CN211335492U

CN211335492U - Traction type transport vehicle

Info

Publication number: CN211335492U
Application number: CN201921264815.5U
Authority: CN
Inventors: 胡海燕; 刘华雷
Original assignee: Suzhou Servich Robot Co ltd
Current assignee: Suzhou Servich Robot Co ltd
Priority date: 2019-08-06
Filing date: 2019-08-06
Publication date: 2020-08-25
Anticipated expiration: 2029-08-06

Abstract

The utility model discloses a towed transport vechicle, include shock attenuation and automatic lifting device include roof, lower roof, at least three connection shock attenuation and automatic lifting mechanism between the roof about, connect central gear mechanism between the roof about, set up gear motor on the bottom plate, every shock attenuation and automatic lifting mechanism all mesh with central gear mechanism, be equipped with the pinion in gear motor's the pivot, pinion and central gear mechanism mesh. The utility model can keep the upper top plate and the lower bottom plate moving in the same direction by arranging the lifting mechanism, and the phenomenon of skew torsion between the steering wheel and the vehicle body can not be caused; damping spring at center has the effort that the shore propped to last roof and lower plate for steering wheel AGV no matter at what kind of working road surface, all can guarantee steering wheel and ground effective contact all the time, better land fertility of grabbing is guaranteed again simultaneously in the shock attenuation, has improved the stability of steering wheel AGV operation.

Description

Traction type transport vehicle

Technical Field

The utility model relates to a towed transport vechicle relates to the automatic direction pulling equipment field.

Background

The AGV steering wheel integrates integrated mechanical structures such as a driving motor, a steering motor and a speed reducer, integrates the functions of products, walking, traction and steering, and can load and pull heavier goods. A transport driving device capable of automatically traveling along a predetermined guide path and having a programming and mode selecting device, a safety protection function and various transfer functions. In recent years, with the vigorous development of the fields of factory logistics automation, automatic assembly line and the like in China, the labor force is reduced, the cost is increased, and the AGV has the characteristics of high automation degree, safety, flexibility and the like, so that the demand of the AGV is increasingly increased, and the AGV is widely applied to the industries of automatic production and storage systems of automobile manufacturing, machining and the like at present.

In the current AGV trolleys, the AGV transport technology using a steering wheel as a driving device has the following problems: the first point is that the steering wheel is used as a traction device, the traction force is very large, the equipment load directly acts on the steering wheel device in the operation process, and because the operation pavement of the steering wheel AGV is complicated and changeable, if the steering wheel AGV does not have a damping device, gears inside the steering wheel are easy to lose efficacy in the process of multiple impact compression resistance, so that the steering wheel device is damaged; the wheels of the steering wheel device have no elastic deformation capacity, and when the steering wheel device works on uneven ground, the driving wheels and the driven wheels cannot touch the ground simultaneously, so that the problem of skidding is easily caused, and the AGV is unstable in operation. Second, these situations require a person to push the AGV when the AGV running along a route needs to be stopped for trouble shooting or manually correct the orientation. If the steering wheel lands on the ground, the steering wheel is difficult to push manually when no power is used for driving the steering wheel, so that the movement is difficult, and the work of other equipment on the route is influenced.

In view of the above, it is apparent that there is a need to develop a new pull type transport vehicle.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a towed transport vechicle reaches the shock attenuation of steering wheel and whole automobile body and avoids the purpose of skidding, reaches the function of automatic lifting or decline to the steering wheel device simultaneously.

In order to achieve the purpose of the invention, the technical scheme adopted by the utility model is as follows: a traction transport vehicle, which comprises an AGV body, at least one steering wheel arranged below the AGV body, a shock absorption and automatic lifting device,

the shock absorption and automatic lifting device comprises an upper top plate, a lower top plate, at least three shock absorption and automatic lifting mechanisms connected between the upper top plate and the lower top plate, a central gear mechanism connected between the upper top plate and the lower top plate, and a speed reduction motor arranged on a lower bottom plate,

each damping and automatic lifting mechanism is meshed with a central gear mechanism, a pinion is arranged on a rotating shaft of the reducing motor and meshed with the central gear mechanism,

the shock absorption and automatic lifting mechanism comprises a lifting mechanism and a locking mechanism, the lifting mechanism and the locking mechanism are mutually matched for use, so that the lifting mechanism and the locking mechanism have two states of fixing and moving,

the lifting mechanism comprises two thrust ball bearings, a bearing sleeve, a rotating shaft damping spring, a gear rotating device and a fixed shaft, wherein the thrust ball bearings are respectively arranged at the upper side and the lower side of a convex rotary table of the rotating shaft, the rotating shaft is sleeved in the bearing sleeve, the bearing sleeve is fixedly arranged below an upper top plate, the rotating shaft damping spring is abutted against the bottom of the rotating shaft, a cam bearing is further arranged on the rotating shaft, a spiral groove is formed in the whole body of the rotating device, the cam bearing is arranged in the spiral groove in a rolling manner, so that the cam bearing has the freedom degree of movement along the direction of the spiral groove, a rotating gear is arranged at the bottom end of the gear rotating device and is meshed with a central gear mechanism, the fixed shaft is arranged at the bottom of the gear rotating device, and,

the upper top plate is connected with the AGV body, and the lower bottom plate is connected with the steering wheel.

Preferably, the locking mechanism comprises a locking mechanism shell, a lead screw, a miniature speed reducing motor, a locking body, a connecting rod and a rectangular spring, the lead screw is arranged in the locking mechanism shell, one end of the lead screw is connected with the miniature speed reducing motor, the lead screw is provided with a lead screw nut which is coaxially matched with the lead screw, the bottom end of the lead screw nut is in pin joint with one end of the connecting rod, the other end of the connecting rod is in pin joint with a central pin at the top end of the locking body, the rectangular spring is sleeved on the locking body, the lower end of the rectangular spring abuts against the bottom end of the locking mechanism shell, and the lead screw is driven by the miniature speed reducing motor to rotate, so that the locking body has the freedom degree of movement; and the upper top plate is also provided with a rectangular groove matched with the lock head body for use.

Preferably, the central gear mechanism comprises a central gear, a central damping spring, a spring radial fixing end cover and a central thrust ball bearing, the lower end of the central damping spring is connected with the central gear, the upper end of the central damping spring is connected with the spring radial fixing end cover, and the central thrust ball bearing is sleeved above the spring radial fixing end cover; the central gear is meshed with the rotary gear.

Preferably, the number of the shock absorption and automatic lifting mechanisms is three, and the three shock absorption and automatic lifting mechanisms are arranged in a triangular shape.

In a further technical scheme, the three shock absorption and automatic lifting mechanisms are arranged in an equilateral triangle shape.

In a further technical scheme, the upper top plate and the lower top plate are regular triangles.

Because of the application of the technical scheme, compared with the prior art, the utility model has the following advantages:

1. the utility model can resolve the vertical force on one hand by arranging the lifting mechanism, and the rotation shaft can keep the upper top plate and the lower bottom plate moving in the same direction when moving in the spiral line slot, thereby avoiding the distortion phenomenon between the steering wheel and the vehicle body; the damping spring in the center and the damping spring in the lifting mechanism have supporting force on the upper top plate and the lower bottom plate, so that the steering wheel AGV can always effectively contact with the ground no matter what working road surface the steering wheel AGV is on, better ground gripping force is guaranteed while damping is carried out, and the running stability of the steering wheel AGV is improved;

2. the utility model discloses can let AGV under the complicated obstacle and the drive inefficacy condition, promote the steering wheel not with the ground contact, rely on AGV automobile body bottom universal wheel, can be very convenient, very light removal.

3. The utility model discloses well three same device is put the installation with equilateral triangle shape branch, and when the last hypoplastron received not equidirectional power, sun gear mechanism cooperated with elevating system jointly, made wholly more stable.

Drawings

Fig. 1 is a schematic structural view of the damping and automatic lifting device of the present invention.

Fig. 2 is a schematic structural diagram of the lifting mechanism of the present invention.

Fig. 3 is a schematic structural diagram of the locking mechanism of the present invention.

Fig. 4 is an exploded view of the overall structure of the present invention.

Fig. 5 is a force exploded view of the lifting mechanism of the present invention.

Fig. 6 is a schematic view of a partial matching structure of the locking mechanism and the upper top plate of the present invention.

Fig. 7 is an assembly structure view of the present invention.

Fig. 8 is a sectional structural view of the locking mechanism of the present invention.

Wherein: 1. a locking mechanism; 2. an upper top plate; 3. a shock absorbing and automatic lifting mechanism; 4. a lower base plate; 5. a reduction motor; 6. a locking mechanism housing; 7. a thrust ball bearing; 8. a rotating shaft; 9. a gear slewing device; 10. a fixed shaft; 11. a rotation shaft damping spring; 12. a cam bearing; 13. a bearing sleeve; 14. a lead screw nut; 15. a lock head body; 16. a rectangular spring; 17. a miniature speed reduction motor; 18. a lead screw; 19. a connecting rod; 20. a central thrust ball bearing; 21. the spring radially fixes the end cover; 22. a pinion gear; 23. a sun gear; 24. a central damping spring; 25. a rectangular groove; 26. a rectangular groove.

Detailed Description

The invention will be further described with reference to the following drawings and examples:

the first embodiment is as follows: referring to fig. 1 and 7, a traction transport vehicle comprises an AGV body and at least one steering wheel arranged below the AGV body, and is further provided with a damping and automatic lifting device,

the damping and automatic lifting device comprises an upper top plate 2, a lower top plate 4, at least three damping and automatic lifting mechanisms 3 connected between the upper top plate and the lower top plate, a central gear mechanism connected between the upper top plate and the lower top plate, and a speed reducing motor 5 arranged on a lower bottom plate,

each damping and automatic lifting mechanism is meshed with a central gear mechanism, a pinion is arranged on a rotating shaft of the gear motor 5 and meshed with the central gear mechanism,

the shock absorption and automatic lifting mechanism comprises a lifting mechanism and a locking mechanism 1, the lifting mechanism and the locking mechanism are mutually matched for use, so that the lifting mechanism and the locking mechanism have a fixed state and a movable state,

referring to fig. 2, the lifting mechanism includes two thrust ball bearings 7, a bearing sleeve 13, a rotating shaft 8, a rotating shaft damper spring 11, a gear swiveling device 9, and a fixed shaft 10,

thrust ball bearing 7 sets up respectively in the upper and lower both sides of the convex revolving platform of axis of

rotation

8, and 8 covers of axis of rotation are established in bearing sleeve 13, and bearing sleeve 13 sets firmly in 2 below on the roof, axis of rotation damping spring 11 offsets with 8 bottoms of axis of rotation, still be equipped with cam bearing 12 on the axis of rotation 8, gear slewer 9's whole body is equipped with the spiral groove, cam bearing 12 rolls and sets up in the spiral groove for cam bearing 12 has the degree of freedom along the motion of spiral groove direction, gear slewer 9's bottom is equipped with slewing gear, slewing gear and central gear mechanism meshing, gear slewer 9's bottom is located to fixed axle 10, the top of axis of rotation 8 is equipped with rectangular groove 25.

In this embodiment, referring to fig. 3, the locking mechanism includes a locking mechanism housing, a lead screw 18, a micro speed-reducing motor 17, a locking body 15, a connecting rod 19 and a rectangular spring 16, the lead screw 18 is disposed in the locking mechanism housing, one end of the lead screw 18 is connected to the micro speed-reducing motor 17, the lead screw 18 is provided with a lead screw nut 14 coaxially matched with the lead screw, the bottom end of the lead screw nut 14 is connected to one end of the connecting rod 19 by a pin, the other end of the connecting rod 19 is connected to a central pin at the top end of the locking body 15, the rectangular spring 16 is sleeved on the locking body 15, the lower end of the rectangular spring 16 abuts against the bottom end of the locking mechanism housing, and the lead screw is driven by the micro speed-reducing motor to operate, so that the locking body 15 has a degree of; the upper top plate 2 is also provided with a rectangular groove 26 matched with the lock head body, the miniature speed reduction motor is arranged outside the shell of the locking mechanism, as shown in fig. 8, the locking mechanism is a device for fixing and clamping the rotating shaft, and the lock head is pressed downwards through the miniature speed reduction motor, so that the lock head can be clamped in the rectangular groove formed by the rotating shaft and the upper top plate and cannot rotate (for the purpose of completing the action of lifting).

In this embodiment, referring to fig. 4, the central gear mechanism includes a central gear 23, a central damping spring 24, a spring radial fixing end cover 21, and a central thrust ball bearing 20, the lower end of the central damping spring 24 is connected to the central gear 23, the upper end of the central damping spring 24 is connected to the spring radial fixing end cover 21, and the central thrust ball bearing 20 is sleeved on the spring radial fixing end cover 21; the central gear 23 is meshed with the rotary gear, and the central gear is rotatably arranged on the lower bottom plate.

In this embodiment, the number of the shock-absorbing and automatic lifting mechanisms is three, and the three shock-absorbing and automatic lifting mechanisms are arranged in a regular triangle shape.

In this embodiment, the upper top plate and the lower top plate are regular triangles.

The utility model discloses a cooperation and working process as follows:

in fig. 1, an upper top plate is connected with an AGV body by bolts, and a lower bottom plate is connected with a steering wheel by bolts; the main shaft damping springs are combined with the automatic lifting devices, and the number of the automatic lifting devices around the main shaft damping springs is three arrays; among the automatic lifting device, axis of rotation and two thrust ball bearing are fixed in the roof by bearing sleeve, and the position of laying is: the two thrust ball bearings are respectively arranged on the upper side and the lower side of the rotary table with the protruding rotating shaft, so that the rotating shaft can freely rotate; the shaft end of the cam bearing is in threaded connection and matching with the rotating shaft and is locked by a nut, and the mounting requirement is that the bearing end of the cam shaft can be ensured to roll smoothly in the spiral line groove and rotate around the fixed shaft along with the smooth rolling; the locking mechanism is as shown in fig. 3, a screw rod and a screw rod nut are coaxially matched, one end of the screw rod is connected with a miniature speed reducing motor, the screw rod nut is connected with a connecting rod pin, and then a rectangular spring is sleeved on a lock head body; the large gear is positioned in the center and is correctly meshed with the other three gears, so that the lifting gear mechanism can realize homodromous rotation, and is also meshed with the small gear of the speed reducing motor; the upper end of a spring fixing end cover on the main shaft damping spring is sleeved with a thrust ball bearing, so that the main shaft damping spring and a large gear can keep good synchronous rotation; and a dead axle damping spring is also arranged at the lower end of the rotating shaft and used for damping.

1. When the AGV runs normally or is in a non-overhaul state, the speed reducing motor is in a standby state, and the automatic lifting and damping mechanism cannot rotate; in this state, the lifting gear mechanism absorbs and reduces the fluctuation of vertical force by the main shaft damping spring along with the change of load borne by the AGV or along with the bump of the road surface, as shown in fig. 5, in the lifting gear mechanism, the inner mechanism also decomposes the vertical force to reduce the force acting on the fixed shaft damping spring, the cam bearing and the rotary block rotate together in a fixed shaft, and the vertical fluctuation in the vertical direction quickly tends to be stable, namely the damping purpose is achieved. In the same way, the damping spring gives the mechanism a vertical longitudinal force, so that the steering wheel can be grounded on various terrains as a driving wheel, and better ground holding force is realized, thereby avoiding the occurrence of a slip phenomenon.

2. When the steering wheel of the AGV has a fault and needs to be pushed aside for maintenance or meets special obstacles and needs to be moved manually in an auxiliary mode, the steering wheel is difficult to move manually without driving, and the whole AGV is not to be moved. Under the condition, the steering wheel needs to be lifted up and moved by the universal wheel at the bottom, so that manual pushing can be easily realized. Realize this function, at first locking mechanism starts, and miniature gear motor makes the lock head body push down, makes the lock head body card in the rectangular channel that axis of rotation upper end and last roof formed (probably not just block in the rectangular channel, but the pressure is given to the tapered end to the connecting rod, and the axis of rotation rotates, will form the rectangular channel, and the tapered end will be extruded into), lets the unable dead axle of axis of rotation rotate, and gear motor operation after that, gear drive gear wheel on it rotates. Then the lifting gear mechanism rotates (rotates in the same direction), the rotation of the lifting gear enables the device (comprising the upper top plate) connected with the rotating shaft to move downwards, at the moment, the distance between the upper top plate and the lower bottom plate of the whole mechanism is shortened, and the upper top plate is fixedly connected with the AGV body, so that the steering wheel connected with the lower bottom plate is lifted, and the purpose of steering wheel lifting is achieved.

Claims

1. The utility model provides a towed transport vechicle, includes the AGV automobile body and sets up at least one helm in AGV automobile body below, its characterized in that: a shock absorption and automatic lifting device is also arranged,

2. The towed vehicle of claim 1, wherein: the locking mechanism comprises a locking mechanism shell, a lead screw, a miniature speed reducing motor, a locking body, a connecting rod and a rectangular spring, wherein the lead screw is arranged in the locking mechanism shell, one end of the lead screw is connected with the miniature speed reducing motor, the lead screw is provided with a lead screw nut which is coaxially matched with the lead screw, the bottom end of the lead screw nut is in pin joint with one end of the connecting rod, the other end of the connecting rod is in pin joint with a central pin at the top end of the locking body, the rectangular spring is sleeved on the locking body, the lower end of the rectangular spring abuts against the bottom end of the locking mechanism shell, and the lead screw is driven by the miniature speed reducing motor to rotate, so that the locking body has the degree of; and the upper top plate is also provided with a rectangular groove matched with the lock head body for use.

3. The towed vehicle of claim 1, wherein: the central gear mechanism comprises a central gear, a central damping spring, a spring radial fixing end cover and a central thrust ball bearing, wherein the lower end of the central damping spring is connected with the central gear, the upper end of the central damping spring is connected with the spring radial fixing end cover, and the central thrust ball bearing is sleeved above the spring radial fixing end cover; the central gear is meshed with the rotary gear.

4. The towed vehicle of claim 1, wherein: the number of the shock absorption and automatic lifting mechanisms is three, and the three shock absorption and automatic lifting mechanisms are arranged in a triangular shape.

5. The towed vehicle of claim 4, wherein: the three shock-absorbing and automatic lifting mechanisms are arranged in an equilateral triangle shape.

6. The towed vehicle of claim 5, wherein: the upper top plate and the lower top plate are regular triangles.