CN104986220A - Unmanned carrying vehicle driving system - Google Patents
Unmanned carrying vehicle driving system Download PDFInfo
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- CN104986220A CN104986220A CN201510413402.9A CN201510413402A CN104986220A CN 104986220 A CN104986220 A CN 104986220A CN 201510413402 A CN201510413402 A CN 201510413402A CN 104986220 A CN104986220 A CN 104986220A
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- guided vehicle
- automatic guided
- output shaft
- bogie
- drive system
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Abstract
The invention discloses an unmanned carrying vehicle driving system comprising a rack, a steering device installed on the rack, a driving device, a left wheel and a right wheel. The steering device is formed by a rotary driving mechanism fixed on the rack, a rotating shaft passing through the rack and a synchronous belt connecting the rotary driving mechanism and the rotating shaft; the rotary driving mechanism is formed by a decelerator, a motor and an angle sensor; the lower end of the rotating shaft is fixedly connected with a fixing plate; the driving device comprises a driving rack, a driving motor and a deceleration machine together with the driving motor arranged on the driving rack; a differential mechanism is mounted on the bottom of the driving rack; a left output shaft of the differential mechanism is connected with the left wheel; a right output shaft of the differential mechanism is connected with a right wheel; and the driving rack is connected to the fixing plate via two groups of dampers. The unmanned carrying vehicle can move forward, back forward and steer, and does not rolls an electromagnetic track during the movements; and high-speed stable operation of the unmanned carrying vehicle can be achieved.
Description
Technical field
The present invention relates to automatic guided vehicle field, particularly relate to a kind of drive system for automatic guided vehicle.
Background technology
Automatic guided vehicle (AGV) is equipped with the homing guidance such as electromagnetism or optics device; can travel along the guide path of regulation; having the transport trolley of safety guard-safeguard and various transfer function, do not need the transport trolley of chaufeur in technical application, is its power resources with chargeable storage battery.Generally control its course and behavior by computer, or utilize electromagnetic path to set up its course, it take wheel type mobile as feature that electromagnetic path sticks on floor, than walking, to creep or other non-wheeled mobile robot has the advantages such as action is quick, work efficiency is high, structure is simple, controllability is strong, safety is good.
In automatic guided vehicle (AGV), driver module belongs to power unit, it is that two wheel guide robot steering wheel drives and turn to steering wheel to drive driven in two modes that the driver element great majority adopted in the market use, two wheel guide robot steering wheel drives employing two groups of drive motor carry out the advance of real automatic guided vehicle (AGV) and turn to, and turning to steering wheel to drive is realize moving forward and backward and turning of automatic guided vehicle (AGV) by a propulsive effort and a steer motor.Because two wheel guide robot steering wheel type of drive can only realize advance and the turning of automatic guided vehicle (AGV), in driving process, two wheels in left and right will produce power in-fighting; Steering wheel is turned to drive the shortcoming rolling electromagnetic path in process of reruning.
Summary of the invention
The object of this invention is to provide a kind of automatic guided vehicle drive system that automatic guided vehicle high-speed smooth can be made to run.
For achieving the above object, the technical solution used in the present invention is: a kind of automatic guided vehicle drive system, comprise frame, be arranged on the steering hardware in described frame, actuating device, revolver, rightly to take turns, described steering hardware comprises the rotary drive mechanism be fixedly mounted in described frame, be located in the S. A. in described frame, connect the Timing Belt of described rotary drive mechanism and described S. A., described rotary drive mechanism comprises the fixed case be arranged in described frame, be arranged on the retarder on described fixed case top, motor, be arranged on the angular transducer in described fixed case, described S. A. lower end is fixedly connected with adapter plate, described actuating device comprises bogie, the drop-gear box be arranged on described bogie, be provided with in described drop-gear box bottom drive motor and reductor, described bogie and be provided with diff, the left output shaft of described diff connects described revolver, the right output shaft of described diff connects right wheel, and described bogie is connected on described adapter plate by two groups of bumpers.
Preferred technical scheme, described S. A. is connected by bearing with described frame.
Preferred technical scheme, described speed reducer output shaft is arranged with the first synchronous pulley, described S. A. is arranged with the second synchronous pulley, and described Timing Belt connects described first synchronous pulley and described second synchronous pulley.
Further technical scheme, described first synchronous pulley is arranged in described fixed case, and described angular transducer is arranged on the output shaft of described retarder.
Preferred technical scheme, the output shaft of described reductor gives prominence to described drop-gear box, the output shaft of described reductor is provided with the first sprocket wheel, described diff is provided with the second sprocket wheel, and described first sprocket wheel is connected by chain with described second sprocket wheel.
Preferred technical scheme, described bumper is connected with described adapter plate by the first hinge part, and described bogie is connected with described bumper by the second hinge part.
Preferred technical scheme, described bogie is also provided with bending plate, described bending plate is fixedly installed magnetic navigation sensor and RFID reader.
Principle of work of the present invention:
Hand of rotation controls: mainly realize automatic guided vehicle and turn.Motor via reducer drives the first synchronous pulley, and the first synchronous pulley drives the second synchronous pulley on S. A. by Timing Belt, and angular transducer checks the first synchronous pulley rotational angle;
Forward/backward control: drive motor reducer assemblies is by the first sprocket wheel and chain drive second sprocket wheel, and the second sprocket wheel and diff are fixedly linked, diff drives left/right drive wheel to rotate by left/right transmission shaft.Magnetic navigation sensor detects automatic guided vehicle service direction, RFID reader by reader station dot information.Bumper makes left and right wheels be in operation to remain have certain friction force with ground, and left and right wheels can normally be run when running into certain ditch.
Because technique scheme is used, the present invention compared with prior art has following advantages:
1, the present invention controls the sense of motion of automatic guided vehicle by steering hardware, actuating device containing diff controls moving forward and backward of automatic guided vehicle, and diff drive can make automatic guided vehicle turning motion and adjustment linear movement direction time by diff automatically adjust left and right two rotating of wheel speed make it not produce propulsive effort in-fighting, automatic guided vehicle is made to realize moving forward and backward and turning, can ensure again not roll electromagnetic path in operational process, the high-speed smooth achieving automatic guided vehicle is run;
2, the present invention is provided with two groups of bumpers, and left and right wheels being in operation remain has certain friction force with ground, and left and right wheels can normally be run when running into certain ditch.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is right elevation of the present invention;
Fig. 3 is upward view of the present invention.
Wherein: 1, S. A.; 2, Timing Belt; 3, fixed case; 4, retarder; 5, servomotor; 6, angular transducer; 7, adapter plate; 8, bogie; 9, drop-gear box; 10, drive motor; 11, reductor; 12, diff; 13, revolver; 14, rightly to take turns; 15, bumper; 16, the first synchronous pulley; 17, the second synchronous pulley; 18, the first sprocket wheel; 19, the second sprocket wheel; 20, chain; 21, bending plate; 22, magnetic navigation sensor; 23, RFID reader; 24, frame.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described:
Embodiment one:
As Figure 1-3, a kind of automatic guided vehicle drive system, comprise frame 24, the steering hardware be arranged in frame 24, actuating device, revolver 13, rightly take turns 14, steering hardware comprises the rotary drive mechanism be fixedly mounted in frame 24, the S. A. 1 be located in frame 24, connect the Timing Belt 2 of rotary drive mechanism and S. A. 1, rotary drive mechanism comprises the fixed case 3 be arranged in frame 24, the retarder 4 being arranged on fixed case 3 top, servomotor 5, the angular transducer 6 be arranged in fixed case 3, and S. A. 1 lower end is fixedly connected with adapter plate 7; Actuating device comprises bogie 8, the drop-gear box 9 be arranged on bogie 8, be provided with in drop-gear box 9 bottom drive motor 10 and reductor 11, bogie 8 and be provided with diff 12, the left output shaft of diff 12 connects revolver 13, the right output shaft connection of diff 12 is right takes turns 14, and bogie 8 is connected on adapter plate 7 by two groups of bumpers 15.
S. A. 1 is connected by bearing with frame 24.
Reductor 11 output shaft is arranged with the first synchronous pulley 16, S. A. 1 is arranged with the second synchronous pulley 17, Timing Belt 2 connects the first synchronous pulley 16 and the second synchronous pulley 17.
First synchronous pulley 16 is arranged in fixed case 3, and angular transducer 6 is arranged on the output shaft of retarder 4.
The output shaft of reductor 11 gives prominence to drop-gear box 9, the output shaft of reductor 11 is provided with the first sprocket wheel 18, diff 12 is provided with the second sprocket wheel 19, first sprocket wheel 18 and is connected by chain 20 with the second sprocket wheel 19.
Bumper 15 is connected with adapter plate 7 by the first hinge part, and bogie 8 is connected with bumper 15 by the second hinge part.
Bogie 8 is also provided with bending plate 21, bending plate 21 is fixedly installed magnetic navigation sensor 22 and RFID reader 23.
The present embodiment controls the sense of motion of automatic guided vehicle by steering hardware, actuating device containing diff 12 controls moving forward and backward of automatic guided vehicle, and diff 12 driving can make automatic guided vehicle make it not produce propulsive effort in-fighting when turning motion and adjustment linear movement direction by two rotating of wheel speed about the automatic adjustment of diff 12, automatic guided vehicle is made to realize moving forward and backward and turning, can not roll electromagnetic path in operational process again, the high-speed smooth also achieving automatic guided vehicle is run.
Claims (7)
1. an automatic guided vehicle drive system, comprise frame, be arranged on the steering hardware in described frame, actuating device, revolver, rightly to take turns, it is characterized in that: described steering hardware comprises the rotary drive mechanism be fixedly mounted in described frame, be located in the S. A. in described frame, connect the Timing Belt of described rotary drive mechanism and described S. A., described rotary drive mechanism comprises the fixed case be arranged in described frame, be arranged on the retarder on described fixed case top, motor, be arranged on the angular transducer in described fixed case, described S. A. lower end is fixedly connected with adapter plate, described actuating device comprises bogie, the drop-gear box be arranged on described bogie, be provided with in described drop-gear box bottom drive motor and reductor, described bogie and be provided with diff, the left output shaft of described diff connects described revolver, the right output shaft of described diff connects right wheel, and described bogie is connected on described adapter plate by two groups of bumpers.
2. automatic guided vehicle drive system according to claim 1, is characterized in that: described S. A. is connected by bearing with described frame.
3. automatic guided vehicle drive system according to claim 1, it is characterized in that: described speed reducer output shaft is arranged with the first synchronous pulley, described S. A. is arranged with the second synchronous pulley, described Timing Belt connects described first synchronous pulley and described second synchronous pulley.
4. automatic guided vehicle drive system according to claim 3, is characterized in that: described first synchronous pulley is arranged in described fixed case, and described angular transducer is arranged on the output shaft of described retarder.
5. automatic guided vehicle drive system according to claim 1, it is characterized in that: the output shaft of described reductor gives prominence to described drop-gear box, the output shaft of described reductor is provided with the first sprocket wheel, described diff is provided with the second sprocket wheel, described first sprocket wheel is connected by chain with described second sprocket wheel.
6. automatic guided vehicle drive system according to claim 1, is characterized in that: described bumper is connected with described adapter plate by the first hinge part, and described bogie is connected with described bumper by the second hinge part.
7. automatic guided vehicle drive system according to claim 1, is characterized in that: described bogie is provided with bending plate, described bending plate is fixedly installed magnetic navigation sensor and RFID reader.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510413402.9A CN104986220A (en) | 2015-07-14 | 2015-07-14 | Unmanned carrying vehicle driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510413402.9A CN104986220A (en) | 2015-07-14 | 2015-07-14 | Unmanned carrying vehicle driving system |
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| Publication Number | Publication Date |
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| CN104986220A true CN104986220A (en) | 2015-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510413402.9A Pending CN104986220A (en) | 2015-07-14 | 2015-07-14 | Unmanned carrying vehicle driving system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105903200A (en) * | 2016-06-17 | 2016-08-31 | 中山市金马科技娱乐设备股份有限公司 | Driving mechanism of small train amusement machine |
| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
| CN106740087A (en) * | 2016-12-30 | 2017-05-31 | 云南昆船智能装备有限公司 | A kind of differential drive device for industrial traveling vehicle |
| CN106945467A (en) * | 2017-05-09 | 2017-07-14 | 崔书林 | A kind of new vehicle hoofing part direction navigation sector |
| CN107364333A (en) * | 2016-05-12 | 2017-11-21 | 长沙衡开智能科技有限公司 | A kind of front-wheel integrally turns to AGV dollies |
| CN110092151A (en) * | 2019-05-29 | 2019-08-06 | 中匠机器人(深圳)有限公司 | A kind of automatic guided vehicle |
| CN110316279A (en) * | 2019-05-24 | 2019-10-11 | 广州市中立智能装备科技有限公司 | A kind of omnidirectional's differential driving steering wheel |
| CN114131402A (en) * | 2021-11-18 | 2022-03-04 | 柳州沪信汽车科技有限公司 | Flexible automatic switching system |
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| CN204821698U (en) * | 2015-07-14 | 2015-12-02 | 上海英集斯自动化技术有限公司 | Unmanned carrier actuating system |
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Patent Citations (6)
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| CN2897767Y (en) * | 2006-03-03 | 2007-05-09 | 吉林大学 | Driving/steering mechanism for automatic guider |
| US20130008734A1 (en) * | 2009-01-17 | 2013-01-10 | Boomerang Systems, Inc. | Steering and drive assembly |
| CN103465963A (en) * | 2013-08-30 | 2013-12-25 | 北京理工大学 | Mechanical differential drive mechanism |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364333A (en) * | 2016-05-12 | 2017-11-21 | 长沙衡开智能科技有限公司 | A kind of front-wheel integrally turns to AGV dollies |
| CN105903200A (en) * | 2016-06-17 | 2016-08-31 | 中山市金马科技娱乐设备股份有限公司 | Driving mechanism of small train amusement machine |
| CN105903200B (en) * | 2016-06-17 | 2018-09-11 | 中山市金马科技娱乐设备股份有限公司 | Mini train class recreational machine driving mechanism |
| CN106740087A (en) * | 2016-12-30 | 2017-05-31 | 云南昆船智能装备有限公司 | A kind of differential drive device for industrial traveling vehicle |
| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
| CN106945467A (en) * | 2017-05-09 | 2017-07-14 | 崔书林 | A kind of new vehicle hoofing part direction navigation sector |
| CN106945467B (en) * | 2017-05-09 | 2023-07-07 | 崔书林 | Vehicle walking driving direction navigation mechanism |
| CN110316279A (en) * | 2019-05-24 | 2019-10-11 | 广州市中立智能装备科技有限公司 | A kind of omnidirectional's differential driving steering wheel |
| CN110092151A (en) * | 2019-05-29 | 2019-08-06 | 中匠机器人(深圳)有限公司 | A kind of automatic guided vehicle |
| CN114131402A (en) * | 2021-11-18 | 2022-03-04 | 柳州沪信汽车科技有限公司 | Flexible automatic switching system |
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Application publication date: 20151021 |
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