CN209291905U - A kind of automatic guided vehicle - Google Patents
A kind of automatic guided vehicle Download PDFInfo
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- CN209291905U CN209291905U CN201920005897.5U CN201920005897U CN209291905U CN 209291905 U CN209291905 U CN 209291905U CN 201920005897 U CN201920005897 U CN 201920005897U CN 209291905 U CN209291905 U CN 209291905U
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- swing arm
- automatic guided
- guided vehicle
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Abstract
The utility model relates to a kind of automatic guided vehicles, including body and fork leg, fork leg is connect with body, the body is equipped with balance wheel system, balancing wheel system includes balance wheel assembly, two groups of balance wheel assemblies are arranged in body two sides, balancing wheel assembly includes oil pipe, oil cylinder and universal wheel, oil cylinder include floating cylinder barrel, floating cylinder rod and spring, floating cylinder rod one end is plugged in floating cylinder barrel, the other end is connect with universal wheel, and between floating cylinder rod and floating cylinder barrel, oil pipe both ends are connect with two floating cylinder barrels spring respectively.A kind of automatic guided vehicle of the utility model can reduce the inclination and vibration of vehicle during traveling by balance wheel system, and cargo is avoided to topple over；Furthermore it is possible to realize cargo lifting by elevating mechanism, it can be avoided shaking of the cargo in lifting process, keep the stability of lifting process more preferable.
Description
Technical field
The utility model relates to carrier technical field, in particular to a kind of automatic guided vehicle.
Background technique
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to and magnetically or optically waits automatically equipped with electricity
Guiding device can be travelled along defined guide path, and the transport vehicle with safeguard protection and various transfer functions, industry is answered
The carrier of driver is not required in, with chargeable battery for its power resources.It can pass through computer generally to control its row
Route line and behavior, or it is set up using electromagnetic path (electromagnetic path-following system)
Travelling route.But existing automatic guided vehicle is easy to produce inclination vibration, causes to pitch in rugged road traveling
Cargo on leg is toppled over.
Utility model content
The utility model in order to solve problems in the prior art, provides a kind of inclination and shake that can reduce when driving
It is dynamic, the automatic guided vehicle for avoiding cargo from toppling over.
Specific technical solution is as follows: a kind of automatic guided vehicle, including body and fork leg, fork leg are connect with body, the machine
Body is equipped with balance wheel system, and balance wheel system includes balance wheel assembly, and two groups of balance wheel assemblies are arranged in body two sides, stabilizer
Component includes oil pipe, oil cylinder and universal wheel, and oil cylinder includes floating cylinder barrel, floating cylinder rod and spring, and floating cylinder rod one end is plugged in
In floating cylinder barrel, the other end is connect with universal wheel, and spring is between floating cylinder rod and floating cylinder barrel, and oil pipe both ends are respectively with two
A floating cylinder barrel connection.
The following are the attached technical schemes of the utility model.
Preferably, the universal wheel includes stabilizer, support, the first deep groove ball bearing and balance axle sleeve, institute
State stabilizer setting in the holder, the first deep groove ball bearing is arranged on the mounting portion of support two sides, and balancing axle set is across the
One deep groove ball bearing and stabilizer are simultaneously locked by hexagon-headed bolt.
Preferably, universal wheel includes thrust ball bearing, stabilizer bearing block, the second deep groove ball bearing and through type
Lubricating cup, the thrust ball bearing are arranged on the positioning seat of holder top, and the stabilizer bearing block connect and accommodates with support
Thrust ball bearing, through type lubricating cup are connect with stabilizer bearing block, and second deep groove ball bearing 337 is connect with support.
Preferably, elevating mechanism is equipped in the fork leg, elevating mechanism includes oil cylinder, pushing rod, swing arm set
The lifting shaft of part and guide plate, pushing rod is arranged in the groove body of guide plate, swing arm unit and lifting axis connection, the piston band of oil cylinder
Dynamic pushing rod swings swing arm unit.
Preferably, the swing arm unit include the first swing arm, the second swing arm, main shaft and arm shaft, described first
Swing arm and the second swing arm are by swing arm axis connection, and main shaft is fixed in fork leg, and first swing arm one end is connect with main shaft, the second swing arm
One end and lifting axis connection.
Preferably, elevating mechanism includes upper plate, and upper plate is connect with the second swing arm.
Preferably, elevating mechanism includes that upper limit is switched close to switch and lower limit are close, first swing arm
With notch, notch is correspondingly arranged with upper limit close to switch, and lower limit is correspondingly arranged close to switch with upper plate.
Preferably, the elevating mechanism includes spring, and spring one end is connect with elevating mechanism, the other end and fork leg
Connection.
Preferably, driving mechanism is equipped in the fork leg, driving mechanism includes servo motor, speed reducer, chain,
Driving wheel, the first sprocket wheel and the second sprocket wheel, the servo motor are connect with speed reducer, and the first sprocket wheel is connect with speed reducer, and second
Sprocket wheel is connect with driving wheel, and chain is arranged between the first sprocket wheel and the second sprocket wheel.
Preferably, the end of each fork leg is equipped with anti-collision sensor.
The technical effect of the utility model: a kind of automatic guided vehicle of the utility model can be reduced by balance wheel system
The inclination and vibration of vehicle, avoid cargo from toppling over during traveling；Furthermore it is possible to cargo lifting is realized by elevating mechanism,
It can be avoided shaking of the cargo in lifting process, keep the stability of lifting process more preferable.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of automatic guided vehicle of the utility model embodiment.
Fig. 2 is a kind of top view of automatic guided vehicle of the utility model embodiment.
Fig. 3 is the schematic diagram of the balance wheel system of the utility model embodiment.
Fig. 4 is the schematic diagram of Section A-A in the utility model Fig. 3.
Fig. 5 is the exploded view of the universal wheel of the utility model embodiment.
Fig. 6 is the schematic diagram of the fork leg of the utility model embodiment.
Fig. 7 is the schematic diagram of the elevating mechanism of the utility model embodiment.
Fig. 8 is another schematic diagram of the elevating mechanism of the utility model embodiment.
Fig. 9 is the schematic diagram of the driving mechanism of the utility model embodiment.
Specific embodiment
In the following, being further described in conjunction with substantive distinguishing features and advantage of the example to the utility model, but this is practical new
Type is not limited to listed embodiment.
As shown in Figures 1 to 9, a kind of automatic guided vehicle of the present embodiment includes body 1 and fork leg 2, fork leg 2 and body 1
Connection.The body is equipped with balance wheel system, and balance wheel system includes balance wheel assembly 3, and two groups of balance wheel assemblies 3 are arranged in machine
1 two sides of body.Balancing wheel assembly 3 includes oil pipe 31, oil cylinder 32 and universal wheel 33, and oil cylinder 32 includes floating cylinder barrel 321, floating cylinder rod
322 and spring 323,322 one end of floating cylinder rod be plugged in floating cylinder barrel 321, the other end is connect with universal wheel 33, spring 323
Between floating cylinder rod 322 and floating cylinder barrel 321,31 both ends of oil pipe are connect with two floating cylinder barrels 321 respectively.Above-mentioned technology
A in scheme, when two stabilizers are in same plane, hydraulic oil plane is equal in two floating cylinder barrels 321；Automatic guided vehicle
Be uneven during the motion if there is because of left-right balance wheel caused by ground is uneven, left-right balance wheel be uneven so that
Left and right floating cylinder rod is uneven, and hydraulic oil enters low stabilizer side by oil pipe 31 from the oil cylinder 32 of high stabilizer side
In oil cylinder, spring 323 plays buffer function in the process.Through the above technical solutions, automatic guided vehicle can be made in height
When uneven road surface moves, it is able to maintain two lateral balance of body, buffers the vibration of generation, keeps its walking more stable.
In the present embodiment, the universal wheel 33 includes stabilizer 331, support 332, the first deep groove ball bearing 333 and balance
Axle sleeve 334, the stabilizer 331 are arranged in support 332, and the peace of 332 two sides of support is arranged in the first deep groove ball bearing 333
In dress portion 4, stabilizer axle sleeve 334 passes through the first deep groove ball bearing 333 and stabilizer 331 and is locked by hexagon-headed bolt 5.It is logical
Above-mentioned technical proposal is crossed, enables stabilizer convenient for assembling, rolls more flexible.
In the present embodiment, universal wheel 33 includes thrust ball bearing 335, stabilizer bearing block 336, the second deep groove ball bearing
337 and through type lubricating cup 338, the thrust ball bearing 335 is arranged on the positioning seat 6 at 332 top of support, the balancing axle
It holds seat 336 and thrust ball bearing 335 is connect and accommodated with support, through type lubricating cup 338 is connect with stabilizer bearing block 336, described
Second deep groove ball bearing 337 is connect with support.Through the above technical solutions, stabilizer is rotated around vertical axis, it is real
The rotation of existing different directions.
In the present embodiment, elevating mechanism 7 is equipped in the fork leg 2, elevating mechanism 7 includes oil cylinder 71, pushing rod 72, pendulum
The lifting shaft 721 of arm component 73 and guide plate 74, pushing rod 72 is arranged in the groove body 741 of guide plate 74, swing arm unit 73 and liter
It drops axis 721 to connect, the piston driving pushing rod of oil cylinder 71 swings swing arm unit 73.In above-mentioned technical proposal, pass through oil
The piston of cylinder is able to drive pushing rod, and lifting shaft is moved in groove body 741, and lifting shaft drives swing arm unit pendulum
It is dynamic, so that elevating mechanism be enable to go up and down.
In the present embodiment, the swing arm unit 73 includes the first swing arm 731, the second swing arm 732, main shaft 733 and arm shaft
734, first swing arm 731 and the second swing arm 732 are connected by arm shaft 734, and main shaft 733 is fixed in fork leg 2, the first pendulum
731 one end of arm is connect with main shaft 733, and 732 one end of the second swing arm is connect with lifting shaft 721.In above-mentioned technical proposal, the first swing arm
And second produced relative rotation by arm shaft between swing arm.
In the present embodiment, elevating mechanism 7 includes upper plate 75, and upper plate 75 is connect with the second swing arm 732, to make top
Plate, which is realized, to be gone up and down, and in the present embodiment, the lifter plate 10 of upper plate and fork leg is connected, to realize the cargo lifting in fork leg.
Specifically, the lifting principle of the elevating mechanism of the present embodiment is as follows: hydraulic by the intracorporal pumping plant offer of machine is arranged in
Oil enters oil cylinder 71, cylinder piston motion, and piston drives pushing rod 72 to move by top plate 79, and pushing rod drives lifting shaft
721 move forward and backward in groove body 741, while driving the second swing arm 732 movement；And main shaft 733 is fixed, the first swing arm 731
Rotation is connect by arm shaft 734 with the second swing arm 732, then the second swing arm 732 will drive upper plate 75 and move upwards, reach by
The promotion purpose of platform from low to high；Conversely, oil cylinder oil inlet mouth and oil cylinder are connected, because the gravity of cargo and platform itself is made
With hydraulic oil outflows back to the intracorporal fuel tank of machine, reversed rail of second swing arm along enhancing action from Cylinder Plunger lower end in oil cylinder
Mark movement, final platform drop to extreme position.The intracorporal pumping plant of machine in the present embodiment can refer to the application of applicant's application
Number be 201810844219.8 patent.
In the present embodiment, elevating mechanism 7 includes that upper limit is put close to switch 76 and lower limit close to switch 77, described first
Arm 731 has notch 735, and notch 735 is correspondingly arranged with upper limit close to switch 76, the close switch 77 of lower limit and upper plate 75
It is correspondingly arranged.Through the above technical solutions, can be realized the limit control to elevating mechanism, concrete principle is as follows: elevating mechanism
When upper plate 75 does not rise, because of the first swing arm 731 jagged 735, upper limit is non-inductive in effective range close to switch 76, nothing
Signal output；In uphill process, rotated with the first swing arm 731 around elevating mechanism main shaft 733, notch polishing gradually, when notch side
When edge is reached at upper limit switch half, inductive output signal is generated, upper plate 75 rises to highest point at this time；Mechanism does not rise
When, upper plate 75 can be by lower limit close to inductive switching, then output signal, and upper plate 75 connects beyond lower limit after mechanism rises
Nearly inductive switching range, then noninductive induction signal output.
In the present embodiment, the elevating mechanism 7 includes spring 78, and 78 one end of spring connect with elevating mechanism, the other end and
Fork leg 2 connects.By the way that spring is arranged, when elevating mechanism rises, spring elongation accumulates elastic force；When elevating mechanism decline, lead to
The elastic force for crossing spring being capable of the reset of assist elevator structure.
In the present embodiment, in the fork leg 2 be equipped with driving mechanism 8, driving mechanism 8 include servo motor 81, speed reducer 82,
Chain 83, driving wheel 84, the first sprocket wheel 85 and the second sprocket wheel 86, the servo motor 81 are connect with speed reducer 82, the first sprocket wheel
85 connect with speed reducer 82, and the second sprocket wheel 86 is connect with driving wheel 84, and chain 83 is arranged in the first sprocket wheel 85 and the second sprocket wheel 86
Between.In above-mentioned technical proposal, servo motor 81 is rotated, and is increased torque by speed reducer 82 and is driven the rotation of the first sprocket wheel 85,
First sprocket wheel 85 drives chain 83 to rotate, and chain 83 drives the rotation of the second sprocket wheel 86, and final second sprocket wheel 86 drives driving rotation
Dynamic, the advantages of above-mentioned technical proposal, is that by driving wheel and rotates and simplify assembly technology.
In the present embodiment, the end of each fork leg 2 is equipped with anti-collision sensor 9, can by the way that anti-collision sensor is arranged
Automatic guided vehicle is avoided to collide when advancing with barrier.
A kind of automatic guided vehicle of the present embodiment can reduce the inclination of vehicle during traveling by balance wheel system
And vibration, avoid cargo from toppling over；Furthermore it is possible to realize cargo lifting by elevating mechanism, cargo can be avoided in lifting process
In shaking, keep the stability of lifting process more preferable.
It should be pointed out that above-mentioned preferred embodiment is only to illustrate the technical ideas and features of the present invention, purpose
It is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly, this reality can not be limited with this
With novel protection scope.All equivalent change or modifications according to made by the spirit of the present invention essence, should all cover in this reality
Within novel protection scope.
Claims (10)
1. a kind of automatic guided vehicle, including body and fork leg, fork leg are connect with body, which is characterized in that the body is equipped with flat
Weigh wheel system, and balance wheel system includes balance wheel assembly, and in body two sides, balancing wheel assembly includes for two groups of balance wheel assembly settings
Oil pipe, oil cylinder and universal wheel, oil cylinder include floating cylinder barrel, floating cylinder rod and spring, and floating cylinder rod one end is plugged in floating cylinder barrel
In, the other end is connect with universal wheel, spring between floating cylinder rod and floating cylinder barrel, oil pipe both ends respectively with two floating cylinders
Cylinder connection.
2. automatic guided vehicle according to claim 1, which is characterized in that the universal wheel includes stabilizer, support, and first
Deep groove ball bearing and balance axle sleeve, in the holder, support two sides are arranged in the first deep groove ball bearing for the stabilizer setting
On mounting portion, balancing axle set is locked across the first deep groove ball bearing and stabilizer and by hexagon-headed bolt.
3. automatic guided vehicle according to claim 2, which is characterized in that universal wheel includes thrust ball bearing, balancing axle
Seat, the second deep groove ball bearing and through type lubricating cup are held, the thrust ball bearing is arranged on the positioning seat of holder top, described flat
Weighing apparatus wheel bearing seat connect with support and accommodates thrust ball bearing, and through type lubricating cup is connect with stabilizer bearing block, and described second is deep
Ditch ball bearing is connect with support.
4. automatic guided vehicle according to claim 1, which is characterized in that be equipped with elevating mechanism, elevator in the fork leg
Structure includes oil cylinder, pushing rod, swing arm unit and guide plate, and the lifting shaft of pushing rod is arranged in the groove body of guide plate, swing arm set
Part and lifting axis connection, the piston driving pushing rod of oil cylinder swing swing arm unit.
5. automatic guided vehicle according to claim 4, which is characterized in that the swing arm unit include the first swing arm, second
Swing arm, main shaft and arm shaft, first swing arm and the second swing arm are fixed in fork leg by swing arm axis connection, main shaft, and first
Swing arm one end is connect with main shaft, second swing arm one end and lifting axis connection.
6. automatic guided vehicle according to claim 5, which is characterized in that elevating mechanism includes upper plate, upper plate and
Two swing arms connection.
7. automatic guided vehicle according to claim 6, which is characterized in that elevating mechanism include upper limit close to switch and under
The close switch of limit, first swing arm have notch, and notch is correspondingly arranged with upper limit close to switch, the close switch of lower limit
It is correspondingly arranged with upper plate.
8. automatic guided vehicle according to claim 7, which is characterized in that the elevating mechanism includes spring, spring one end
It is connect with elevating mechanism, the other end is connect with fork leg.
9. automatic guided vehicle according to claim 1, which is characterized in that be equipped with driving mechanism, driving machine in the fork leg
Structure includes servo motor, speed reducer, chain, driving wheel, the first sprocket wheel and the second sprocket wheel, and the servo motor and speed reducer connect
Connect, the first sprocket wheel is connect with speed reducer, and the second sprocket wheel is connect with driving wheel, chain setting the first sprocket wheel and the second sprocket wheel it
Between.
10. automatic guided vehicle according to claim 1, which is characterized in that the end of each fork leg is sensed equipped with anticollision
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920005897.5U CN209291905U (en) | 2019-01-03 | 2019-01-03 | A kind of automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920005897.5U CN209291905U (en) | 2019-01-03 | 2019-01-03 | A kind of automatic guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209291905U true CN209291905U (en) | 2019-08-23 |
Family
ID=67650229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920005897.5U Active CN209291905U (en) | 2019-01-03 | 2019-01-03 | A kind of automatic guided vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN209291905U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109534233A (en) * | 2019-01-03 | 2019-03-29 | 苏州海豚之星智能科技有限公司 | A kind of automatic guided vehicle |
| CN111776990A (en) * | 2020-07-08 | 2020-10-16 | 合肥井松智能科技股份有限公司 | Unmanned carrying automatic guided vehicle and guiding method thereof |
| CN114450179A (en) * | 2019-10-08 | 2022-05-06 | 松下知识产权经营株式会社 | Traction device and automated guided vehicle with traction device |
-
2019
- 2019-01-03 CN CN201920005897.5U patent/CN209291905U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109534233A (en) * | 2019-01-03 | 2019-03-29 | 苏州海豚之星智能科技有限公司 | A kind of automatic guided vehicle |
| CN114450179A (en) * | 2019-10-08 | 2022-05-06 | 松下知识产权经营株式会社 | Traction device and automated guided vehicle with traction device |
| CN114450179B (en) * | 2019-10-08 | 2024-01-30 | 松下知识产权经营株式会社 | Traction device and unmanned carrier with traction device |
| CN111776990A (en) * | 2020-07-08 | 2020-10-16 | 合肥井松智能科技股份有限公司 | Unmanned carrying automatic guided vehicle and guiding method thereof |
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