure 12.

Figure 14 is the bearing support schematic perspective view of the utility model.

Specific embodiment

The utility model is described in further details with reference to the accompanying drawings and detailed description.

As shown in figs. 1 to 14, the unidirectional latent traction AGV of a kind of single drive, including AGV vehicle ontology 100, AGV vehicle ontology 100 Including headstock section 1, power section 2 and tailstock section 3, the front end of headstock section is equipped with Main Control Tank 101, and the antetheca lower part of headstock is equipped with protrusion Anti-collision rubber set 102, be equipped with inductive switch 103 in anti-collision rubber set, be equipped with the first detection of obstacles in the middle part of the antetheca of headstock Sensor 104,104 side of detection of obstacles sensor are equipped with radio frequency transmissions device 105, the bottom both sides point of headstock section front end The preceding universal wheel 200 that She You not can rotate relative to headstock section, the centre of headstock section are equipped with push rod component 106, the rear end of headstock section Equipped with driving wheel lifting device 107, push rod component 106 include mandril bracket 106a, drive disk 106b, vertical direction setting top Bar 106c and horizontally arranged mandril motor 106d, mandril bracket 106a include mandril rack plate 106aa, are connected to top Mandril the rack side plate 106ab, mandril rack plate 106aa at the both ends bar rack plate 106aa and mandril rack side plate 106ab's Junction is equipped with chamfering structure, and the bottom end of mandril rack side plate 106ab is connected with mandril bracket bottom plate 106ac, mandril bracket bottom The both ends of plate 106ac are equipped with mandril bracket bottom plate side plate that is vertical with bracket bottom plate and upwardly extending on the outside of rack side plate The lateral surface of 106ad, mandril rack side plate 106ab and the medial surface of mandril bracket bottom plate side plate 106ad abut against, mandril bracket The bottom surface of side plate 106ab and the top surface of mandril bracket bottom plate 106ac abut against, and mandril motor 106d output shaft passes through mandril bracket Side plate 106ab enters mandril internal stent, and connect with drive disk 106b, and the position of driving disk center is deviateed on drive disk 106b It is equipped with driven roller 106ba, driven roller 106ba is connect by removable connecting plate 106e with mandril 106c；Removable connecting plate The first connecting plate side that 106e includes horizontally disposed bottom plate of connecting plate 106ea, is connected to the one end bottom plate 106ea and upwardly extends Plate 106eb, the first connecting plate upper end side plate 106eb and laterally outward the connecting plate top plate 106ec of side extension and connection are connected to In the second connecting plate side plate connecting plate top plate 106ec one end far from the first connecting plate side plate 106eb and extended downwardly 106ed, the first connecting plate side plate 106eb, connecting plate top plate 106ec and the second connecting plate side plate 106ed constitute a recessed groove, Driven roller 106ba is placed in recessed groove；It is equipped with the first guide sleeve 106g of vertical direction on rack plate 106aa, is led first First wear-resistant sleeve 106h is installed, mandril 106c sliding passes through wear-resistant sleeve 106h, and the upper end of mandril 106c passes through mandril in set Bracket and the top surface for being pierced by AGV vehicle ontology, the lower end of mandril 106c pass through removable bottom plate of connecting plate 106ea and are fixed on connection On board bottom plate 106ea, the first resetting apparatus is cased with outside the mandril between rack plate 106aa and removable connecting plate 106e The upper end of 106j, the first resetting apparatus 106j are abutted against with mandril bracket 106a, the lower end of the first resetting apparatus 106j with it is removable Dynamic connecting plate 106e is abutted against；The bottom both sides of tailstock section 3 are respectively equipped with the directional wheel 300 that can be rotated relative to tailstock section, the tailstock The second detection of obstacles sensor 301 is equipped in section 3.

The utility model AGV, when such as needing to drive trolley mobile, moving of car to trolley bottom surface suitable position, mandril electricity Machine 106d rotation drives drive disk 106b rotation, so that the driven roller 106ba on drive disk is driven to be rotated up, driven roller 106ba drives connecting plate 106e to rise, so that connecting rod 106c be driven to rise, connect with trolley, after arriving at the destination, mandril electricity Machine 106d stops operating, and driven roller 106ba returns to initial position, connecting plate 106e under the action of the first resetting apparatus 106j to Lower reset, mandril 106c decline, separates with trolley, compared with the prior art a kind of unidirectional single drive submarine AGV based on magnetic navigation, The first resetting apparatus 106j of the utility model is located between rack plate 106aa and removable connecting plate 106e, therefore AGV During the work time, mandril motor failure stops operating, and connecting plate 106e also can be in the effect of the first resetting apparatus 106j It is lower to reset downwards, so that mandril 106c be driven to decline, makes mandril 106c be easy to detach from trolley, set without enabling other It is standby that trolley is moved from AGV, it is time saving and energy saving, other AGV can also be distributed and continued trolley movement to destination, it will not be because of AGV failure delays production, saves the production time, improves production efficiency, save the cost, while effectively protecting connecting rod Will not make to have obtained because of the effect of inertia of trolley causes to be damaged after destination since mandril can not reset, highly-safe, It is highly reliable；Pass through the first guide sleeve 106g of setting and the first axis of wear-resistant sleeve 106h, the first guide sleeve 106g to mandril outside mandril There is guiding role to movement, and the wear-resisting property of the first wear-resistant sleeve 106h is good, improves the service life of mandril, save at This；First resetting apparatus 106j is located at outside mandril, mandril plays the role of guiding to the first resetting apparatus 106j, prevents One resetting apparatus 106j is deviated during the motion.

Anti-collision rubber set 102 can effectively resist shock of the barrier of front side to headstock section, meanwhile, occur when hitting When, anti-collision rubber covers the inductive switch 103 inside 102 and acts, and signal is fed back to the controller of AGV vehicle, it is desirable that the control of AGV vehicle Device processed stops immediately, avoids continuing downthrust, the implementation of controller is the prior art, and preceding universal wheel 200 is convenient for AGV Vehicle provides steering assistance to be kept trolley consistent with AGV vehicle direction of travel, keeps away after directional wheel 300 enters pallet bottom convenient for AGV wagon drill Exempt from double swerve；Second detection of obstacles sensor 301 is convenient in the process of backing up, detection barrier prevents from colliding.

Driving wheel lifting device 107 includes bearing support 107a, second back-moving spring 107b, promotes driving mechanism 107c, mentions Rising stem 107d and AGV drive wheel mechanism 107e；Second guide sleeve 107f is installed on bearing support 107a, is installed in the second guide sleeve There is the second wear-resistant sleeve 107g, lift lever 107d sliding passes through the second wear-resistant sleeve 107g, and second back-moving spring 107b is mounted on branch Between bolster 107a and promotion driving mechanism 107c or lift lever 107d, promotes driving mechanism 107c and be mounted on bearing support 107a On, it promotes driving mechanism 107c and lift lever 107d and acts on, in the present embodiment, promotion driving mechanism 107c, which is equipped with, promotes driving Mechanism's installing plate promotes driving mechanism mounting plate and is equipped with lift lever mounting hole, and it is wear-resisting that the upper end of lift lever 107d passes through second Set 107g is simultaneously fixed in lift lever mounting hole, is driven when promoting driving mechanism 107c work by promoting driving mechanism mounting plate Lift lever movement, AGV drive wheel mechanism 107e are mounted on the lower end of lift lever 107d；Bearing support 107a includes lower supporting frame 107aa and upper bearing support 107ab, lower supporting frame 107aa include bearing plate 107aa1, are connected to the both ends bearing plate 107aa1 And the first supporting side plate 107aa2 for upwardly extending and be connected on the first supporting side plate 107aa2 and laterally outward side is prolonged The first the support connecting plate 107aa3, upper bearing support 107ab stretched includes top support plate 107ab1, is connected to top support plate both ends And the second supporting side plate 107ab2 for extending downwardly and on the second supporting side plate and laterally outward side extend with first The size of second support connecting plate 107ab3, the first support connecting plate 107aa3 of support connecting plate connection is greater than the second bearing and connects The size of fishplate bar 107ab3 is equipped with across promotion driving mechanism 107c on top support plate 107ab1 and extend into lift lever Guide post 107h in 107d；Reset spring 107b, which covers, to be located at top support plate and is being promoted between driving mechanism or lift lever 107d Guide post 107h on, reset spring 107b is covered in the guide post between top support plate and lift lever 107d in the present embodiment On 107h；AGV drive wheel mechanism 107e includes pedestal 107ea, the drive motor 107eb being mounted on pedestal and is mounted on driving Driving wheel 107ec on motor；Pedestal has through-hole 107ea1, and the upper end of pedestal is equipped with the stepped hole coaxial with through-hole 107ea1 107ed, the lower end of lift lever 107d are extend into through-hole 107ea1, and passing through between pedestal 107ea and lift lever 107d has pin shaft 107i；The lower end of second guide sleeve 107f and the second wear-resistant sleeve 107g are extend into stepped hole 107ed.

Above structure such as needs to be promoted AGV drive wheel mechanism, and starting promotes driving mechanism 107c, promotes driving mechanism 107c drives lift lever 107d that the elastic force of reset spring 107b is overcome to move upwards, and lift lever 107d drives AGV driving mechanism 107c is lifted up, and realizes enhancing action, such as needs that AGV drive wheel mechanism is allowed to decline, driving wheel hoisting mechanism 107c is allowed to reset, Lift lever 107d resets under the action of reset spring 107b, to realize that AGV drive wheel mechanism declines, is arranged outside lift lever Second guide sleeve 107f and the second wear-resistant sleeve 107g, the second guide sleeve 107f has guiding role to the axial movement of lift lever, and The wear-resisting property of second wear-resistant sleeve 107g is good, therefore, the promotion good reliability of driving wheel hoisting mechanism 107c, long service life, Wear-resistant sleeve 107g and the frictional force of lift lever 107d are also smaller, and lift lever 107d can be rotated relative to wear-resistant sleeve, it can be achieved that driving The spinning movement of mechanism 107e is taken turns, consequently facilitating realizing the steering of AGV；Second guide sleeve 107f and the second wear-resistant sleeve 107g are mounted on On bearing plate 107aa1, in this way, the center of entire AGV drive wheel mechanism 107e moves down, stability is good；First support connecting plate The size of 107aa2 is greater than the size of the second support connecting plate 107ab2, and bearing support 107aa can be made to be connected to down well On bearing support 107ab, lower support connecting plate part outstanding is connect with other plates of AGV leading portion；Guide post 107h is to reset bullet Spring 107b has the function of guiding, and reset spring 107b is avoided to occur bending and deformation；Using pin shaft 107i connection lift lever and seat Body is easily installed and dismantles AGV drive wheel mechanism.

Power section 2 includes the electricity of AGV power supply piece housing 201 and the upper end opening being detachably connected with AGV power supply piece housing Pond box 202, battery case 202 include battery block panel assemblies 202a, battery case back plate 202b, battery box plate 202c and battery case Side plate 202d, battery block panel assemblies 202a include rectangle front panel 202aa, rectangular-shaped top plate 202ab and be equipped with rectangular hollow knot The rectangle rear baffle 202ac of structure, rectangle front panel 202aa are arranged in parallel with rectangle rear baffle 202ac, rectangle front panel 202aa, Rectangular-shaped top plate 202ab and rectangle rear baffle 202ac equipped with rectangular hollow structure forms cavity structure, rectangular-shaped top plate 202ab packet Include the first rectangular-shaped top plate 202ab1 being sequentially connected and the second rectangular-shaped top plate 202ab2, the first rectangular-shaped top plate 202ab1 and the second square Shape top plate 202ab2 is obliquely installed, and the first rectangular-shaped top plate 202ab1 and the second junction rectangular-shaped top plate 202ab2 are equipped with chamfering knot Structure, rectangle front panel is equipped with the first knob 202e with recessed portion, and in the present embodiment, rectangle front panel is equipped with and first The opening that knob matches, the first knob 202e are fixed by screws on rectangle front panel, and battery case back plate is equipped with second Shake hands 202f, and the rectangle lower part front panel 202aa is equipped with the recessed groove being recessed to rectangle rear panel direction, is equipped with keeper in recessed groove 202g, keeper 202g are equipped with vertical bolt 202ga, and vertical bolt 202ga is equipped with handle 202gb, the bottom of AGV power supply piece housing Face and the corresponding position vertical bolt 202ga are equipped with first jack 201a corresponding with bolt, rectangle rear baffle bottom end two sides With battery case back plate bottom end two sides be equipped with positioned at sustained height horizontal trolley component 202h, AGV power supply piece housing bottom surface with Horizontal trolley component corresponding position in rectangle rear baffle bottom end two sides is equipped with the second jack 201b for blocking horizontal trolley component, It in addition can also be on the bottom surface of AGV power supply piece housing and on the later half bottom end two sides horizontal trolley component corresponding position of battery case Equipped with the second jack for blocking horizontal trolley component, the minimum point of horizontal trolley component 202h is lower than battery case bottom surface, battery case Vertical pulley assembly 202i is equipped at left and right sides of back plate 202b, the outermost of vertical pulley assembly 202i protrudes battery case side, Horizontal trolley component 202h includes the first mounting ear and the second mounting ear, and the first mounting ear and the second mounting ear are worn equipped with level The trunnion axis crossed, trunnion axis is located at the first mounting ear and the second mounting ear exterior portion is fixed by fixed screw, horizontal axle position It is cased with first pulley in the first mounting ear and the second mounting ear middle section, vertical pulley assembly includes third mounting ear and the 4th Mounting ear, third mounting ear and the 4th mounting ear are equipped with the vertical axes that pass vertically through, and vertical axes are located at third mounting ear and the Four mounting ear exterior portions are fixed by fixed screw, and vertical axes are located at third mounting ear and the 4th mounting ear middle section is cased with Second pulley.

AGV power supply piece housing 201 includes shell side plate, Housing Base, shell back plate and cover top plate in the utility model, Shell back plate is the shell back plate with AGV vehicle ontology side plate one, and cover top plate is the shell top with AGV vehicle ontology top plate one Battery case 202 after battery is put into battery case 202, is directly pushed into power supply piece housing 201, the keeper of rectangle front panel by plate It is compared with the prior art a kind of to be based on magnetic navigation in the first jack 201a on bolt 202ga insertion power supply piece housing on 202g It is unidirectional it is single drive submarine AGV, this AGV realizes battery in the fixed placement of AGV power section 2, will not fall off, securely and reliably, It is equipped with handle 202gb on bolt 202ga, so that bolt is had stress point, bolt 202ga is facilitated to move up and down, to play on or off Close keeper 202g；It is equipped with the first knob 202e with recessed portion on rectangle front panel, facilitates fetching for battery case, first draws Hand 202e is equipped with recessed portion, prevents from taking up space larger except prominent panel, scraping collision to other articles；Battery block panel assemblies 202a uses the four prisms cylinder structure with cavity, and rectangle rear baffle 202ac is rectangular hollow structure, when battery is under external force It impinges upon on battery box panel, rear baffle uses this structure, has the function of disperses impact forces, while cavity structure is with slow The effect of punching keeps panel not easily damaged, greatly improves the impact resistant capability of panel, the first rectangular-shaped top plate 202ab1 and second Rectangular-shaped top plate 202ab2 is obliquely installed, and the first rectangular-shaped top plate and the second rectangular-shaped top plate junction are equipped with chamfering structure, and top plate uses This structure is blocked after preventing battery case from entering the shell of power section by cover top plate；In battery case bottom end, horizontal trolley is set Component 202h and vertical pulley assembly 202i, reduces the friction between battery case 202 and battery-end housing bottom surface and side, makes Battery case is easier to move in power supply piece housing, facilitates pull, dismounting cell is more convenient；Second in battery case back plate draws Hand 202f is used cooperatively with the first knob 202e on battery case front panel, facilitates two one origin or beginning of hand electric discharge ponds, more laborsaving, It is also prevented from battery to fall off from battery case, safety and stability.

The unidirectional latent traction AGV of single drive of the utility model is easy to operate, accuracy is high, safety is good, highly reliable；? When mandril electrical fault, mandril is protected not to be damaged, and be easy to fall off from platform, separated with trolley, battery altering is convenient, section It saves time, improves production efficiency.

Claims (10)

1. a kind of unidirectional latent traction AGV of single drive, including AGV vehicle ontology, AGV vehicle ontology include headstock section, power section and the tailstock Section, headstock section be equipped with push rod component, it is characterised in that: push rod component include mandril bracket, drive disk, vertical direction setting top Bar and horizontally arranged mandril motor, mandril motor output shaft pass through mandril rack side plate and enter mandril internal stent, and It is connect with drive disk, the position that driving disk center is deviateed on drive disk is equipped with driven roller, and driven roller is by moving connecting plate It is connect with mandril, the upper end of mandril passes through mandril bracket and is pierced by the top surface of AGV vehicle ontology, and the lower end of mandril passes through removable connect Fishplate bar bottom plate is simultaneously fixed on bottom plate of connecting plate, and it is multiple that first is cased with outside the mandril between mandril bracket and removable connecting plate Position device, upper end and the mandril bracket of the first resetting apparatus abut against, the lower end of the first resetting apparatus and removable connecting plate phase It abuts；

The power section includes the battery case of AGV power supply piece housing, the upper end opening being detachably connected with AGV power supply piece housing, The battery case includes battery block panel assemblies, battery case back plate, battery box plate and battery case side plate, the battery box panel Component includes rectangle front panel, rectangular-shaped top plate and the rectangle rear baffle equipped with rectangular hollow structure, the rectangle front panel and square Shape rear baffle is arranged in parallel, and rectangle front panel, rectangular-shaped top plate and the rectangle rear baffle equipped with rectangular hollow structure form cavity knot Structure, rectangle front panel are equipped with the first knob with recessed portion, and rectangle front panel lower part is equipped with recessed to rectangle rear panel direction Sunken recessed groove, recessed groove is interior to be equipped with keeper, and keeper is equipped with vertical bolt, and vertical bolt is equipped with handle, AGV power supply piece housing Bottom surface and the corresponding position of vertical bolt be equipped with the first jack corresponding with bolt.

2. the unidirectional latent traction AGV of single drive according to claim 1, it is characterised in that: the mandril bracket includes mandril Rack plate is connected to the mandril rack side plate at mandril rack plate both ends, the mandril rack plate and mandril rack side plate Junction be equipped with chamfering structure, the bottom end of mandril rack side plate is connected with mandril bracket bottom plate, the both ends of mandril bracket bottom plate Equipped with mandril bracket bottom plate side plate that is vertical with bracket bottom plate and upwardly extending, the lateral surface and mandril bracket of mandril rack side plate The medial surface of bottom plate side plate abuts against, and the bottom surface of mandril rack side plate and the top surface of mandril bracket bottom plate abut against；

The removable connecting plate includes horizontally disposed bottom plate of connecting plate, is connected to bottom plate of connecting plate one end and upwardly extends First connecting plate side plate is connected to the first connecting plate side plate upper end and laterally the connecting plate top plate to the extension of drive disk direction and company Connect the one end of connecting plate top plate far from the first connecting plate side plate and to mandril bracket bottom plate direction extend the second connecting plate side Plate, the first connecting plate side plate, connecting plate top plate and the second connecting plate side plate constitute a holding tank, and the driven roller is placed in In holding tank；The first guide sleeve of vertical direction is equipped on the mandril rack plate, it is resistance to be equipped with first in the first guide sleeve The upper end of grinding set, mandril passes through the first wear-resistant sleeve.

Single drive unidirectional latent traction AGV 3. according to claim 1, it is characterised in that: rectangle rear baffle bottom end two sides and Battery case back plate bottom end two sides are equipped with the horizontal trolley component positioned at sustained height, behind the bottom surface of AGV power supply piece housing and rectangle The corresponding position of horizontal trolley component of baffle bottom two sides is equipped with the second jack for blocking horizontal trolley component, the level The minimum point of pulley assembly is lower than battery case bottom surface, and vertical pulley assembly is equipped at left and right sides of the battery case back plate, described perpendicular The prominent battery case side of the outermost of straight pulley assembly.

4. single unidirectional latent traction AGV is driven according to claim 3, it is characterised in that: the horizontal trolley component includes First mounting ear and the second mounting ear, the first mounting ear and the second mounting ear be equipped with horizontal through trunnion axis, horizontal axle position It is fixed in the first mounting ear and the second mounting ear exterior portion by fixed screw, trunnion axis is located at the first mounting ear and the second peace Dress ear middle section is cased with first pulley, and the vertical pulley assembly includes third mounting ear and the 4th mounting ear, third installation Ear and the 4th mounting ear are equipped with the vertical axes passed vertically through, and vertical axes are located at third mounting ear and the 4th mounting ear exterior portion It is fixed by fixed screw, vertical axes are located at third mounting ear and the 4th mounting ear middle section is cased with second pulley.

5. the unidirectional latent traction AGV of single drive according to claim 1, it is characterised in that: headstock section rear end is equipped with driving wheel Lifting device, the driving wheel lifting device include bearing support, the second resetting apparatus, promote driving mechanism, lift lever and AGV drive Driving wheel mechanism；Second guide sleeve is installed on bearing support, the second wear-resistant sleeve is installed in the second guide sleeve, lift lever sliding is worn The second wear-resistant sleeve is crossed, the second resetting apparatus is mounted on bearing support and is promoted between driving mechanism or lift lever, promotes driving mechanism It is mounted on bearing support, promotes driving mechanism and lift lever acts on, AGV drive wheel mechanism is mounted on the lower end of lift lever.

6. the unidirectional latent traction AGV of single drive according to claim 5, it is characterised in that: the bearing support includes lower branch Bolster and upper bearing support, the lower supporting frame include bearing plate, be connected to bearing plate both ends and upwardly extend first Supporting side plate and the first support connecting plate be connected on the first supporting side plate and that laterally outward side extends, the upper bearing support Including top support plate, the second supporting side plate that is being connected to top support plate both ends and extending downwardly and be located at the second supporting side plate on And laterally outward side extend the second support connecting plate being connect with the first support connecting plate, first support connecting plate Size is greater than the size of the second support connecting plate.

7. the unidirectional latent traction AGV of single drive according to claim 6, it is characterised in that: be equipped with and wear in top support plate It crosses and promotes driving mechanism and extend into the guide post in lift lever；Second resetting apparatus is reset spring, reset spring It covers and is being located at top support plate and is being promoted in the guide post between driving mechanism or lift lever.

8. the unidirectional latent traction AGV of single drive according to claim 5, it is characterised in that: AGV drive wheel mechanism includes seat Body, the drive motor being mounted on pedestal and the driving wheel being mounted in drive motor；Pedestal has through-hole, and the upper end of pedestal is set There is stepped hole coaxial with the through hole, the lower end of lift lever is extend into through-hole, and passing through between pedestal and lift lever has pin shaft；Second The lower end of guide sleeve and wear-resistant sleeve is extend into stepped hole.

9. the unidirectional latent traction AGV of single drive according to claim 1, it is characterised in that: the rectangular-shaped top plate includes successively Connected the first rectangular-shaped top plate and the second rectangular-shaped top plate, the first rectangular-shaped top plate are obliquely installed with the second rectangular-shaped top plate, the first rectangle Top plate and the second rectangular-shaped top plate junction are equipped with chamfering structure, and the second knob is equipped in the battery case back plate.

10. the unidirectional latent traction AGV of single drive according to claim 1, it is characterised in that: the front end of headstock section is equipped with master control Case, equipped with the anti-collision rubber set of protrusion, anti-collision rubber set is interior to be equipped with inductive switch, the antetheca middle part of headstock for the antetheca lower part of headstock Equipped with the first detection of obstacles sensor, the first detection of obstacles sensor sides are equipped with radio frequency transmissions device；The headstock The bottom both sides of Duan Qianduan are respectively equipped with the preceding universal wheel that can be rotated relative to headstock section, and the bottom both sides of the tailstock section are set respectively There is the directional wheel that can be rotated relative to tailstock section, is equipped with the second detection of obstacles sensor in the tailstock section.