CN110407135B - Driving mechanism capable of shifting gears and AGV speed changing method - Google Patents
Driving mechanism capable of shifting gears and AGV speed changing method Download PDFInfo
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- CN110407135B CN110407135B CN201910801205.2A CN201910801205A CN110407135B CN 110407135 B CN110407135 B CN 110407135B CN 201910801205 A CN201910801205 A CN 201910801205A CN 110407135 B CN110407135 B CN 110407135B
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- 230000008859 change Effects 0.000 claims description 7
- 230000001174 ascending effect Effects 0.000 claims description 6
- 230000000712 assembly Effects 0.000 abstract description 20
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- 239000000463 material Substances 0.000 description 6
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- 238000005265 energy consumption Methods 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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Abstract
The invention provides a driving mechanism capable of shifting gears, which comprises a mounting frame, a first driving wheel assembly, a second driving wheel assembly and a driving wheel group switching mechanism; the driving wheel group switching mechanism is used for driving the first driving wheel assembly and the second driving wheel assembly to contact the ground in turn; a drive transmission mechanism is arranged between the first driving wheel assembly and the second driving wheel assembly, and the drive transmission mechanism is used for driving the first driving wheel assembly and the second driving wheel assembly to operate; the invention provides an AGV, and the AGV is applied to the driving mechanism. According to the driving mechanism capable of shifting gears and changing speed, two driving wheels with different diameters are arranged, so that proper driving wheel assemblies can be switched according to actual needs to drive the AGV to move; the AGV can improve the moving speed by switching the proper driving wheel assembly.
Description
Technical Field
The invention relates to the field of AGV driving devices, in particular to a driving mechanism capable of shifting gears, an AGV and an AGV speed changing method.
Background
In order to reduce the human cost, in order to standardize enterprise production simultaneously, a large amount of automation equipment is used in production to numerous enterprises including AGVs, and AGVs are fast because of its transport speed, and the material carrying capacity is big, and it has become the first choice handling tool of mill's automation material transportation, but current AGVs have following problem: when the AGV needs to translate or turn around for steering, the AGV receives the rolling resistance, gradient resistance, acceleration resistance, universal wheel rolling resistance, universal wheel convolution resistance and other resistances of the driving wheels, so that in order to improve the starting speed and the stopping position accuracy of the AGV, the driving wheels with smaller diameters are required to be used for driving the AGV to steer; however, when the AGV needs to move linearly for a long distance, the moving speed of the AGV cannot be further increased due to the limitation of the size of the driving wheel, and thus the transport efficiency of the AGV cannot be maximized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a driving mechanism capable of shifting gears and speed, which is provided with two driving wheels, so that a proper driving wheel assembly can be switched according to actual needs to drive an AGV to move.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the driving mechanism capable of shifting gears comprises a mounting frame, a first driving wheel assembly, a second driving wheel assembly and a driving wheel group switching mechanism; the first driving wheel assembly, the second driving wheel assembly and the driving wheel group switching mechanism are arranged on the mounting frame; the driving wheel set switching mechanism is respectively linked with the first driving wheel assembly and the second driving wheel assembly and is used for driving the first driving wheel assembly and the second driving wheel assembly to ascend or descend so as to enable the first driving wheel assembly and the second driving wheel assembly to alternately contact the ground; the driving transmission mechanism is arranged between the first driving wheel assembly and the second driving wheel assembly and is used for driving the first driving wheel assembly and the second driving wheel assembly to operate.
Compared with the prior art, the driving mechanism capable of shifting gears has the following beneficial effects:
(1) According to the invention, the mounting frame is arranged, and the first driving wheel assembly, the second driving wheel assembly, the driving transmission mechanism and the driving wheel group switching mechanism are arranged on the mounting frame, so that a producer can conveniently and rapidly install the driving mechanism on the AGV, the production time of the AGV is shortened, and meanwhile, the producer can conveniently and integrally replace and maintain the driving mechanism on the AGV, so that the maintenance cost of the AGV is reduced;
(2) Through setting up drive wheelset shifter in turn lift first drive wheel subassembly with second drive wheel subassembly makes first drive wheel subassembly and second drive wheel subassembly land in turn, has simple structure, and response speed's technical effect makes AGV can switch suitable drive wheel subassembly according to actual need and remove to can improve AGV's moving speed, and then improved AGV's conveying efficiency.
Preferably, the driving transmission mechanism comprises a driving device and a driving friction piece; the first driving wheel assembly comprises a first wheel body; the driving device is arranged on the first driving wheel assembly, the driving friction piece and the first wheel body are coaxially arranged, and the driving friction piece and the first wheel body are connected with the output end of the driving device; the driving friction member transmits power to the second driving wheel assembly when the second driving wheel assembly is in contact with the ground.
The invention provides two setting modes of driving a second driving wheel assembly to operate by a driving transmission mechanism:
First arrangement of the drive transmission mechanism: the driving transmission mechanism further comprises a first transmission friction piece; the second driving wheel assembly comprises a second wheel body; the first transmission friction piece and the second wheel body are coaxially arranged; the drive friction member is in contact with the first transmission friction member when the second drive wheel assembly is in contact with the ground.
When the first driving wheel assembly is in a lifting state, the driving friction piece can be directly contacted with the first transmission friction piece, so that the driving friction piece drives the second driving wheel assembly to rotate, the power loss output by the driving device can be reduced, the energy consumption is reduced, the working time of the AGV is prolonged, in addition, when the first driving wheel assembly is in the lifting state, the first driving wheel assembly is contacted with the first transmission friction piece to drive the second driving wheel assembly to rotate, the trouble of arranging the driving device for driving the second driving wheel assembly to rotate can be omitted, the complexity of parts and internal structures of the driving mechanism is reduced, and the production cost of the driving mechanism is reduced; according to the invention, the driving transmission mechanism is arranged, when the first driving wheel assembly is in a descending state, the first driving wheel assembly is separated from the first transmission friction piece, so that no power is transmitted between the first driving wheel assembly and the second driving wheel assembly, the second driving wheel assembly is ensured to gradually tend to be in a relatively static state, and the stability of the driving mechanism when the driving mechanism moves on the ground with the first driving wheel assembly is improved.
The second arrangement of the drive transmission mechanism: the driving transmission mechanism further comprises a first transmission friction piece, a second transmission friction piece and a third transmission friction piece; the second driving wheel assembly comprises a second wheel body; the first transmission friction piece and the second wheel body are coaxially arranged; the second transmission friction piece and the third transmission friction piece are respectively tangent to the first transmission friction piece and are arranged on two sides below the first transmission friction piece; when the second driving wheel assembly is contacted with the ground, the driving friction piece is simultaneously contacted with the second transmission friction piece and the third transmission friction piece.
The second transmission friction wheel and the third transmission friction wheel are arranged, and the following beneficial effects are achieved:
(1) The second transmission friction wheel and the third transmission friction wheel are arranged, so that the difficulty in selecting the first transmission friction piece and the driving friction piece can be reduced, and poor matching effect and increased power loss in the transmission process due to the limitation of the size specification selection range of the first transmission friction piece and the driving friction piece are avoided;
(2) Through setting up second, third transmission friction wheel, on the one hand, restriction first transmission friction piece's range of motion ensures that first transmission friction piece sets up firmly in the position that sets for, on the other hand, second, third transmission friction wheel with first transmission friction piece contact can improve first transmission friction piece and drive friction piece pivoted synchronism, avoids simultaneously first transmission friction piece and drive friction piece because contact failure leads to first transmission friction piece to appear the condition of skidding.
Preferably, the driving wheel group switching mechanism comprises a lifting structure, a first connecting frame and a second connecting frame; the first driving wheel assembly is arranged on the first connecting frame, and the second driving wheel assembly is arranged on the second connecting frame; the lifting structure comprises a lifting device and a lifting connecting rod, wherein a first connecting piece and a second connecting piece are arranged on the lifting connecting rod and positioned at the front side and the rear side of the middle part of the lifting connecting rod; the middle part of the lifting connecting rod is hinged with the mounting frame, and the lifting connecting rod is connected with the lifting device; the first connecting frame is arranged on the first connecting piece, and the second connecting frame is arranged on the second connecting piece. According to the driving wheel group switching mechanism, the first driving wheel assembly arranged on the first connecting frame and the second driving wheel assembly arranged on the second connecting frame are lifted in turn through the lifting structure formed by the lifting device and the lifting connecting rod, so that two driving wheels can be operated simultaneously, when one driving wheel is in a descending state, the other driving wheel is in a lifting state, the movement synchronism of the two driving wheels is ensured, and the situation that the driving mechanism cannot normally drive the AGV to move due to different speeds of a plurality of contact points of the driving mechanism to the ground caused by the simultaneous landing of the two driving wheels is avoided.
Preferably, the first connecting frame is provided with a first buckling piece, and the second connecting frame is provided with a second buckling piece; the first connecting piece and the second connecting piece are idler wheels, the first connecting piece is buckled in the first buckling piece, and the second connecting piece is buckled in the second buckling piece. Because the first connecting piece, second connecting piece are the gyro wheel, but relative lift connecting rod rotates, makes first connecting piece the second connecting piece with lift connecting rod swing joint is adopted the mode of movable lock to offset the lateral shifting component that produces when the lift connecting rod swings, makes the lift connecting rod under the circumstances of slope any angle, first connecting piece the second connecting piece all the time with first connecting piece, second connecting piece firmly link, avoid first link/second link takes place to take place to loosen with the lift connecting rod, thereby makes first link/second link only makes the oscilaltion relatively the lift connecting rod, in addition, first link, second link and lift connecting rod adopt movable lock to connect, can avoid because lift connecting rod front and back wobbling in-process, first link, second link and lift connecting rod junction are impaired because friction, collision, thereby reduce maintenance cost, prolong spare part's life simultaneously.
Preferably, a first floating supporting mechanism is arranged on the first driving wheel assembly, and a second floating supporting mechanism is arranged on the second driving wheel assembly; the first floating support mechanism comprises a first elastic component and a first mounting seat, the first wheel body is arranged on the first mounting seat, the first mounting seat is connected with the driving wheel set switching mechanism through the first elastic component, and the first elastic component is used for applying downward force to the first driving wheel assembly; the second floating support mechanism comprises a second elastic component and a second mounting seat, the second wheel body is arranged on the second mounting seat, the second mounting seat is connected with the driving wheel set switching mechanism through the second elastic component, and the second elastic component is used for applying downward force to the second driving wheel assembly.
The arrangement mode of the floating support mechanism arranged on the first driving wheel assembly and the second driving wheel assembly has the following beneficial effects:
(1) The first driving wheel assembly and the second driving wheel assembly are respectively connected with the driving wheel set switching mechanism through the first elastic assembly and the second elastic assembly, so that the first driving wheel assembly and the second driving wheel assembly have certain pre-pressure, the first wheel body arranged on the first mounting seat and the second wheel body arranged on the second mounting seat are always close to the ground, the risk of slipping of the first driving wheel assembly and the second driving wheel assembly due to insufficient downward pressure is reduced, the first driving wheel assembly and the second driving wheel assembly can still perform linear and complex curve movements on the high-low fluctuation ground, and the reliability of the driving mechanism is effectively improved;
(2) The first elastic component and the second elastic component can have certain elasticity, so that when the AGV loads materials, the instant impact force of the materials on the AGV is reduced, the buffer effect is achieved on the first driving wheel component and the second driving wheel component, and the driving mechanism is protected.
Another object of the present invention is to provide an AGV using the above-mentioned drive mechanism capable of shifting gears, which includes a vehicle body, a driven wheel and a drive mechanism capable of shifting gears, wherein the drive mechanism and the driven wheel are disposed at a lower portion of the vehicle body, the driven wheel is used for supporting the vehicle body, and the driving wheel is used for driving the vehicle body to move.
Compared with the prior art, the AGV provided by the invention has the advantages that the driving mechanism capable of shifting gears is applied, so that driving wheels with different diameters can be switched to move according to actual production scenes, and the moving speed is effectively improved by switching proper driving wheel assemblies to move.
Another object of the present invention is to provide a speed changing method of an AGV using the above speed-adjustable speed-variable driving mechanism, comprising the steps of:
(1) The first driving wheel assembly drives the vehicle body to move; the output power of the driving device is increased, so that the rotating speed of the first driving wheel assembly is increased from R0 to R1, and the AGV speed is V1;
(2) The driving wheel set switching mechanism works, the first driving wheel assembly ascends to leave the ground, the second driving wheel assembly descends, and the AGV continues to travel by means of the inertia maintaining speed V1;
(3) The output power of the driving device is reduced, so that the rotating speed of the first driving wheel assembly is reduced from R1 to R2;
(4) The first driving wheel assembly drives the second driving wheel assembly to rotate through the driving transmission mechanism in the ascending process;
(5) The second driving wheel assembly is grounded;
(6) The output power of the driving device is increased, the rotation speed of the second driving wheel assembly is increased from R3 to R4, and the speed of the AGV is increased from V1 to V2.
Another object of the present invention is to provide a speed changing method of an AGV using the above speed-adjustable speed-variable driving mechanism, comprising the steps of:
(1) The second driving wheel assembly drives the vehicle body to move; the output power of the driving device is reduced, so that the rotating speed of the second driving wheel assembly is reduced from R5 to R6, and the AGV speed is V3;
(2) The driving wheel set switching mechanism works, the second driving wheel assembly ascends to leave the ground, the first driving wheel assembly descends, and the AGV continues to travel by means of the inertia maintaining speed V3;
(3) The second driving wheel assembly is separated from the first driving wheel assembly in the ascending process;
(4) The output power of the driving device is increased, so that the rotating speed of the first driving wheel assembly is increased from R7 to R8;
(5) The first driving wheel assembly is grounded; AGV speed increases from V3 to V4.
Compared with the prior art, the speed change method of the speed change driving mechanism capable of striding gears has the advantages that as the driven wheels for supporting are arranged at the lower part of the AGV, the first driving wheel assembly and the second driving wheel assembly of the driving mechanism can be simultaneously in a suspended ground leaving state.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic representation of the operation of the present invention with the first drive wheel assembly grounded;
FIG. 3 is a cross-sectional view of the first drive wheel assembly of the present invention grounded;
FIG. 4 is a schematic representation of the operation of the present invention with the second drive wheel assembly grounded;
FIG. 5 is a cross-sectional view of a second drive wheel assembly of the present invention grounded;
FIG. 6 is an exploded view of the present invention from a top view;
FIG. 7 is an exploded view of the invention from the bottom view;
FIG. 8 is a schematic view of an assembly of the first coupling frame with the first drive wheel assembly;
FIG. 9 is a schematic view of the first coupling frame, first drive wheel assembly;
FIG. 10 is a schematic view of a first drive wheel assembly;
FIG. 11 is a cross-sectional view of the first drive wheel assembly;
FIG. 12 is a schematic view of an assembly of a mounting bracket and a lifting structure;
FIG. 13 is a cross-sectional view from above of the mounting bracket and drive wheel set switching mechanism assembled;
FIG. 14 is a cross-sectional view at a horizontal angle of the mounting bracket and drive wheel set switching mechanism assembled;
FIG. 15 is a schematic view of an assembly of the second coupling frame with the second drive wheel assembly;
FIG. 16 is a schematic view of a second link, second drive wheel assembly;
FIG. 17 is a schematic view of a bottom angle of the second drive wheel assembly;
FIG. 18 is a schematic view of the horizontal angle of the second drive wheel assembly;
FIG. 19 is an exploded view of the second drive wheel assembly;
FIG. 20 is a schematic view of a bottom angle of the second drive wheel assembly;
FIG. 21 is a schematic view of a drive transmission;
fig. 22 is a cross-sectional view of the second drive wheel assembly.
Description of the reference numerals:
A driving mechanism 1, a mounting frame 11, a cross rod 12, a connecting frame 13, a driving device 2, a first wheel body 21, a driving friction piece 22, a second wheel body 23, a first transmission friction piece 24, a second transmission friction wheel 251, a third transmission friction wheel 252, a fixing frame 26, a fixing part 261, a connecting part 262, a 263 mounting groove 264 baffle plate, 3 lifting structure, 31 lifting device, 32 lifting link, 33 first connector, 34 second connector, 4 first connector frame, 41 first main body, 42 first fastening member, 43 first fastening groove, 5 second connector frame, 51 second main body, 52 second fastening member, 53 second fastening groove, 6 first guide mechanism, the first guide member 61, the first slide member 62, the second guide mechanism 7, the second guide member 71, the second slide member 72, the first floating support mechanism 8, the first mounting plate 81, the first guard plate 82, the first elastic member 83, the first guide post 84, the first locking member 85, the first mounting seat 86, the first mounting portion 87, the first mounting boss 88, the first guide sleeve 89, the second floating support mechanism 9, the second mounting plate 91, the second guard plate 92, the second elastic member 93, the second guide post 94, the second locking member 95, the second mounting seat 96, the second mounting portion 960, the second mounting boss 97, the second guide sleeve 98, and the adjustment member 99.
Detailed Description
Embodiments of the present invention are described below with reference to the accompanying drawings:
Example 1
Referring to fig. 1 to 22, a drive mechanism 1 capable of shifting across gears of the present embodiment includes a mounting frame 11, a first drive wheel assembly, a second drive wheel assembly, and a drive wheel group switching mechanism; the first driving wheel assembly, the second driving wheel assembly and the driving wheel group switching mechanism are arranged on the mounting frame 11; the driving wheel set switching mechanism is respectively linked with the first driving wheel assembly and the second driving wheel assembly and is used for driving the first driving wheel assembly and the second driving wheel assembly to ascend or descend so as to enable the first driving wheel assembly and the second driving wheel assembly to alternately contact the ground; the driving transmission mechanism is arranged between the first driving wheel assembly and the second driving wheel assembly and is used for driving the first driving wheel assembly and the second driving wheel assembly to operate.
Specifically, the first driving wheel assembly comprises a first wheel body 21, the second driving wheel assembly comprises a second wheel body 23, and the diameter of the first wheel body 21 is smaller than that of the second wheel body 23.
According to the invention, by arranging the two driving wheels with different diameters, the AGV can move by using the first driving wheel assembly with smaller diameter when starting, steering and stopping, so that the resistance of the AGV in the moving process is reduced, the starting speed and the stopping position precision of the AGV are improved, the offset error of the actual position and the preset position of the AGV is effectively reduced, in addition, when the AGV moves on a long-distance straight road section, the second driving wheel assembly with larger diameter can be switched to move, and the moving speed of the AGV is improved, and the transport efficiency of the AGV is further improved.
The drive transmission mechanism comprises a drive device 2 and a drive friction piece 22; the driving device 2 is arranged on the first driving wheel assembly, the driving friction piece 22 and the first wheel body 21 are coaxially arranged, and the driving friction piece 22 and the first wheel body 21 are connected with the output end of the driving device 2; the drive friction member 22 transmits power to the second drive wheel assembly when the second drive wheel assembly is in contact with the ground.
Specifically, the driving friction member 22 is cylindrical, the driving friction member 22 is disposed outside the first wheel 21, and the center of the driving friction member 22 and the center of the first wheel 21 are on the same axis.
The invention provides two setting modes of driving a second driving wheel assembly to operate by a driving transmission mechanism:
first arrangement of the drive transmission mechanism: the drive transmission mechanism further includes a first transmission friction member 24; the first transmission friction member 24 is coaxially arranged with the second wheel body 23; when the second drive wheel assembly is in contact with the ground, the drive friction member 22 is in contact with the first transfer friction member 24.
When the first driving wheel assembly is in a lifting state, the driving friction piece 22 can be directly contacted with the first transmission friction piece 24, so that the driving friction piece 22 drives the second driving wheel assembly to rotate, the loss of power output by the driving device 2 can be reduced, the energy consumption is reduced, the working time of the AGV is prolonged, in addition, when the first driving wheel assembly is in a lifting state, the first driving wheel assembly is contacted with the first transmission friction piece 24 to drive the second driving wheel assembly to rotate, the trouble of arranging a driving device for driving the second driving wheel assembly to rotate can be omitted, the complexity of parts and internal structures of the driving mechanism 1 is reduced, and the production cost of the driving mechanism 1 is reduced; according to the invention, by arranging the driving transmission mechanism, when the first driving wheel assembly is in the descending state, the first driving wheel assembly is separated from the first transmission friction piece 24, so that no power is transmitted between the first driving wheel assembly and the second driving wheel assembly, and the second driving wheel assembly can gradually tend to be in a relatively static state, thereby improving the stability of the driving mechanism 1 when the first driving wheel assembly moves on the ground.
The second arrangement of the drive transmission mechanism: the drive transmission mechanism further comprises a first transmission friction member 24, a second transmission friction member 24 and a third transmission friction member; the first transmission friction member 24 is coaxially arranged with the second wheel body 23; the second transmission friction piece 251 and the third transmission friction piece 252 are respectively tangent to the first transmission friction piece 24 and are arranged at two sides below the first transmission friction piece; when the second driving wheel assembly contacts the ground, the driving friction member 22 contacts the second transmission friction member 251 and the third transmission friction member 252 at the same time.
Specifically, the first transmission friction member 24 is cylindrical, the first transmission friction member 24 is disposed inside the second wheel body 23, and the center of the first transmission friction member 24 and the center of the second wheel body 23 are on the same axis.
The second transmission friction member 251 and the third transmission friction member 252 have the following advantages:
(1) By arranging the second transmission friction piece 251 and the third transmission friction piece 252, the difficulty in selecting the first transmission friction piece 24 and the driving friction piece 22 can be reduced, and poor matching effect caused by the limitation of the size specification selection range of the first transmission friction piece 24 and the driving friction piece 22 is avoided, and the lost power in the transmission process is increased;
(2) By arranging the second transmission friction member 251 and the third transmission friction member 252, on one hand, the movement range of the first transmission friction member 24 is limited, and the first transmission friction member 24 is ensured to be firmly arranged at a set position, on the other hand, the second transmission friction member 251 and the third transmission friction member 252 are contacted with the first transmission friction member 24, so that the rotation synchronism of the first transmission friction member 24 and the driving friction member 22 can be improved, and meanwhile, the situation that the first transmission friction member 24 slips due to poor contact between the first transmission friction member 24 and the driving friction member 22 is avoided.
Specifically, the driving transmission mechanism further includes a fixing frame 26, the fixing frame 26 is in a shape of a U, the fixing frame 26 includes a fixing portion 261 and two connecting portions 262, the two connecting portions 262 are respectively disposed on two sides of the fixing portion 261, the two connecting portions 262 are respectively connected with the second driving wheel assembly, and the second driving friction member 251 and the third driving friction member 252 are rotatably disposed on the fixing portion 261.
The driving wheel group switching mechanism comprises a lifting structure 3, a first connecting frame 4 and a second connecting frame 5; the first driving wheel assembly is arranged on the first connecting frame 4, and the second driving wheel assembly is arranged on the second connecting frame 5; the lifting structure 3 comprises a lifting device 31 and a lifting connecting rod 32, wherein a first connecting piece 33 and a second connecting piece 34 are arranged on the lifting connecting rod 32 and positioned at the front side and the rear side of the middle part of the lifting connecting rod; the middle part of the lifting connecting rod 32 is hinged with the mounting frame 11, and the lifting connecting rod 32 is connected with the lifting device 31; the first connecting frame 4 is disposed on the first connecting member 33, and the second connecting frame 5 is disposed on the second connecting member 34.
The connection point of the first connecting piece 33 and the lifting connecting rod 32, the connection point of the second connecting piece 34 and the lifting connecting rod 32 and the hinge point of the lifting connecting rod 32 and the mounting frame 11 are located on the same straight line. By locating the first connecting piece 33, the second connecting piece 34 and the hinge point of the lifting connecting rod 32 and the mounting frame 11 on the same axis, the distances from the first connecting piece 33 and the second connecting piece 34 to the hinge point of the lifting connecting rod 32 and the mounting frame 11 are limited, so that the moment of the first connecting frame 33 and the moment of the second connecting frame 34 are adjusted, the power required by the lifting device 31 for driving the lifting connecting rod 32 to swing forwards and backwards is reduced, and the energy consumption is reduced.
Specifically, the lifting device 31 is any one of an electric push rod, an electric cylinder, and a forward/reverse rotation motor.
In the drawings of the embodiment, a lifting device 31 is shown as a schematic diagram of an electric push rod, a fixed end of the electric push rod is connected with a mounting frame 11, and a telescopic end of the electric push rod is hinged with an end part of a lifting connecting rod 32; the setting mode is simple in structure, low in cost and convenient to install and adjust, and the lifting capacity of the electric push rod and the electric cylinder is high, so that the driving wheel with large diameter can be stably lifted, and the switching speed of the driving wheel is improved.
If the lifting device 31 is a forward and backward motor, the forward and backward motor is arranged at the hinge position of the lifting connecting rod 32 and the mounting frame 11, and when the forward and backward motor operates, the lifting connecting rod 32 swings back and forth around the hinge position of the lifting connecting rod 32 and the mounting frame 11; the internal structure that this kind of setting mode enabled drive wheelset shifter is compacter to reduce the space that drive wheelset shifter occupy, be convenient for the production personnel install drive wheelset shifter on AGV, in addition, only need control positive and negative rotation of the output of positive reverse motor can drive the back-and-forth swing of lifting link 32, easy operation effectively reduces the control degree of difficulty.
Because the diameter of first wheel body 21 is less than the diameter of second wheel body 23, consequently, first drive wheel assembly's volume is less than second drive wheel assembly, in order to make full use of drive wheel group shifter's inner space, reduces the space that actuating mechanism 1 occupy, mounting bracket 11 is hollow frame, be equipped with on the mounting bracket 11 and install horizontal pole 12, lift connecting rod 32 with install horizontal pole 12 articulates, first drive wheel assembly is located lift connecting rod 32 downside, second drive wheel assembly is located the lift connecting rod 32 outside, and is located mounting bracket 11 is inboard.
Specifically, the first connecting frame 4 is provided with a first main body 41 and a first fastening member 42, the first driving wheel assembly is disposed at the lower portion of the first main body 41, the first fastening member 42 is disposed at the upper portion of the first main body 41, and the first main body 41 is connected with the lifting connecting rod 32 through the first fastening member 42.
Specifically, the second connecting frame 5 is provided with a second main body 51 and a second fastening piece 52, in order to avoid interference with the lifting connecting rod 32 when the second connecting frame 5 ascends or descends and ensure normal use of the driving wheel set switching mechanism, the second main body 51 is arranged above the lifting connecting rod 32, the second driving wheel assembly is arranged at the lower part of the second main body 51, the second fastening piece 52 is arranged on one side of the second main body 51 towards the lifting connecting rod 32, and the second main body 51 is connected with the lifting connecting rod 32 through the second fastening piece 52. In order to improve the connection strength between the second connecting frame 5 and the lifting connecting rod 32, two second fastening members 52 are provided, and the two second fastening members 52 are respectively connected with two sides of the lifting connecting rod 32.
The present embodiment provides two setting modes of connection between the first connecting frame 4, the second connecting frame 5 and the lifting connecting rod 32:
First arrangement mode of the first connecting frame 4, the second connecting frame 5 and the lifting connecting rod 32:
Specifically, the first fastening member 42 is provided with a first fastening groove 43, the second fastening member 52 is provided with a second fastening groove 53, the first connecting member 33 and the second connecting member 34 are rollers, the first connecting member 33 is fastened in the first fastening member 42, and the second connecting member 34 is fastened in the second fastening member 52.
Because the first connecting piece 33 and the second connecting piece 34 are rollers and can rotate relative to the lifting connecting rod 32, the first connecting piece 33 and the second connecting piece 34 are movably connected with the lifting connecting rod 32, so that transverse movement components generated when the lifting connecting rod 32 swings are counteracted, the first connecting piece 33 and the second connecting piece 34 are always firmly connected with the first connecting frame 4 and the second connecting frame 5 under the condition that the lifting connecting rod 32 is inclined at any angle, the first connecting frame 4/the second connecting frame 5 and the lifting connecting rod 32 are prevented from being loosened, the first connecting frame 4/the second connecting frame 5 only swings up and down relative to the lifting connecting rod 32, in addition, the first connecting frame 4 and the second connecting frame 4 are connected with the lifting connecting rod 32 in a movable buckling manner, and the damage to the connection parts of the first connecting frame 4 and the second connecting frame 32 and the lifting connecting rod 32 due to friction and collision in the front and back swinging process of the lifting connecting rod 32 can be avoided, so that the service life of parts is prolonged.
The second arrangement mode of the first connecting frame 4, the second connecting frame 5 and the lifting connecting rod 32 is as follows:
the first buckling piece is hinged with the first connecting piece, and the first buckling piece can rotate around the hinged position of the first buckling piece and the first connecting piece; the second buckling piece is hinged with the second connecting piece, and the second buckling piece can rotate around the hinged position of the second buckling piece and the second connecting piece. Although not shown in the drawings of the present embodiment, the present arrangement still falls within the scope of the present invention.
According to the driving wheel set switching mechanism, the first driving wheel assembly arranged on the first connecting frame 4 and the second driving wheel assembly arranged on the second connecting frame 5 are lifted in turn through the lifting structure 3 formed by the lifting device 31 and the lifting connecting rod 32, so that two driving wheel actions can be simultaneously operated, when one driving wheel is in a descending state, the other driving wheel is in a lifting state, the movement synchronism of the two driving wheels is ensured, and the situation that the driving mechanism 1 cannot normally drive the AGV to move due to different speeds of a plurality of contact points of the driving mechanism 1 to the ground caused by the simultaneous grounding of the two driving wheels is avoided.
The two first driving wheel assemblies are arranged on two sides of the middle part of the mounting frame 11 and fixedly arranged through the first connecting frame 4; the two second driving wheel assemblies are arranged on the inner side or the outer side of the two first driving wheel assemblies respectively, and the two second driving wheel assemblies are connected through a second connecting frame 5. By arranging the first driving wheel assemblies and the second driving wheel assemblies in pairs, the two sides of the middle part of the driving mechanism 1 are respectively provided with contact points which are in contact with the ground, so that on one hand, the stability of the driving mechanism 1 in operation can be improved, and the driving mechanism 1 is prevented from shifting to the left side or the right side of the mounting frame 11 when the AGV makes linear motion, so that the AGV deviates from a preset route; on the other hand, when the AGV does curvilinear motion, the axis of axial rotation along the vertical direction of actuating mechanism 1 is located the ground contact central point of two first drive wheel assemblies, and when the AGV turns to, two first drive wheel assemblies rotate clockwise or anticlockwise around the axis respectively, make the friction type of first drive wheel assemblies and ground change from stiction into sliding friction to the gyration resistance that receives when the actuating mechanism 1 rotates that significantly reduces, the speed when improving the all-round removal of AGV.
Specifically, the driving device 2 is provided with two corresponding two first driving wheel assemblies, the two driving devices 2 respectively drive the two first wheel bodies 21 to rotate, and the two first driving wheel assemblies can rotate relatively independently by the arrangement mode, so that the two first driving wheel assemblies can rotate in a differential mode, and control movements of starting, accelerating and decelerating, steering, turning around, stopping and the like of the AGV are completed.
A first guide mechanism 6 is arranged between the mounting frame 11 and the first driving wheel assembly, and a second guide mechanism 7 is arranged between the mounting frame 11 and the second driving wheel assembly; the first guide mechanism 6 includes a first guide 61 and a first slider 62; a first guide member 61 is vertically disposed on the mounting frame 11, a first sliding member 62 is disposed on the first driving wheel assembly corresponding to the first guide member 61, or a first sliding member 62 is disposed on the mounting frame 11, a first guide member 61 is vertically disposed on the first driving wheel assembly corresponding to the first sliding member 62, and the first sliding member 62 is slidably connected with the first guide member 61; the second guiding mechanism 7 comprises a second guiding piece 71 and a second sliding piece 72, the second guiding piece 71 is vertically arranged on the mounting frame 11, the second sliding piece 72 is correspondingly arranged on the second driving wheel assembly or the second sliding piece 72 is arranged on the mounting frame 11, the second guiding piece 71 is correspondingly arranged on the second driving wheel assembly, and the second sliding piece 72 is in sliding connection with the second guiding piece 71.
Specifically, since the first driving wheel assembly is disposed at the lower side of the lifting link 32, in order to facilitate the installation of the first guiding mechanism 6, the lower portion of the mounting frame 11 is provided with a connection frame 13 corresponding to the first driving wheel assembly, and the first guiding mechanism 6 is disposed between the connection frame 13 and the first driving wheel assembly; in this embodiment, in order to improve the connection strength between the first driving wheel assembly and the mounting frame 11, two connection frames 13 are provided, and two connection frames 13 are located on the front side and the rear side of the mounting frame 11, so that the front side and the rear side of the first driving wheel assembly are connected.
In the above arrangement, the guide mechanism is arranged between the mounting frame 11 and the first and second driving wheel assemblies, so that the movement range of the first and second driving wheel assemblies is limited, the first and second driving wheel assemblies can only vertically move up and down relative to the mounting frame 11, the driving wheel set switching mechanism is ensured to stably drive the first and second driving wheel assemblies to move up and down in a designated direction, the reliability of the driving wheel set switching mechanism is improved, and in addition, the arrangement can avoid that the driving mechanism 1 can not normally drive the AGV to move due to the non-directional movement of the first and second driving wheel assemblies in a plurality of directions.
The first driving wheel assembly is provided with a first floating supporting mechanism 8, and the second driving wheel assembly is provided with a second floating supporting mechanism 9; the first floating support mechanism 8 comprises a first elastic component and a first mounting seat 86, the first wheel body 21 is arranged on the first mounting seat 86, the first mounting seat 86 is connected with the driving wheel set switching mechanism through the first elastic component, and the first elastic component is used for applying downward force to the first driving wheel assembly; the second floating support mechanism 9 comprises a second elastic component and a second mounting seat 96, the second wheel body 23 is arranged on the second mounting seat 96, the second mounting seat 96 is connected with the driving wheel set switching mechanism through the second elastic component, and the second elastic component is used for applying downward force to the second driving wheel assembly.
Specifically, the first elastic assembly comprises a first mounting plate 81, a first elastic member 83 and a first guide post 84, wherein the first mounting plate 81 is arranged above the first mounting seat 86, two sides of the first mounting plate 81 extend downwards to form a first guard plate 82, and the first guard plate 82 surrounds the outer side of the first mounting seat 86; by arranging the first guard plates 82, on one hand, the moving range of the first mounting seat 86 can be limited, and the first mounting seat 86 is ensured to move between the two first guard plates 82, and on the other hand, the first guard plates can play a role in blocking, so that external pollutants are prevented from entering the first elastic assembly, and normal use of the first elastic assembly is prevented from being influenced; the upper part of the first mounting seat 86 is provided with a first mounting part 87, the upper side of the first mounting part 87 or the lower side of the first mounting plate 81 is provided with a first mounting protrusion 88, and the first elastic piece 83 is sleeved on the first mounting protrusion 88, so that the first elastic piece 83 is prevented from loosening, and the service life of the first elastic component is prolonged; the first mounting portion 87 is provided with a first guide sleeve 89, the first guide pillar 84 is arranged at the lower part of the first mounting plate 81 and is inserted into the first guide sleeve 89, and the arrangement mode can ensure that the first elastic component and the first mounting seat 86 move up and down along the same direction, so that the damage caused by mutual collision of parts due to displacement of the parts is avoided; the lower end of the first guide post 84 is provided with a first locking member 85, so as to prevent the first guide post 84 from falling out of the first guide sleeve 89.
Specifically, the second elastic assembly comprises a second mounting plate 91, a second elastic member 93 and a second guide post 94, wherein the second mounting plate 91 is arranged above the second mounting seat 96, two sides of the second mounting plate 91 extend downwards to form a second guard plate 92, and the second guard plate 92 surrounds the outer side of the second mounting seat 96; by arranging the second guard plates 92, on one hand, the movement range of the second mounting seat 96 can be limited, and the second mounting seat 96 is ensured to move between the two second guard plates 92, and on the other hand, the second guard plates can play a role in blocking, so that external pollutants are prevented from entering the second elastic assembly, and the normal use of the second elastic assembly is prevented from being influenced; the upper part of the second mounting seat 96 is provided with a second mounting part 960, the upper side of the second mounting part 960 or the lower side of the second mounting plate 91 is provided with a second mounting protrusion 97, and the second elastic piece 93 is sleeved on the second mounting protrusion 97, so that the second elastic piece 93 is prevented from loosening, and the service life of the second elastic component is prolonged; the second mounting portion 960 is provided with a second guide sleeve 98, the second guide post 94 is arranged at the lower part of the second mounting plate 91 and is inserted into the second guide sleeve 98, and the arrangement mode can ensure that the second elastic component and the second mounting seat 96 move up and down along the same direction, so that the damage caused by mutual collision of the parts due to displacement of the parts is avoided; a second locking member 95 is provided at the lower end of the second guide post 94, so as to prevent the second guide post 94 from coming out of the second guide sleeve 98.
In order to facilitate the adjustment of the contact tightness between the second transmission friction wheel 25 and the first transmission friction member 24, a strip-shaped mounting groove 263 is provided on the connecting portion 262 of the fixing frame 26, a fixing member (not shown in the figure) is provided on the mounting groove 263, the connecting portion 262 is connected with the second mounting seat 96 through the fixing member, in addition, a baffle 264 is provided on the lower side of the connecting portion 262, an adjusting member 99 is provided on the second mounting seat 96 corresponding to the baffle 264, the lower end of the adjusting member 99 is screwed with the second mounting seat 96, and the upper end of the adjusting member 99 abuts against the baffle 264.
The arrangement mode of the floating support mechanism arranged on the first driving wheel assembly and the second driving wheel assembly has the following beneficial effects:
(1) The first driving wheel assembly and the second driving wheel assembly are respectively connected with the driving wheel set switching mechanism through the first elastic assembly and the second elastic assembly, so that the first driving wheel assembly and the second driving wheel assembly have certain pre-pressure, the first wheel body 21 arranged on the first mounting seat 86 and the second wheel body 23 arranged on the second mounting seat 96 are always close to the ground, the risk of slipping of the first driving wheel assembly and the second driving wheel assembly due to insufficient pressure is reduced, the first driving wheel assembly and the second driving wheel assembly can still perform linear and complex curve motion on the high-low fluctuation ground, and the reliability of the driving mechanism 1 is effectively improved;
(2) The first elastic component and the second elastic component can have certain elasticity, so that when the AGV loads materials, the instant impact force of the materials on the AGV is reduced, the buffer effect is achieved on the first driving wheel component and the second driving wheel component, and the driving mechanism 1 is protected.
Compared with the prior art, the driving mechanism 1 capable of shifting gears has the following beneficial effects:
(1) According to the invention, the mounting frame 11 is arranged, and the first driving wheel assembly, the second driving wheel assembly, the driving transmission mechanism and the driving wheel group switching mechanism are arranged on the mounting frame 11, so that a producer can conveniently and rapidly install the driving mechanism 1 on the AGV, the production time of the AGV is shortened, and meanwhile, the producer can conveniently and integrally replace and maintain the driving mechanism 1 on the AGV, and the maintenance cost of the AGV is reduced;
(2) Through setting up drive wheelset shifter in turn lift first drive wheel subassembly with second drive wheel subassembly makes first drive wheel subassembly and second drive wheel subassembly land in turn, has simple structure, and response speed's technical effect makes AGV can switch suitable drive wheel subassembly according to actual need and remove to can improve AGV's moving speed, and then improved AGV's conveying efficiency.
Example two
Another object of the present invention is to provide an AGV using the above-mentioned drive mechanism capable of shifting gears, which includes a vehicle body, a driven wheel and a drive mechanism capable of shifting gears, wherein the drive mechanism and the driven wheel are disposed at a lower portion of the vehicle body, the driven wheel is used for supporting the vehicle body, and the driving wheel is used for driving the vehicle body to move. Specifically, the driven wheels are arranged in a plurality, and the driven wheels are distributed on the edges and four corners of the bottom of the vehicle body.
Since the AGV belongs to a common automatic transport device, the structure of the body and driven wheels of the AGV is not described in detail in this embodiment. Although the drawings of the present embodiment are not shown in the drawings of the specification of the present invention, the present embodiment falls within the scope of the present invention.
Compared with the prior art, the AGV provided by the invention has the advantages that the driving mechanism capable of shifting gears is applied, so that driving wheels with different diameters can be switched to move according to actual production scenes, and the moving speed is effectively improved by switching proper driving wheel assemblies to move.
Example III
Another object of the present invention is to provide a speed changing method of an AGV using the above speed-adjustable speed-variable driving mechanism, comprising the steps of:
(1) The first driving wheel assembly drives the vehicle body to move; the output power of the driving device is increased, so that the rotating speed of the first driving wheel assembly is increased from R0 to R1, and the AGV speed is V1;
(2) The driving wheel group switching mechanism works, at the moment, as the vehicle body is supported by the driven wheels, the first driving wheel assembly can ascend to leave the ground, the second driving wheel assembly descends, the vehicle body runs forward under inertia, and the AGV continues to run by means of the inertia maintaining speed V1;
(3) The output power of the driving device is reduced, so that the rotating speed of the first driving wheel assembly is reduced from R1 to R2;
(4) The first driving wheel assembly drives the second driving wheel assembly to rotate through the driving transmission mechanism in the ascending process;
(5) The second driving wheel assembly is grounded;
(6) The output power of the driving device is increased, the rotation speed of the second driving wheel assembly is increased from R3 to R4, and the speed of the AGV is increased from V1 to V2.
In the step (3), the purpose of reducing the rotation speed of the first driving wheel assembly is that, instead of the faster rotation speed of the first driving wheel assembly, the better the transmission effect of the first driving wheel assembly for driving the second driving wheel assembly is, the relation between the ratio of the diameters of the two driving wheels and the ratio of the rotation speeds of the two driving wheels is limited, and the transmission effect of the first driving wheel assembly and the second driving wheel assembly can be optimized only when the first driving wheel assembly is in a certain specific rotation speed range.
In the step (6), since the diameter of the second driving wheel assembly is larger than that of the first driving wheel assembly, if the first driving wheel assembly is in transmission connection with the second driving wheel assembly at the rotation speed R2, the speed V0 (v0=2pi×r2×r3) of the driving mechanism may be smaller than the original speed V1 of the driving mechanism when the second driving wheel assembly is grounded, so that the output power of the driving device needs to be increased, and the rotation speed of the second driving wheel assembly is increased from R3 to R4, thereby avoiding the occurrence of a jerk feeling of the driving mechanism when the second driving wheel assembly is grounded.
Setting the radius of the first driving wheel assembly as r1, and setting the radius of the second driving wheel assembly as r2;
v=2rr/t=2rr R; wherein V is the speed of the wheel driving AGV in unit time, R is the radius of the wheel, T is the time, and R is the number of turns of the wheel rotating in unit time;
in the above steps, the relation of each symbol is as follows:
R0≤R1，V1＝2π*r1*R1；
R1≥R2；
R2/R3＝r2/r1；
R3≤R4，V1≤V2，V2＝2π*r2*R4。
example IV
Another object of the present invention is to provide a speed changing method of an AGV using the above speed-adjustable speed-variable driving mechanism, comprising the steps of:
(1) The second driving wheel assembly drives the vehicle body to move; the output power of the driving device is reduced, so that the rotating speed of the second driving wheel assembly is reduced from R5 to R6, and the AGV speed is V3;
(2) The driving wheel group switching mechanism works, at the moment, as the vehicle body is supported by the driven wheels, the second driving wheel assembly can ascend to leave the ground, meanwhile, the first driving wheel assembly descends, the vehicle body runs forward under inertia, and the AGV continues to run by means of the inertia maintaining speed V3;
(3) The second driving wheel assembly is separated from the first driving wheel assembly in the ascending process;
(4) The output power of the driving device is increased, so that the rotating speed of the first driving wheel assembly is increased from R7 to R8;
(5) The first driving wheel assembly is grounded; AGV speed increases from V3 to V4.
In the step (1), the output power of the driving device is reduced, so that the rotation speed of the second driving wheel assembly is reduced from R5 to R6, which aims to reduce the energy consumption for driving the second driving wheel assembly to rotate and save energy, and on the other hand, when the first driving wheel assembly is separated from the driving transmission mechanism, the second driving wheel assembly can stop rotating in a shorter time, so that the stability of the driving device is improved.
In the step (4), in order to optimize the transmission effect between the first driving wheel assembly and the second driving wheel assembly, the transmission rotation speed of the first driving wheel assembly is lower than the optimal rotation speed of the first driving wheel assembly, so that the rotation speed of the first driving wheel assembly needs to be increased to improve the efficiency of the driving device, and if the first driving wheel assembly lands at the rotation speed R7, the speed V0 (v0=2pi×r1×r7) of the driving mechanism may be less than the original speed V3 of the driving mechanism, so that the output power of the driving device needs to be increased to increase the rotation speed of the first driving wheel assembly from R7 to R8, thereby avoiding the occurrence of a jerk in the driving mechanism when the first driving wheel assembly lands.
In the above steps, the relation of each symbol is as follows:
R5≥R6，V3＝2π*r2*R6；
R6/R7＝r1/r2；
R7≤R8；
V3≤V4，V4＝2π*r1*R8。
Compared with the prior art, the speed change method of the speed change driving mechanism capable of striding gears has the advantages that as the driven wheels for supporting are arranged at the lower part of the AGV, the first driving wheel assembly and the second driving wheel assembly of the driving mechanism can be simultaneously in a suspended ground leaving state.
Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (9)
1. The utility model provides a but drive mechanism of gear speed change is striden which characterized in that: the device comprises a mounting frame, a first driving wheel assembly, a second driving wheel assembly and a driving wheel group switching mechanism;
The first driving wheel assembly, the second driving wheel assembly and the driving wheel set switching mechanism are arranged on the mounting frame;
the driving wheel set switching mechanism is respectively linked with the first driving wheel assembly and the second driving wheel assembly and is used for driving the first driving wheel assembly and the second driving wheel assembly to ascend or descend so as to enable the first driving wheel assembly and the second driving wheel assembly to alternately contact the ground;
a drive transmission mechanism is arranged between the first driving wheel assembly and the second driving wheel assembly, and the drive transmission mechanism is used for driving the first driving wheel assembly and the second driving wheel assembly to operate;
the first driving wheel assembly comprises a first wheel body, the second driving wheel assembly comprises a second wheel body, and the diameter of the first wheel body is smaller than that of the second wheel body;
the driving transmission mechanism comprises a driving device and a driving friction piece;
the driving device is arranged on the first driving wheel assembly, the driving friction piece and the first wheel body are coaxially arranged, and the driving friction piece and the first wheel body are connected with the output end of the driving device;
the driving friction member transmits power to the second driving wheel assembly when the second driving wheel assembly is in contact with the ground.
2. The drive mechanism capable of shifting through gears according to claim 1, wherein: the driving transmission mechanism further comprises a first transmission friction piece;
The first transmission friction piece and the second wheel body are coaxially arranged;
The drive friction member is in contact with the first transmission friction member when the second drive wheel assembly is in contact with the ground.
3. The drive mechanism capable of shifting through gears according to claim 1, wherein: the driving transmission mechanism further comprises a first transmission friction piece, a second transmission friction piece and a third transmission friction piece;
the second driving wheel assembly comprises a second wheel body;
The first transmission friction piece and the second wheel body are coaxially arranged;
The second transmission friction piece and the third transmission friction piece are respectively tangent to the first transmission friction piece and are arranged on two sides below the first transmission friction piece;
when the second driving wheel assembly is contacted with the ground, the driving friction piece is simultaneously contacted with the second transmission friction piece and the third transmission friction piece.
4. The drive mechanism capable of shifting through gears according to claim 1, wherein: the driving wheel group switching mechanism comprises a lifting structure, a first connecting frame and a second connecting frame;
The first driving wheel assembly is arranged on the first connecting frame, and the second driving wheel assembly is arranged on the second connecting frame;
The lifting structure comprises a lifting device and a lifting connecting rod, wherein a first connecting piece and a second connecting piece are arranged on the lifting connecting rod and positioned at the front side and the rear side of the middle part of the lifting connecting rod;
The middle part of the lifting connecting rod is hinged with the mounting frame, and the lifting connecting rod is connected with the lifting device; the first connecting frame is arranged on the first connecting piece, and the second connecting frame is arranged on the second connecting piece.
5. The drive mechanism capable of shifting through gears according to claim 4, wherein: the first connecting frame is provided with a first buckling piece, and the second connecting frame is provided with a second buckling piece;
The first connecting piece and the second connecting piece are idler wheels, the first connecting piece is buckled in the first buckling piece, and the second connecting piece is buckled in the second buckling piece.
6. A drive mechanism capable of shifting over gears according to claim 2 or 3, characterized in that: the first driving wheel assembly is provided with a first floating supporting mechanism, and the second driving wheel assembly is provided with a second floating supporting mechanism;
The first floating support mechanism comprises a first elastic component and a first mounting seat, the first wheel body is arranged on the first mounting seat, the first mounting seat is connected with the driving wheel set switching mechanism through the first elastic component, and the first elastic component is used for applying downward force to the first driving wheel assembly;
the second floating support mechanism comprises a second elastic component and a second mounting seat, the second wheel body is arranged on the second mounting seat, the second mounting seat is connected with the driving wheel set switching mechanism through the second elastic component, and the second elastic component is used for applying downward force to the second driving wheel assembly.
An agv comprising a vehicle body, driven wheels and a drive mechanism for a gear change according to any one of claims 1 to 6, wherein: the driving mechanism and the driven wheel are arranged at the lower part of the vehicle body, the driven wheel is used for supporting the vehicle body, and the driving wheel is used for driving the vehicle body to move.
8. A method of shifting an AGV according to claim 7 comprising the steps of:
(1) The first driving wheel assembly drives the vehicle body to move; the output power of the driving device is increased, so that the rotating speed of the first driving wheel assembly is increased from R0 to R1, and the AGV speed is V1;
(2) The driving wheel set switching mechanism works, the first driving wheel assembly ascends to leave the ground, the second driving wheel assembly descends, and the AGV continues to travel by means of the inertia maintaining speed V1;
(3) The output power of the driving device is reduced, so that the rotating speed of the first driving wheel assembly is reduced from R1 to R2;
(4) The first driving wheel assembly drives the second driving wheel assembly to rotate through the driving transmission mechanism in the ascending process;
(5) The second driving wheel assembly is grounded;
(6) The output power of the driving device is increased, the rotation speed of the second driving wheel assembly is increased from R3 to R4, and the speed of the AGV is increased from V1 to V2.
9. A method of shifting an AGV according to claim 7 comprising the steps of:
(1) The second driving wheel assembly drives the vehicle body to move; the output power of the driving device is reduced, so that the rotating speed of the second driving wheel assembly is reduced from R5 to R6, and the AGV speed is V3;
(2) The driving wheel set switching mechanism works, the second driving wheel assembly ascends to leave the ground, the first driving wheel assembly descends, and the AGV continues to travel by means of the inertia maintaining speed V3;
(3) The second driving wheel assembly is separated from the driving transmission mechanism in the ascending process;
(4) The output power of the driving device is increased, so that the rotating speed of the first driving wheel assembly is increased from R7 to R8;
(5) The first driving wheel assembly is grounded; AGV speed increases from V3 to V4.
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| US7530415B2 (en) * | 2000-01-26 | 2009-05-12 | E-Traction Europe B.V. | Wheel provided with driving means |
| CN106585764A (en) * | 2017-02-07 | 2017-04-26 | 河南森源电气股份有限公司 | AGV (Automated Guided Vehicle) |
| CN207737389U (en) * | 2017-12-26 | 2018-08-17 | 合肥中导机器人科技有限公司 | A kind of universal wheel and directional wheel mutually switch wheel group and chassis |
| CN108584258A (en) * | 2018-02-01 | 2018-09-28 | 西华大学 | Novel AGV dolly system |
| CN208149478U (en) * | 2018-05-03 | 2018-11-27 | 北京京东尚科信息技术有限公司 | Automated guided vehicle chassis structure and automated guided vehicle |
| CN108909880B (en) * | 2018-07-31 | 2024-03-08 | 宁波舜宇贝尔机器人有限公司 | Submerged traction type AGV |
| CN109334813A (en) * | 2018-10-23 | 2019-02-15 | 广东顺力智能物流装备股份有限公司 | Automatically switch the intelligent chassis and AGV trolley of wheel |
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