CN214451436U - Propelling movement arm structure and AGV vehicle - Google Patents

Abstract

The utility model relates to a push arm structure and AGV vehicle, the push arm structure comprises a supporting part for bearing force, and one end of the supporting part is constructed with a connecting part for connecting a driving mechanism; two rollers are rotatably mounted on one side of the supporting component, a set distance is reserved between the two rollers, and the rollers are respectively used for contacting with the pushed object; the push arm structure is compact in structure and reasonable in design, and when the push arm structure is in actual use, instantaneous impact force generated between a pushed article and the push arm can effectively change the contact surface between the push arm and the pushed article, so that the pushed article and the push arm can realize double-line-surface or double-line contact, the contact surface between the push arm and the pushed article is effectively increased, the stress condition of the push arm is improved, the push arm is prevented from being damaged, and the defects in the prior art can be effectively overcome.

Description

Propelling movement arm structure and AGV vehicle

Technical Field

The utility model relates to a in AGV vehicle technical field, concretely relates to propelling movement arm structure and AGV vehicle.

Background

An automatic Guided Vehicle (AGV Vehicle for short) is one of mobile robots, is an important device in a logistics system of a modern manufacturing enterprise, is mainly used for storing and transporting various materials, provides important guarantee for flexibility, integration and high-efficiency operation of the system, usually takes a storage battery as power, is provided with a non-contact guiding device, and can accurately reach a destination under the assistance of computer control and the guiding device.

The AGV vehicles for pushing articles disclosed in the prior art, such as AGV vehicles for pushing rail equipment (such as a pushing wheel pair) in the field of rail transportation, AGV vehicles for pushing goods in the field of logistics, AGV vehicles for pushing materials in modern manufacturing enterprises, and the like, are generally provided with a set of pushing mechanism, the pushing mechanism generally comprises a pushing arm for pushing and a motor for driving the pushing arm to move, in actual operation, the AGV vehicles can move to one side or below an article to be pushed under the control of a controller, and the pushing arm can rotate from a horizontal position to a vertical position under the drive of the motor, so that the pushed article is driven by the pushing arm to move forward, and the purposes of automatic transfer and carrying are achieved;

however, the pushing arm disclosed in the prior art is generally in a plate-shaped structure, and during the pushing process, the pushing arm and the pushed article are generally in single-line-surface or single-line contact, the contact area is small, and the impact force generated at the moment when the pushing arm and the article contact can deform or even break the contact part of the clamping arm in most cases, so that improvement is needed.

SUMMERY OF THE UTILITY MODEL

For improving the not enough that exists among the prior art, the utility model provides a propelling movement arm structure, compact structure, reasonable in design not only, the impact force in the twinkling of an eye that produces between propelling movement thing and the propelling movement arm moreover can effectively change the contact surface between propelling movement arm and the thing that is pushed to realize double-line-face or double-line contact, thereby effectively increase the contact surface between propelling movement arm and the thing that is pushed, improve the atress condition of propelling movement arm, prevent that the propelling movement arm from being damaged.

The utility model adopts the technical proposal that:

in order to solve the problem that the contact area between the existing push arm and a pushed article is small, so that the contact part of the push arm is easy to deform and even damage, the push arm structure comprises a supporting component for bearing force, wherein one end of the supporting component is provided with a connecting part for connecting a driving mechanism;

two rollers are rotatably mounted on one side of the supporting component, a set distance is reserved between the two rollers, and the rollers are respectively used for contacting with the pushed object. In the scheme, the supporting part is used for bearing force, and the supporting part can be connected with the driving mechanism through the construction of the connecting part, so that the driving mechanism is used for driving the supporting part to rotate, and the purpose of adjusting the structure of the supporting part is achieved; by constructing the two rollers and enabling the two rollers to have a set distance therebetween, a clamping groove with a concave structure can be formed between the two rollers, so that when a pushed object (such as a wheel pair) is pushed, the pushed object (such as a wheel shaft of the wheel pair) can be clamped in the clamping groove formed by the two rollers, and the two rollers can be respectively contacted with the pushed object, on one hand, the pushed object can be effectively restrained, the pushed object is prevented from being separated from the pushing arm structure in the pushing process, on the other hand, the two rollers can be respectively contacted with the pushed object and generate acting force, so that the pushing arm structure can be in double-line-surface or double-line contact with the pushed object, even under special working conditions, the contact between the pushed object and the supporting component as well as between the two rollers can be realized, and therefore, the contact surface between the pushing arm structure and the pushed object can be effectively increased, the stress condition of the pushing arm structure is improved, the pushing arm structure can be effectively protected, the bearing capacity of the pushing arm structure is improved, the pushing arm structure can be prevented from deforming or being damaged, and therefore the defects in the prior art are effectively overcome.

In order to solve the problem that the pushed object cannot be clamped between the two rollers due to the height difference between the AGV vehicle and the pushed object, so that the acting force between the AGV vehicle and the pushed object is not uniformly distributed, and the rollers are easy to damage, the automatic guided vehicle further comprises an elastic component and a movable component, wherein,

the movable part is movably arranged on one side of the supporting part, and the two rollers are respectively and rotatably arranged on the movable part;

the elastic component is arranged between the supporting component and the movable component, and when the movable component moves in the direction close to the connecting part, the elastic potential energy of the elastic component is increased. In the scheme, the movable part is movably arranged on one side of the supporting part, so that the movable part has the freedom degree of moving along the length direction of the supporting part, the position of the roller can be effectively adjusted, and the aim of effectively adjusting the relative position of the roller and a pushed object is fulfilled; the elastic part is arranged between the supporting part and the movable part, so that the elastic force of the elastic part can be utilized to restrain the movable part, the elastic potential energy of the elastic part is increased when the movable part moves in the direction close to the connecting part under the action of external force, and the movable part can automatically recover to the initial position under the action of the elastic part after the external force is removed; and through the reasonable arrangement of the positions of the two rollers, when the two rollers are not aligned with the pushed object (the pushed object can be a wheel pair, and the alignment means that the wheel shaft of the wheel pair can be just clamped between the two rollers), the rollers positioned below can be firstly contacted with the pushed object (such as the wheel shaft), the instant impact force generated between the pushing arm structure and the pushed object can directly act on the rollers positioned below and generate vertical downward stress components, so that the movable part can be driven to move downwards, the positions of the two rollers can be automatically adjusted, the pushed object can be stably clamped between the two rollers, the thrust is uniformly distributed, the pushing arm structure is effectively protected, and the defects in the prior art can be effectively overcome.

Preferably, the elastic component is an extension spring, a compression spring or a spring piece.

In order to solve the problems of movable installation and bearing of the movable part, the device further comprises a linear guide rail, and the movable part is installed on the supporting part through the linear guide rail.

Preferably, the linear guide rail includes a slide rail and a slide block adapted to the slide rail, the slide rail is fixed to the support member and arranged along the length direction of the support member, the slide block is fixed to the movable member, and the slide block is disposed on the slide rail and forms a sliding pair with the slide rail.

In order to enable the movable part to be stably installed on the supporting part, the movable part preferably comprises two linear guide rails, and two slide rails in the two linear guide rails are parallel to each other and have a set distance;

each sliding rail is provided with two sliding blocks respectively, and the movable part is connected with each sliding block respectively.

Further, the supporting component is configured with a limiting component, and the limiting component is positioned at one end of the supporting component far away from the connecting part and used for limiting the position of the sliding block and/or the movable component. Prevent the slide block from dropping off the slide rail.

In order to facilitate the installation of the roller, the roller further comprises an installation shaft, two ends of the installation shaft are respectively constrained to the movable part, and the roller is sleeved on the installation shaft;

or, still include installation axle and connecting piece, the connecting piece is fixed in the movable part with between the slider, just the both ends of installation axle restrict respectively in the connecting piece, just the gyro wheel cover is located the installation axle.

In order to solve the problem of rigid collision, the roller sleeve is further provided with an elastic ring, and the elastic ring is made of rubber, resin or silica gel. So as to achieve the purposes of buffering and shock absorption.

Preferably, the supporting part is a supporting plate or a supporting frame, and/or the movable part is a plate-shaped structure.

In order to facilitate connection of the driving mechanism, it is preferable that the connection portion is a mounting hole formed at one end of the support member.

Preferably, the AGV comprises two mounting holes which are respectively a first mounting hole and a second mounting hole, wherein the connecting part is used for being rotatably constrained to a frame or a support of the AGV through the first mounting hole, and the connecting part is used for being rotatably connected with a driving mechanism through the second mounting hole.

An AGV comprises a pushing arm structure, a frame and a driving mechanism, wherein the driving mechanism is fixed on the frame,

the supporting component is connected with the driving mechanism through a connecting part, or the supporting component is respectively connected with the driving mechanism and the frame through a connecting part.

Compared with the prior art, use the utility model provides a pair of propelling movement arm structure and AGV vehicle, compact structure, reasonable in design, when in-service use, the impact force in the twinkling of an eye that produces between propelling movement article and the propelling movement arm can effectively change the propelling movement arm and by the contact surface between the propelling movement article, so that realize double-line-face or double-line contact by propelling movement article and propelling movement arm, thereby effectively increase the propelling movement arm and by the contact surface between the propelling movement article, improve the atress condition of propelling movement arm, prevent that the propelling movement arm from being damaged, thereby can effectively solve the not enough that prior art exists.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a front view of a push arm structure provided in this embodiment 1.

Fig. 2 is a top view of fig. 1.

Fig. 3 is a schematic diagram of a pushing arm structure provided in this embodiment 1, which is driven by a rotating shaft to rotate from a horizontal position to a vertical position.

Fig. 4 is a schematic view of a pushing arm structure provided in this embodiment 1, which is driven by a transmission arm to rotate from a horizontal position to a vertical position.

Fig. 5 is a schematic structural diagram of a pushing arm structure provided in this embodiment 2.

Fig. 6 is a front view of fig. 5.

Fig. 7 is a top view of fig. 5.

Fig. 8 is a schematic bottom view of a pushing arm structure provided in this embodiment 2.

Fig. 9 is a partial structural schematic view of a pushing arm structure provided in this embodiment 2.

Description of the drawings

Support member 100, roller 101, connecting part 102, first mounting hole 103, second mounting hole 104, mounting shaft 105, limiting seat 106, elastic ring 107 and first connecting column 108

A movable part 200, a notch 201, a second connecting column 202

Slide rail 301, slider 302, connecting piece 303

Elastic member 400

A rotating shaft 501 and a transmission arm 502.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as 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 accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

The embodiment provides a push arm structure, which comprises a support component 100 for bearing force, wherein one end of the support component 100 is provided with a connecting part 102 for connecting a driving mechanism, and the connecting part 102 is arranged so that the driving mechanism can be connected with the support component 100 through the connecting part 102, so that the support component 100 can be restrained, and the support component 100 can be driven to move according to a preset track;

as shown in fig. 1 to 4, in this embodiment, two rollers 101 are rotatably mounted on one side of the supporting component 100, so that the two rollers 101 can respectively rotate relative to the supporting component 100, in this embodiment, there is a set distance between the two rollers 101, the rollers 101 are respectively used for contacting with the object to be pushed, so that a slot with a concave structure can be formed between the two rollers 101, so that when the object to be pushed (for example, a pair of pushing wheels) is pushed, the object to be pushed (for example, a wheel axle of a wheel pair) can be clamped in the slot formed by the two rollers 101, and the two rollers 101 can respectively contact with the object to be pushed, on one hand, the arrangement of the two rollers 101 can effectively restrain the object to be pushed, and prevent the object to be pushed from departing from the structure of the pushing arm during pushing, on the other hand, the two rollers 101 can respectively contact with the object to be pushed and generate acting force, the push arm structure can be in double-line-surface or double-line contact with a pushed object, even under special working conditions, the contact between the pushed object and the supporting part 100 and the contact between the pushed object and the two rollers 101 can be realized, so that the contact surface between the push arm structure and the pushed object can be effectively increased, the stress condition of the push arm structure is improved, the push arm structure can be effectively protected, the bearing capacity of the push arm structure is improved, and the push arm structure can be prevented from deforming or being damaged.

Preferably, the supporting member 100 may be a supporting plate (e.g., a steel plate) or a supporting frame (e.g., a steel frame), as shown in fig. 1 and 2.

The connecting portion 102 has various embodiments, and preferably, the connecting portion 102 may be a mounting hole configured at one end of the supporting member 100, and the number of the mounting holes may be determined according to actual requirements, for example, one mounting hole may be included as shown in fig. 3, or a plurality of mounting holes may be included coaxially as shown in fig. 4; in a preferred embodiment, one end of the supporting member 100 can be directly mounted on a rotating shaft 501 which can be driven by a motor through the mounting hole, as shown in fig. 3, and the rotating shaft 501 can be mounted on the frame of the AGV through a bearing seat, when the motor rotates, the supporting member 100 can be driven by the rotating shaft 501 at a set angle, for example, from a horizontal position to a vertical position, so as to achieve the purpose of unfolding, or from the vertical position to rotate the horizontal position, so as to achieve the purpose of folding and storing.

In another preferred mode, the supporting member 100 is configured with two mounting holes at one end, which may be a first mounting hole 103 and a second mounting hole 104 for convenience of description, wherein the first mounting hole 103 may be rotatably constrained to the bracket or the frame of the AGV vehicle such that the central axis of the first mounting hole 103 may coincide with the rotation center line of the supporting member 100, i.e., the position of the rotation center of the supporting member 100 is set up by the first mounting hole 103, and the second mounting hole 104 may be connected to a driving mechanism, e.g., a driving arm 502 in the driving mechanism, and the driving arm 502 may be rotatably connected to the supporting member 100 by the second mounting hole 104 such that the driving mechanism may be rotated about the central axis of the second mounting hole 104 by the second mounting hole 104, as shown in fig. 4, so as to drive the supporting member 100 to rotate by a set angle, such as 90 degrees, etc., it is understood that the drive mechanism may be one commonly used in the art and will not be described further herein.

In this embodiment, the roller 101 may be constrained to the support member 100 by a mounting shaft 105.

Example 2

In order to solve the problem that in the actual use process, due to factors such as different types of objects to be pushed, manufacturing errors and the like, the height difference between the AGV and the objects to be pushed is different, so that the objects to be pushed cannot be exactly clamped between the two rollers 101, the distribution of the acting force between the AGV and the objects to be pushed is uneven, the pushing process is unstable, and the rollers 101 are easily damaged, the main difference between the present embodiment 2 and the above embodiment 1 is that the pushing arm structure provided by the present embodiment further comprises an elastic component 400 and a movable component 200, wherein,

as shown in fig. 5 to 9, the movable part 200 is movably disposed at one side of the supporting part 100, and the two rollers 101 are respectively rotatably mounted on the movable part 200, so that the two rollers 101 can be driven by the movable part 200 to automatically adjust the position;

as shown in fig. 5 to 9, the elastic member 400 may be disposed between the support member 100 and the movable member 200, such that when the movable member 200 moves in a direction approaching the connection portion 102, the elastic potential energy of the elastic member 400 increases, and when the elastic potential energy is automatically released by the elastic member 400, the movable member 200 may move in a direction away from the connection portion 102 under the elastic potential energy so as to automatically return to the original position.

In this embodiment, the movable component 200 is movably disposed on one side of the supporting component 100, so that the movable component 200 has a degree of freedom to move along the length direction of the supporting component 100, and thus the position of the roller 101 can be effectively adjusted, and the purpose of effectively adjusting the relative position of the roller 101 and the object to be pushed is achieved; by arranging the elastic member 400 between the supporting member 100 and the movable member 200, the movable member 200 can be restrained by the elastic force of the elastic member 400, so that when the movable member 200 moves in a direction close to the connecting portion 102 under the action of an external force, the elastic potential energy of the elastic member 400 is increased, and when the external force is removed, the movable member 200 can automatically return to the original position under the action of the elastic member 400; by properly positioning the two rollers 101, when the two rollers 101 are not aligned with the object to be pushed (for example, the object to be pushed may be a wheel pair, etc., and the alignment means that the wheel axle of the wheel pair can be exactly clamped between the two rollers 101), so that the roller 101 at the lower part can be firstly contacted with the pushed object (such as a wheel shaft), so that the instant impact force generated between the pushing arm structure and the pushed object can directly act on the roller 101 at the lower part and generate a vertically downward stress component (at this time, the supporting part 100 is just in a vertical direction), so that the movable part 200 can be automatically driven to move downwards to automatically adjust the positions of the two rollers 101, so that the two rollers 101 can just block the pushed object, the pushed object can be stably clamped between the two rollers 101, so that the thrust is uniformly distributed, and the pushing arm structure can be effectively protected.

The elastic member 400 has various embodiments, and preferably, the elastic member 400 may be an extension spring, a compression spring, a spring plate, or the like, as a first example, as shown in fig. 8, the elastic member 400 may be an extension spring, one end of the extension spring is directly or indirectly connected to one end of the supporting member 100 away from the connecting portion 102, the other end of the extension spring is directly or indirectly connected to the movable member 200, and a central axis of the extension spring is parallel to a length direction of the supporting member 100, so that when the movable member 200 moves in a direction approaching the connecting portion 102, the elastic member 400 is elongated, and elastic potential energy is increased; in order to facilitate the connection of the elastic member 400, the elastic member further includes a first connection column 108 and a second connection column 202, as shown in fig. 8, the first connection column 108 and the second connection column 202 are respectively fixed to the support member 100 and the movable member 200, and two ends of the extension spring can be respectively hooked on the first connection column 108 and the second connection column 202;

as another example, the elastic member 400 may be a compression spring, which is different from an extension spring in the installation position, that is, the compression spring may be disposed between the supporting member 100 and the movable member 200 and located at one end of the supporting member 100 close to the connecting portion 102, so that when the movable member 200 moves in a direction close to the connecting portion 102, the elastic member 400 is compressed and the elastic potential energy is increased; similarly, the compression spring may be replaced by a spring plate, so that when the movable member 200 moves in a direction close to the connecting portion 102, the spring plate is pressed to be deformed, and the elastic potential energy is increased, and the same effect can be achieved.

As shown in fig. 5 to 9, in a further aspect, the pushing device further includes a linear guide, the movable component 200 may be mounted to the supporting component 100 through the linear guide, so that the movable component 200 may move relative to the supporting component 100 through the linear guide, and by providing the linear guide, not only the movable mounting of the movable component 200 may be achieved, but also the force bearing may be more facilitated, so that the acting force between the pushed object and the roller 101 may be transmitted to the movable component 200 through the roller 101, and transmitted to the linear guide through the movable component 200, and finally acts on the supporting component 100 through the linear guide;

the linear guide may also have various embodiments, and preferably, the linear guide includes a slide rail 301 and a slider 302 adapted to the slide rail 301, the slide rail 301 is fixed to the support member 100 and arranged along the length direction of the support member 100, as shown in fig. 5 to 9, the slider 302 is fixed to the movable member 200, the slider 302 is disposed on the slide rail 301 and forms a moving pair with the slide rail 301, as shown in fig. 5 to 9, so that the slider 302 and the movable member 200 can move linearly relative to the slide rail 301 and the support member 100.

In order to enable the movable member 200 to be stably installed on the supporting member 100, which is more beneficial to bear larger acting force, as shown in fig. 5-9, the pushing arm structure preferably includes two linear guide rails, and two slide rails 301 of the two linear guide rails are parallel to each other and have a set distance, as shown in fig. 5-9, each slide rail 301 is respectively provided with two slide blocks 302, and the movable member 200 is respectively connected with each slide block 302, so that the movable member 200 can be supported by four slide blocks 302.

In an actual use process, when the external force is removed, the elastic component 400 may automatically release elastic potential energy, so as to drive the movable component 200 to return to the original position, and in order to limit the position of the movable component 200 and prevent the sliding block 302 from coming off the sliding rail 301, as shown in fig. 5-7, in a further aspect, the supporting component 100 is configured with a limiting component, and the limiting component is located at an end of the supporting component 100 away from the connecting portion 102, so as to limit the position of the sliding block 302 and/or the movable component 200, as shown in fig. 5-7 by way of example, the limiting component may be a limiting seat 106, the limiting seat 106 may be fixed to the supporting component 100 by bolts, and the limiting seats 106 are respectively located at ends of the sliding rail 301, so as to achieve the purpose of limiting the positions of the sliding block 302 and the movable component 200.

To facilitate the installation of the roller 101, in the present embodiment, the movable member 200 may be a plate-shaped structure, for example, a steel plate, as shown in fig. 5-9, the movable member 200 is configured with a notch 201 for installing the roller 101, as an example, the present pushing arm structure may further include an installation shaft 105, two ends of the installation shaft 105 are respectively constrained to the movable member 200, and the roller 101 is sleeved on the installation shaft 105 and located in the notch 201;

in a further aspect, the pushing arm structure may further include a connecting member 303, the connecting member 303 may be fixed between the movable member 200 and the sliding block 302, as shown in fig. 5 to 9, the connecting member 303 may be fixed to the sliding block 302 by a bolt, the movable member 200 may also be fixed to the connecting member 303 by a bolt, two ends of the mounting shaft 105 may be respectively constrained to the connecting member 303, the roller 101 is sleeved on the mounting shaft 105, so that the roller 101 may rotate relative to the movable member 200, it may be understood that two ends of the mounting shaft 105 may be fixedly mounted to the connecting member 303, and the roller 101 may be rotatably mounted to the mounting shaft 105, for example, may be mounted to the mounting shaft 105 by a bearing; in addition, both ends of the mounting shaft 105 may be rotatably mounted to the connecting member 303, for example, may be mounted to the connecting member 303 through a bearing, and at this time, the roller 101 may be rotatably mounted to the mounting shaft 105, for example, may be mounted to the mounting shaft 105 through a bearing, or may be non-rotatably mounted to the mounting shaft 105.

In a more perfect scheme, as shown in fig. 5-9, the roller 101 is sleeved with an elastic ring 107, and the elastic ring 107 may be made of rubber, resin or silica gel, so as to achieve the purpose of buffering and shock absorption, and prevent rigid collision with the pushed object.

Example 3

The AGV vehicle of this embodiment is an AGV vehicle, and includes the pushing arm structure of embodiment 1 or embodiment 2, a vehicle frame and a driving mechanism, where the vehicle frame may be a vehicle frame commonly used in the prior art, and the driving mechanism may also be a driving mechanism commonly used in the prior art, the driving mechanism is fixed to the vehicle frame, and the supporting member 100 may be connected to the driving mechanism through a connecting portion 102; as an example, the driving mechanism includes a motor, a speed reducer and a rotating shaft 501, two ends of the speed reducer are respectively connected to the motor and the rotating shaft 501, and the supporting member 100 can be mounted on the rotating shaft 501 through the connecting portion 102, so that the motor can drive the supporting member 100 to rotate by a set angle, as shown in fig. 3;

further, the support member 100 may be connected to the drive mechanism and the frame via a connecting portion 102; as another example, the driving mechanism includes a motor and a transmission mechanism connected to the motor, the transmission mechanism includes transmission arms 502, the support members 100 can be respectively rotatably constrained to the frame through the first mounting holes 103, and can be rotatably connected to one end of the transmission arms 502 through the second mounting holes 104, so that the motor can drive the support members 100 to rotate around the first mounting holes 103 by a set angle by using the transmission arms 502, as shown in fig. 4; the transmission mechanism may further include a crank-link module or a lead screw-nut module for converting the circular rotation into the swing of the transmission arm 502, which is not illustrated herein.

In a more perfect scheme, the AGV vehicle further comprises a traveling wheel, a power assembly, a controller and the like, wherein the power assembly is connected with the traveling wheel and electrically connected with the controller, and the power assembly is used for driving the traveling wheel to rotate under the control of the controller; the power assembly can adopt a power assembly commonly used in the existing AGV, and is not illustrated, and the vehicle body is further provided with a storage battery pack which is connected with the power assembly and used for supplying power.

Since the present embodiment provides an AGV vehicle without manual control, preferably, the frame is further provided with a guiding device for the existing AGV vehicle, the guiding device is connected to the controller, and the controller controls the AGV vehicle to travel along the set route through the guiding device.

In a more sophisticated scheme, the controller may be a controller commonly used in the existing AGV, such as a single chip, a PLC or an ARM chip.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention.

Claims (10)

1. The push arm structure is characterized by comprising a supporting part for bearing force, wherein one end of the supporting part is provided with a connecting part for connecting a driving mechanism;

two rollers are rotatably mounted on one side of the supporting component, a set distance is reserved between the two rollers, and the rollers are respectively used for contacting with the pushed object.

2. The push arm structure of claim 1, further comprising a resilient member and a movable member, wherein,

the movable part is movably arranged on one side of the supporting part, and the two rollers are respectively and rotatably arranged on the movable part;

the elastic component is arranged between the supporting component and the movable component, and when the movable component moves in the direction close to the connecting part, the elastic potential energy of the elastic component is increased.

3. Push arm structure according to claim 2, characterized in that the elastic component is a tension spring, a compression spring and/or a leaf spring.

4. A push arm construction according to claim 2 or 3, further comprising a linear guide by which the movable part is mounted to the support part;

the linear guide rail comprises a slide rail and a slide block matched with the slide rail, the slide rail is fixed on the supporting part and is arranged along the length direction of the supporting part, the slide block is fixed on the movable part, and the slide block is arranged on the slide rail and forms a sliding pair with the slide rail.

5. Push arm structure according to claim 4, characterized in that the support part is configured with a stop part, and that the stop part is located at the end of the support part remote from the connection part for limiting the position of the slider and/or the movable part.

6. The push arm structure according to claim 4, further comprising a mounting shaft, wherein both ends of the mounting shaft are respectively constrained to the movable member, and the roller is sleeved on the mounting shaft;

or, still include installation axle and connecting piece, the connecting piece is fixed in the movable part with between the slider, just the both ends of installation axle restrict respectively in the connecting piece, just the gyro wheel cover is located the installation axle.

7. The push arm structure of claim 2, wherein the roller is sleeved with an elastic ring made of rubber, resin or silica gel;

and/or the support component is a support plate or a support frame;

and/or the movable part is of a plate-shaped structure.

8. The push arm structure of claim 1, wherein the connection portion is a mounting hole configured at one end of the support member.

9. The push arm structure of claim 8, comprising two of said mounting holes, a first mounting hole and a second mounting hole, respectively, wherein,

the connecting part is used for being rotatably restrained on a frame or a bracket of the AGV vehicle through the first mounting hole,

the connecting part is used for being rotatably connected with the driving mechanism through the second mounting hole.

10. AGV vehicle, characterized in that it comprises a push arm construction according to any of claims 1-9, a frame and a drive mechanism, which drive mechanism is fixed to the frame,

the supporting component is connected with the driving mechanism through a connecting part, or the supporting component is respectively connected with the driving mechanism and the frame through a connecting part.

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