CN110356182B

CN110356182B - Steering wheel shock absorption and automatic lifting device of automatic guiding transport vehicle

Info

Publication number: CN110356182B
Application number: CN201910589278.XA
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: 2019-07-02
Filing date: 2019-07-02
Publication date: 2023-05-16
Anticipated expiration: 2039-07-02
Also published as: CN110356182A

Abstract

The invention discloses a damping and automatic lifting device for steering wheels of an automatic guiding transport vehicle, which is characterized in that: the device consists of an upper top plate, a lower bottom plate and at least 2 groups of shock absorption lifting mechanisms connected between the upper top plate and the lower bottom plate, wherein each group of shock absorption lifting mechanisms comprises an upper sliding rail assembly, a lower sliding rail assembly and a fork rod mechanism; the fork rod mechanism is provided with a pair of fork rods which are hinged in the center, the upper ends of the fork rods are respectively connected with the upper sliding rail in a sliding manner through upper sliding blocks, the lower ends of the fork rods are respectively connected with the lower sliding rail in a sliding manner through lower sliding blocks, a damping mechanism is arranged between the upper sliding blocks and a limit baffle plate of the upper top plate, a lifting driving mechanism is arranged between the lower sliding blocks, and two states of a fixed state and a releasing state are arranged between the lifting driving mechanism and the lower sliding blocks. The invention realizes the damping and steering wheel lifting simultaneously through a simple structural design, protects the steering wheel device, improves the stability of the steering wheel AGV, and can lift the steering wheel when needed, thereby conveniently and easily moving the vehicle body.

Description

Steering wheel shock absorption and automatic lifting device of automatic guiding transport vehicle

Technical Field

The invention relates to an automatic guiding transport vehicle, in particular to a damping and lifting device for a steering wheel of the automatic guiding transport vehicle.

Background

An automatic guided vehicle (Automated Guided Vehicle, AGV) is equipped with an automatic guide device, integrates a mechanical structure of a driving motor, a steering motor, a speed reducer and the like, integrates product loading, traveling, traction and steering functions, can automatically travel along a specified guide path, has a programming and mode selection device, safety protection and various transfer functions, and can load and pull heavy goods. In recent years, along with the vigorous development of fields such as factory logistics automation, automatic assembly lines and the like in China, labor force is reduced, cost is increased, and AGVs are widely applied to the industries of automatic production and storage systems such as automobile manufacturing, mechanical processing and the like due to the characteristics of high automation degree, safety, flexibility and the like.

In the current AGV trolley, the following problems exist in the AGV transport technology using steering wheels as driving devices: the steering wheel is used as a traction device, the traction force is large, the equipment load directly acts on the steering wheel device in the operation process, and as the operation road surface of the steering wheel AGV is complex and changeable, if the steering wheel AGV does not have a damping device, gears in the steering wheel are easy to generate gear failure 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 capability, and when the steering wheel device works on uneven ground, the driving wheel and the driven wheel cannot land simultaneously, so that the problem of slipping is easy to occur, and the steering wheel AGV is unstable in operation. Second, when an AGV running on a certain route requires maintenance due to a malfunction or manual correction of orientation, these situations require manual effort to push the AGV. If the steering wheel is grounded, when the steering wheel is not driven by power, the steering wheel is difficult to push manually, so that the steering wheel is difficult to move, and the work of other devices on the route is influenced.

The invention of China patent application CN109131638A discloses an AGV steering wheel stabilizing device and an AGV steering wheel, which comprises an installation bottom plate, a guide ring, a movable part and a spring, wherein the guide ring is arranged on one side of the installation bottom plate, the movable part is sleeved on the guide ring and can reciprocate along the axial direction of the guide ring, one side of the movable part, facing the installation bottom plate, is provided with at least one spring groove, a spring is arranged in the spring groove, and one end, far away from the installation plate, of the guide ring is provided with a limiting part. This scheme provides a device that utilizes the spring to push down the steering wheel, can guarantee the laminating degree of steering wheel and ground when AGV passes through uneven highway section, has reduced the probability that leads to the AGV out of control because of the unsettled skidding of uneven steering wheel in road surface. However, the structure completely depends on the longitudinal bearing force of the spring, and the spring is stressed and is high in load and easy to be damaged due to the fact that the loading weight of the AGV is high (generally counted in tons); meanwhile, the steering wheel is always pressed down to be grounded, and when the AGV trolley needs to be pushed manually, the steering wheel structure can cause larger resistance.

Therefore, improvement of steering wheels or connection structures thereof of the AGV trolley is needed to realize shock absorption and effective control of the steering wheel height.

Disclosure of Invention

The invention aims to provide an automatic steering wheel damping and automatic lifting device for an automatic guiding transport vehicle, so as to realize damping of steering wheels and the whole vehicle body, avoid slipping and provide an automatic lifting function for the steering wheel device.

In order to achieve the aim of the invention, the invention adopts the following technical scheme: the damping and automatic lifting device for the steering wheel of the automatic guiding transport vehicle comprises an upper top plate, a lower bottom plate and at least 2 groups of damping lifting mechanisms connected between the upper top plate and the lower bottom plate, wherein each group of damping lifting mechanisms comprises an upper sliding rail assembly, a lower sliding rail assembly and a fork rod mechanism; the fork rod mechanism is provided with a pair of fork rods which are hinged in the center, the upper ends of the fork rods are respectively connected with the upper sliding rail in a sliding manner through upper sliding blocks, the lower ends of the fork rods are respectively connected with the lower sliding rail in a sliding manner through lower sliding blocks, a damping mechanism is arranged between the upper sliding blocks and a limit baffle plate of the upper top plate, a lifting driving mechanism is arranged between the lower sliding blocks, and two states of a fixed state and a releasing state are arranged between the lifting driving mechanism and the lower sliding blocks.

When the automatic lifting device is used, the upper top plate is connected with an AGV body through bolts, the lower bottom plate is connected with steering wheels through bolts, and in normal running, the lifting driving mechanism and the lower sliding block are in a loose state, the fork rod mechanism achieves scissor-type movement in one degree of freedom, along with load change carried by the AGV or jolt on a road surface, the fork rod mechanism changes fluctuation of vertical force in the vertical direction into fluctuation of horizontal force in the horizontal direction matched with the damping mechanism, the fluctuation of the vertical force is absorbed and reduced by the damping mechanism, and the vertical fluctuation in the vertical direction quickly tends to be stable, so that the damping purpose is achieved. On the other hand, the elasticity of the damping spring is converted into the longitudinal force in the vertical direction of the fork rod mechanism, so that the steering wheel can be used as a driving wheel to land on various terrains, and better ground grabbing force is realized, thereby avoiding the occurrence of slipping phenomenon. When the steering wheel of the AGV has faults and needs to be pushed aside for maintenance or special obstacles are met and needs manual auxiliary movement, the lifting driving mechanism and the lower sliding block are in a fixed state, the lower sliding block is driven by the lifting driving mechanism to be separated, the fork rod mechanism is enabled to form a relatively flat X shape (the transverse width is increased and the height is reduced), at the moment, the relative position of the steering wheel and the AGV body is reduced, the steering wheel is lifted, the purpose of steering wheel lifting is achieved, and the body is supported by the universal wheels so as to be convenient for manual pushing.

The preferable technical scheme, go up the slide rail subassembly including fixed connection go up the slide rail of roof downside, with last slide rail sliding connection's a pair of upper slider, go up the slide rail both ends and be equipped with limit baffle respectively, go up fixedly connected with shock attenuation baffle and last base on the slider, be equipped with damping spring between the limit baffle of shock attenuation baffle and corresponding side.

The lower sliding rail assembly comprises a lower sliding rail fixedly connected to the upper side of a lower bottom plate, a pair of lower sliding blocks in sliding connection with the lower sliding rail, a screw and a servo motor, one end of the screw is connected with the servo motor in a matched mode through a coupler, the other end of the screw is connected with a rod provided with a plurality of annular grooves, a screw nut and a lower base are fixedly connected to one lower sliding block, a locking device and the other lower base are fixedly connected to the other lower sliding block, the screw and the lower sliding rail are arranged in parallel, a threaded portion of the screw penetrates through the screw nut, the rod with the annular grooves penetrates through the locking device, and the locking device is in a fixed state for fixing the rod and a loose state for sliding along the axial direction of the rod.

According to a further technical scheme, the locking device comprises a locking shell with a pair of holes for the rod with an annular groove to penetrate, a plurality of positioning pins and positioning springs are arranged on one side face of the locking shell in the vertical direction of the pair of holes, the positioning springs are sleeved on the positioning pins, and the other ends of the positioning springs are pressed on the rod; the locking device comprises a locking shell, a locking baffle, a locking spring, a locking pin, a locking baffle and a locking spring, wherein the locking shell is arranged on the other side face of the locking shell in the vertical direction of the opposite hole, the locking pin and the locking spring are sleeved on the locking pin, the other end of the locking spring is pressed on the rod, the locking baffle is arranged on the outer side of the locking pin and matched with the locking baffle to be provided with a steering engine and a steering engine driving cam, when the steering engine driving cam pushes the locking baffle, the locking baffle compresses the locking pin into an annular groove of the rod, the locking device is in a fixed state, and when the steering engine driving cam releases the locking baffle, the locking pin is separated from the annular groove of the rod under the action of the locking spring, and the locking device is in a loose state.

In the technical scheme, the fork rod mechanism is composed of a main fork rod and an auxiliary fork rod which form X-shaped rotary connection, the upper ends of the main fork rod and the auxiliary fork rod are respectively and rotatably connected with an upper base, and the lower ends of the main fork rod and the auxiliary fork rod are respectively and rotatably connected with a lower base.

According to the preferred technical scheme, 3 groups of shock absorption lifting mechanisms are arranged between the upper top plate and the lower bottom plate, and the 3 groups of shock absorption lifting mechanisms are arranged in a triangular shape.

Wherein the upper top plate and the lower top plate are regular triangles.

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:

1. according to the invention, the X-shaped fork rod mechanism is matched with the transversely arranged damping springs, so that the steering wheel AGV can always and effectively contact with the ground no matter what working road surface the steering wheel AGV is on, when the steering wheel AGV runs on a bumpy road surface, the X-shaped shear structure reciprocates up and down to be buffered, and the energy loss in the movement of the transverse damping springs is used for damping, so that the buffer damping function of the steering wheel AGV is finally achieved, the steering wheel device is protected, and the stability of the steering wheel AGV is improved.

2. The invention utilizes the fork rod mechanism to realize the lifting of the steering wheel, can enable the AGV to lift the steering wheel without contacting with the ground under the conditions of complex obstacle and driving failure, and can conveniently and easily move the vehicle body by means of the universal wheel at the bottom of the AGV vehicle body.

3. According to the invention, the shock absorption and the lifting are realized through the X-shaped structure, so that the X-shaped structure enables the upper plate and the lower plate to be connected more stably when the upper plate is matched with the lower plate; in the assembly, three sets of lifting devices are distributed in an equilateral triangle, and when the upper plate and the lower plate are impacted by different directions, under the combined action of the damping spring and the X-shaped scissor mechanism, the whole device is more stable and can not incline.

Drawings

FIG. 1 is a schematic view of a first embodiment of the present invention;

FIG. 2 is a schematic view of an embodiment of an apparatus mounted on a steering wheel;

FIG. 3 is an exploded view of a set of shock absorbing lift mechanisms according to one embodiment;

FIG. 4 is a diagram of a shock absorbing state;

FIG. 5 is an exploded view of the locking device;

FIG. 6 is a schematic view of the locking device mated with the lead screw;

fig. 7 is an automatic lifting schematic.

Wherein: 1. an upper top plate; 2. a damping spring; 3. a lower base plate; 4. a damping lifting mechanism; 5. a damping baffle; 6. a locking device; 7. a main fork lever; 8. a screw rod; 9. a lower slide block; 10. a lower slide rail; 11. a fixing screw; 12. a lead screw nut; 13. a cotter pin; 14. a secondary fork lever; 15. an upper base; 16. a pin; 17. an upper slide rail; 18. a sealing cover; 19. a positioning spring; 20. positioning pins; 21. a lock housing; 22. a stop spring; 23. a cam; 24. steering engine; 25. an outer cover; 26. a stop baffle; 27. a stop pin; 28. steering wheel set screw.

Detailed Description

The invention is further described below with reference to the accompanying drawings and examples:

embodiment one: referring to fig. 1, an automatic steering wheel damping and automatic lifting device for a transport vehicle is composed of an upper top plate 1, a

lower bottom plate

3 and 3 groups of damping lifting mechanisms 4 connected between the upper top plate 1 and the lower bottom plate 3.

When the AGV is used, the upper top plate 1 is connected with an AGV body through bolts, and the lower bottom plate 3 is connected with steering wheels through bolts. Fig. 2 shows a schematic view of the installation of the device on a steering wheel.

Referring to fig. 3, each set of the shock absorbing elevating mechanisms includes an upper slide rail assembly, a lower slide rail assembly, and a fork bar mechanism. The upper sliding rail assembly comprises an upper sliding rail 17 fixedly connected to the lower side of the upper top plate 1 through a pin 16, and a pair of upper sliding blocks in sliding connection with the upper sliding rail 17, wherein limit baffles fixed on the upper top plate 1 are respectively arranged at two ends of the upper sliding rail 17, a damping baffle 5 and an upper base 15 are fixedly connected to the upper sliding blocks, and a damping spring 2 is arranged between the damping baffle 5 and the limit baffles on the corresponding sides.

The lower sliding rail assembly comprises a lower sliding rail 10 fixedly connected to the upper side of a lower bottom plate through a fixing screw 11, a pair of lower sliding blocks 9, a screw rod 8 and a servo motor, wherein the lower sliding blocks 9 are in sliding connection with the lower sliding rail 10, one end of the screw rod 8 is connected with the servo motor through a coupler, the other end of the screw rod 8 is connected with a rod provided with a plurality of annular grooves, a screw rod nut 12 is fixedly connected to one lower sliding block, a shell of the screw rod nut 12 simultaneously forms a lower base, a locking device 6 is fixedly connected to the other lower sliding block, the shell of the locking device 6 simultaneously forms the other lower base, the screw rod 8 and the lower sliding rail 10 are arranged in parallel, a threaded part of the screw rod penetrates through the screw rod nut 12, the rod with the annular grooves penetrates through the locking device 6, and the locking device 6 is provided with a fixed state for fixing the rod and a release state for sliding along the axial direction of the rod.

Referring to fig. 5 and 6, the locking device 6 includes a locking housing 21 having a pair of holes through which a rod with an annular groove passes, a plurality of positioning pins 20 and positioning springs 19 are disposed on one side surface of the locking housing 21 perpendicular to the pair of holes, the positioning springs 19 are sleeved on the positioning pins 20, the other ends of the positioning springs 19 are pressed on the rod, and a sealing cover 18 can be disposed outside the positioning pins 20; the other side surface of the locking shell 21 in the direction perpendicular to the opposite hole is provided with a plurality of stop pins 27 and stop springs 22, the stop springs 22 are sleeved on the stop pins 27, the other ends of the stop springs 22 are pressed on the rod, stop baffles 26 are arranged on the outer sides of the stop pins 27, steering gears 24 and steering gear driving cams 23 are matched with the stop baffles 26, steering gears are fixed on the locking shell through steering gear fixing screws 28, when the steering gear driving cams 23 push the stop baffles 26, the stop baffles 26 press the stop pins 27 into annular grooves of the rod to enable the locking device to be in a fixed state, and when the steering gear driving cams 23 loosen the stop baffles 26, the stop pins 27 are separated from the annular grooves of the rod under the action of the stop springs 22 to enable the locking device to be in a loose state, and the components of the locking device are shielded by an outer cover 25.

The fork rod mechanism consists of a main fork rod 7 and a secondary fork rod 14 which are connected in a rotating way to form an X shape, wherein a hole in the center of the secondary fork rod is matched with a protruding shaft in the center of the main fork rod to form the X shape, and the X shape is positioned by a cotter pin 13. The upper ends of the main fork rod and the auxiliary fork rod are respectively and rotatably connected with an upper base, and the lower ends of the main fork rod and the auxiliary fork rod are respectively and rotatably connected with a lower base.

When the AGV normally operates or is in a maintenance-free state, the locking device is in a release (opening) state, namely the locking device can axially move along the screw rod; at this time, the servo motor fixed to the other end of the screw is in a standby state and does not rotate, namely, the screw nut is fixed in position and cannot move axially. In this state, the X-shaped scissor mechanism realizes the scissor motion with one degree of freedom, and in the whole assembly body, along with the load variation carried by the AGV or along with the jolt of the road surface, referring to fig. 4, the X-shaped scissor mechanism converts the fluctuation of the vertical longitudinal force into the fluctuation of the horizontal transverse force after being matched with the damping spring, at this time, the damping spring absorbs and cuts down, and the vertical fluctuation quickly tends to be stable, namely, the damping purpose is achieved. In addition, the damping spring gives a vertical longitudinal force to the X-shaped scissor mechanism, so that the steering wheel can be used as a driving wheel to land on various terrains, and better ground grabbing force is realized, thereby avoiding the occurrence of slipping phenomenon.

When the steering wheel of the AGV has faults and needs to be pushed aside for maintenance or special obstacles are met and manual assistance is needed to move, the steering wheel is difficult to move manually without driving, so that the whole AGV is not limited to be moved. In this case, the steering wheel needs to be lifted up and moved by the underlying universal wheel, so that manual pushing can be easily realized. The locking device is in a closed state, namely, the locking device can not axially move along the screw rod. As shown in FIG. 7, the servo motor is started to drive the screw rod to rotate, so that the screw rod nut moves along the direction of the servo motor, namely, the X-shaped scissor mechanism forms a relatively flat X shape (the transverse width is increased and the height is reduced), and at the moment, the relative position of the steering wheel on the AGV body is reduced, the steering wheel is lifted, and the purpose of steering wheel lifting is achieved.

Therefore, the device is applied to an AGV steering wheel mechanism (shown in figure 2) and plays roles in damping the car body and steering wheels and lifting the steering wheels. The device is only required to be assembled between the steering wheel and the AGV body, the upper end of the device is connected with the AGV body, and the lower end of the device is connected with the steering wheel mechanism. In the device, the lifting power device is a servo motor connected with a screw rod, and the steering wheel moves up and down by the lifting power device under the condition of receiving a control signal. The damping function is realized through servo motor and locking device, and servo motor closes (does not work), and locking device is inside to be opened and to let it can slide along the pole, and under automobile body and the violent vibrations of steering wheel, scissors fork structure and damping spring constitute shock mitigation system, can realize the damping function like this.

Claims

1. The utility model provides an automatic steering transport vechicle steering wheel shock attenuation and automatic lifting device which characterized in that: the device consists of an upper top plate, a lower bottom plate and at least 2 groups of shock absorption lifting mechanisms connected between the upper top plate and the lower bottom plate, wherein each group of shock absorption lifting mechanisms comprises an upper sliding rail assembly, a lower sliding rail assembly and a fork rod mechanism; the fork rod mechanism is provided with a pair of fork rods which are hinged in the center, the upper ends of the fork rods are respectively connected with the upper sliding rail in a sliding way through upper sliding blocks, the lower ends of the fork rods are respectively connected with the lower sliding rail in a sliding way through lower sliding blocks, a damping mechanism is arranged between the upper sliding blocks and a limit baffle plate of the upper top plate, a lifting driving mechanism is arranged between the lower sliding blocks, and a fixed state and a release state are arranged between the lifting driving mechanism and the lower sliding blocks;

2. The steering wheel damping and automatic lifting device of an automatic guided vehicle according to claim 1, wherein: the upper sliding rail assembly comprises an upper sliding rail fixedly connected to the lower side of the upper top plate and a pair of upper sliding blocks in sliding connection with the upper sliding rail, limiting baffles are respectively arranged at two ends of the upper sliding rail, a damping baffle and an upper base are fixedly connected to the upper sliding blocks, and damping springs are arranged between the damping baffle and the limiting baffles at the corresponding sides.

3. The steering wheel damping and automatic lifting device of an automatic guided vehicle according to claim 1, wherein: the locking device comprises a locking shell with a pair of holes for the rod with annular grooves to pass through, one side surface of the locking shell in the vertical direction of the pair of holes is provided with a plurality of positioning pins and positioning springs, the positioning springs are sleeved on the positioning pins, and the other ends of the positioning springs are pressed on the rod; the locking device comprises a locking shell, a locking hole, a locking pin, a locking spring, a locking baffle, a steering engine and a cam, wherein the locking shell is arranged on the other side face of the locking shell in the vertical direction of the locking hole, the locking pin and the locking spring are arranged on the locking pin in a sleeved mode, the other end of the locking spring is pressed on the rod, the locking baffle is arranged on the outer side of the locking pin and matched with the locking baffle, the steering engine and the cam driven by the steering engine are arranged in a matched mode, when the steering engine drives the locking baffle to push the locking baffle, the locking pin is pressed into an annular groove of the rod, the locking device is in a fixed state, and when the locking spring is released by the steering engine, the locking pin is separated from the annular groove of the rod under the action of the locking spring, and the locking device is in a loose state.

4. The steering wheel damping and automatic lifting device of an automatic guided vehicle according to claim 1, wherein: the fork rod mechanism is composed of a main fork rod and an auxiliary fork rod which form X-shaped rotary connection, the upper ends of the main fork rod and the auxiliary fork rod are respectively and rotatably connected with an upper base, and the lower ends of the main fork rod and the auxiliary fork rod are respectively and rotatably connected with a lower base.

5. The steering wheel damping and automatic lifting device of an automatic guided vehicle according to claim 1, wherein: and 3 groups of damping lifting mechanisms are arranged between the upper top plate and the lower bottom plate, and the 3 groups of damping lifting mechanisms are arranged in a triangular shape.

6. The steering wheel damping and automatic lifting device of an automatic guided vehicle according to claim 5, wherein: the 3 groups of damping lifting mechanisms are arranged in an equilateral triangle.

7. The steering wheel damping and automatic lifting device of an automatic guided vehicle according to claim 6, wherein: the upper top plate and the lower bottom plate are regular triangles.