CN105235756A - Compact AGV with zero turning radius and shock absorption function - Google Patents
Compact AGV with zero turning radius and shock absorption function Download PDFInfo
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- CN105235756A CN105235756A CN201510681118.XA CN201510681118A CN105235756A CN 105235756 A CN105235756 A CN 105235756A CN 201510681118 A CN201510681118 A CN 201510681118A CN 105235756 A CN105235756 A CN 105235756A
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Abstract
The invention discloses a compact AGV with a zero turning radius and a shock absorption function. The compact AGV with the zero turning radius and the shock absorption function comprises a vehicle body, wherein free wheels are arranged at the front part and the rear part of the bottom of the vehicle body. The compact AGV with the zero turning radius and the shock absorption function further comprises a drive device, a power mechanism, a gear mechanism and a shock absorption device, wherein the drive device is arranged at the bottom of the vehicle body, and comprises two drive wheels and two groups of drive mechanisms, the drive mechanisms and the drive wheels are arranged in a manner of one-to-one correspondence, and each drive mechanism comprises a power mechanism; the gear mechanism comprises a drive gear and a driven gear, the drive gear is connected with the power mechanism, and the driven gear is transmitted with the drive gear in a manner of manual engagement; and the shock absorption device is arranged between the vehicle body and the drive wheels. The compact AGV with the zero turning radius and the shock absorption function, which is disclosed by the invention, is capable of realizing the purpose of zero turning radius by adjusting the rotational speeds of motors in the drive mechanisms to enable the speeds of the drive wheels arranged at the two sides to be different during a running process, and is compact in structure.
Description
Technical field
The present invention relates to AGV dolly field, particularly a kind of can the no-radius compact AGV dolly of band damping of turning.
Background technology
AGV is the abbreviation of (AutomatedGuidedVehicle); meaning i.e. " automatical pilot transportation vehicle "; refer to and be equipped with the homing guidance such as electromagnetism or optics device; it can travel along the guide path of regulation; have the transport trolley of safety guard-safeguard and various transfer function, AGV belongs to the category of wheeled mobile robot (WMR--WheeledMobileRobot).
Most AGV in the market, its turn radius is also non-vanishing, and that is its drive wheel cannot realize reversion, very dumb when turning or turn around.Most of AGV dollies in the market, it drives and adopts DC servo motor, by the power voltage supply of 24v, but, when giving Serve Motor Control signal, can occur dancing at initial point, this is a shortcoming in the AGV tracing control having accuracy requirement, according to stepping motor, then can overcome above-mentioned shortcoming, but stepping motor is when voltage is lower, torque frequency feature declines clearly, when battery electric quantity is lower, there will be the phenomenon that band is motionless.It is feeding electric motors that comprehensive above urgent need Large Copacity supplying cell is arranged in car body; The driving of most of AGV dolly in the market, adopt chain transferring power, and motor side sprocket wheel is directly installed on motor shaft, form the structure of cantilever beam, this structure has following shortcoming: first is when the impact having Chain conveyer to produce directly passes to motor, infringement can be produced to motor, if second is the requirement (such as the AGV of two-way AGV or pivot stud) having wheel to reverse, sprocket wheel will lose reliability, 3rd be the maximum feature of chain-drive is have polygon effect, and the existence of this effect seriously can reduce control accuracy.AGV dolly in the market, damping spring can be added at drive part, and other free gear is not with damping spring, although the vibration that such effect is driver element can not pass to vehicle body substantially, other wheel still can pass to vehicle body its vibration produced.
The information being disclosed in this background technology part is only intended to increase the understanding to general background of the present invention, and should not be regarded as admitting or imply in any form that this information structure has been prior art that persons skilled in the art are known.
Summary of the invention
The object of the present invention is to provide a kind of can the no-radius compact AGV dolly of band damping of turning, thus overcome existing AGV dolly and cannot realize the shortcoming that no-radius turns.
Another object of the present invention is to make GAV trolley travelling steady, and reduce noise.
For achieving the above object, the invention provides a kind of can the no-radius compact AGV dolly of band damping of turning, comprise vehicle body, the front and back of this body bottom are provided with free gear, also comprise: actuating device, it is located at described body bottom, described actuating device it comprise two drive wheels and two groups of driver trains, described driver train and described drive wheel one_to_one corresponding are arranged, and described each driver train comprises: actuating unit; And gear mechanism, comprise driving gear and driven gear, described driving gear is connected with described actuating unit, and described driven gear and described driving gear engage each other transmission; And shock absorption device, it is located between described vehicle body and described drive wheel.
Preferably, in technique scheme, the driving gear in described gear mechanism and driven gear are the asymmetric supports in two ends.
Preferably, in technique scheme, described shock absorption device comprises: lower shoe, and it is located at above described drive wheel, and described lower shoe is provided with stroke hole; Upper plate, it is connected with described vehicle body, and described upper plate is connected with described lower shoe by elastic component; And connecting rod mechanism, it comprises connecting rod, and one end of described connecting rod is located on described stroke hole by guide shaft is mobilizable, and the other end is flexibly connected with described upper plate.
Preferably, in technique scheme, described lower shoe is located at multiple stroke hole, described connecting rod mechanism comprises first connecting rod and is second connecting rod arranged in a crossed manner with it, described first connecting rod one end is located on described stroke hole by guide shaft is mobilizable, the other end is flexibly connected with described upper plate, and described second connecting rod one end is located on described stroke hole by guide shaft is mobilizable, and the other end is flexibly connected with described upper plate.
Preferably, in technique scheme, described elastic component is spring.
Preferably, in technique scheme, described lower shoe is provided with guidepost, and described spring housing is located on described guidepost, and one end contacts with described lower shoe, and the other end contacts with described upper plate.
Preferably, in technique scheme, described free gear is provided with damping spring.
Preferably, in technique scheme, the rear portion of described vehicle body is provided with battery case, and described battery case adopts the mode hung to be located on described vehicle body.
Preferably, in technique scheme, described vehicle body is provided with control housing, is provided with control system in described control housing, and described control system is connected with sensor-based system, and described sensor-based system is located on described actuating device;
Preferably, in technique scheme, described control housing is provided with can the upper end cover of free-open-close, and the front end of described control housing is provided with can the Qianmen of free-open-close.
Compared with prior art, the present invention has following beneficial effect:
(1) of the present invention can the no-radius compact AGV dolly of band damping of turning, in the process of moving, by regulating the rotating speed of motor in driver train, making the drive wheel speed being located at both sides different, the object that no-radius is turned can be realized, and compact conformation.
(2) be equipped with shock absorption device at described actuating device and free gear place, make dolly comparatively steady in operational process, also can reduce noise.
Accompanying drawing explanation
Fig. 1 be according to of the present invention can the no-radius compact AGV dolly overall appearance view of band damping of turning.
Fig. 2 be according to of the present invention can the no-radius overall elevational perspective view of compact AGV dolly of band damping of turning.
Fig. 3 be according to of the present invention can the structural representation of actuating device of shock absorption device in the no-radius compact AGV dolly of band damping of turning.
Fig. 4 be according to of the present invention can the birds-eye view of actuating device of shock absorption device in the no-radius compact AGV dolly of band damping of turning.
Fig. 5 be according to of the present invention can the structural representation of shock absorption device in the no-radius compact AGV dolly of band damping of turning.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention not by the restriction of detailed description of the invention.
Clearly represent unless otherwise other, otherwise in whole specification sheets and claims, term " comprise " or its conversion as " comprising " or " including " etc. by be understood to include the element of stating or component part, and do not get rid of other element or other component part.
As shown in Figures 1 to 5, can the no-radius compact AGV dolly of band damping of turning according to a kind of of the specific embodiment of the invention, comprise vehicle body 1, the front end of vehicle body 1 is provided with steering indicating light 11 and radar ranging probe 12, and the lower end surrounding of vehicle body 1 installs anticollision strip.Described vehicle body 1 is provided with control housing 13, is provided with control system in described control housing, and described control system is connected with sensor-based system.Front and back bottom vehicle body 1 are provided with free gear 2.Described sensor-based system is located on described actuating device 4, actuating device 4 is located at the middle part of vehicle body 1, actuating device comprises two groups of driver trains 41 and 42 and two drive wheels 31 and 32, described driver train and described drive wheel one_to_one corresponding are arranged, and drive wheel 31 and drive wheel 32 are symmetric is located at described vehicle body 1 two bottom sides.Described driver train is located in drive case 43.For driver train 41, this driver train 41 comprises: actuating unit 411, and this actuating unit is closed loop stepping motor and connected epicyclic reduction gear, and actuating unit 43 is fixedly located on the base plate of drive case 43.Gear mechanism, comprise driving gear 412 and driven gear 413, the output shaft in actuating unit 411 is connected by coupler with driving gear shaft, is conducive to the service life of improving motor.Described driven gear 413 engages each other transmission with described driving gear 412.Driven gear 413 and driving gear 412 are Hardened gear face spur wheel, and pitch wheel modulus, the number of teeth, angle of obliquity and the facewidth are all identical.Shock absorption device 5 is located between described vehicle body 1 and described drive wheel 3.In the process of moving, by regulating the rotating speed of motor in driver train, making the drive wheel speed being located at both sides different, the object that no-radius is turned can be realized,
Preferably, the driving gear in described gear mechanism and driven gear are the asymmetric support in two ends.For driving gear 412, the bearing support 414 of driving gear one end is bolted on the base plate of driving box 43 casing, and the bearing bracket 415 of one end is bolted on the side plate of driving box 43 casing in addition.
Preferably, described shock absorption device 5 comprises: lower shoe 51, and it is located at the top of described drive wheel 3, and described lower shoe 51 offers stroke hole 52.Upper plate 53 is connected with described vehicle body 1, and described upper plate 53 is connected with described lower shoe 51 by elastic component 54.Connecting rod mechanism comprises connecting rod 55, and one end of described connecting rod 55 is located on described stroke hole 52 by guide shaft 56 is mobilizable, the other end and described upper plate 53 hinged.Preferably, connecting rod mechanism is two, lays respectively at the left and right sides of upper plate and lower shoe.Upper plate can be made to be connected with lower shoe more stable.When deformation occurs elastic component 54, upper plate can up-and-down movement, and connecting rod 55 one end can be moved in stroke hole 52.
Preferably, described lower shoe 51 is located at multiple stroke hole, is provided with two connecting rod mechanisms, is located at the left and right sides of upper plate and lower shoe respectively.Each connecting rod mechanism comprises first connecting rod and is second connecting rod arranged in a crossed manner with it, described first connecting rod one end is located on described stroke hole by guide shaft is mobilizable, the other end is flexibly connected with described upper plate, described second connecting rod one end is located on described stroke hole by guide shaft is mobilizable, and the other end is flexibly connected with described upper plate.
Preferably, in technique scheme, described elastic component is spring.Described lower shoe 51 is provided with guidepost 57, and described spring housing is located on described guidepost 57, and one end contacts with described lower shoe, and the other end contacts with described upper plate.When spring generation elastic deformation, spring is along guidepost 57 up-and-down movement, and upper plate 53 also moves up and down thereupon, has the effect of guidepost, upper plate can be made to move more steady.
Preferably, described free gear is provided with damping spring.Make trolley travelling more steady, reduce noise, extend the service life of free gear.
Preferably, the rear portion of described vehicle body 1 is provided with battery case 6, and described battery case 6 adopts the mode hung to be located on described vehicle body 1, and the inner two ends of vehicle body 1 respectively hang a battery case 6, and each battery case can place two high capacity cells.This design makes dolly compact overall structure.
Preferably, described control housing 13 is provided with can the upper end cover of free-open-close, is connected through the hinge, and the front end of described control housing is provided with can the Qianmen of free-open-close, is connected through the hinge.Be convenient to installation control system like this.
The aforementioned description to concrete exemplary of the present invention is to illustrate and the object of illustration.These descriptions not want the present invention to be defined as disclosed precise forms, and obviously, according to above-mentioned instruction, can much change and change.The object selected exemplary embodiment and describe is to explain certain principles of the present invention and practical application thereof, thus those skilled in the art can be realized and utilize various different exemplary of the present invention and various different selection and change.Scope of the present invention is intended to limited by claims and equivalents thereof.
Claims (10)
1. can the no-radius compact AGV dolly of band damping of turning, it is characterized in that, comprise vehicle body, the front and back of this body bottom are provided with free gear, also comprise:
Actuating device, it is located at described body bottom, and described actuating device comprises two drive wheels and two groups of driver trains, and described driver train and described drive wheel one_to_one corresponding are arranged, and described each driver train comprises:
Actuating unit; And
Gear mechanism, comprises driving gear and driven gear, and described driving gear is connected with described actuating unit, and described driven gear and described driving gear engage each other transmission; And
Shock absorption device, it is located between described vehicle body and described drive wheel.
2. according to claim 1 can the no-radius compact AGV dolly of band damping of turning, it is characterized in that, the driving gear in described gear mechanism and driven gear are the asymmetric supports in two ends.
3. according to claim 1 can the no-radius compact AGV dolly of band damping of turning, it is characterized in that, described shock absorption device comprises:
Lower shoe, it is located at above described drive wheel, and described lower shoe is provided with stroke hole;
Upper plate, it is connected with described vehicle body, and described upper plate is connected with described lower shoe by elastic component; And
Connecting rod mechanism, it comprises connecting rod, and one end of described connecting rod is located on described stroke hole by guide shaft is mobilizable, and the other end is flexibly connected with described upper plate.
4. according to claim 3 can the no-radius compact AGV dolly of band damping of turning, it is characterized in that, described lower shoe is located at multiple stroke hole, described connecting rod mechanism comprises first connecting rod and is second connecting rod arranged in a crossed manner with it, described first connecting rod one end is located on described stroke hole by guide shaft is mobilizable, the other end is flexibly connected with described upper plate, described second connecting rod one end is located on described stroke hole by guide shaft is mobilizable, and the other end is flexibly connected with described upper plate.
5. according to claim 3 can the no-radius compact AGV dolly of band damping of turning, it is characterized in that, described elastic component is spring.
6. according to claim 5 can the no-radius compact AGV dolly of band damping of turning, it is characterized in that, described lower shoe is provided with guidepost, and described spring housing is located on described guidepost, one end contacts with described lower shoe, and the other end contacts with described upper plate.
7. according to claim 1 can the no-radius compact AGV dolly of band damping of turning, it is characterized in that, described free gear is provided with damping spring.
8. according to claim 1 can the no-radius compact AGV dolly of band damping of turning, it is characterized in that, the rear portion of described vehicle body is provided with battery case, and described battery case adopts the mode hung to be located on described vehicle body.
9. according to claim 1 can the no-radius compact AGV dolly of band damping of turning, it is characterized in that, described vehicle body is provided with control housing, is provided with control system in described control housing, described control system and sensor-based system data cube computation, described sensor-based system is located on described actuating device.
10. according to claim 9 can the no-radius compact AGV dolly of band damping of turning, it is characterized in that, described control housing is provided with can the upper end cover of free-open-close, and the front end of described control housing is provided with can the Qianmen of free-open-close.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510681118.XA CN105235756A (en) | 2015-10-19 | 2015-10-19 | Compact AGV with zero turning radius and shock absorption function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510681118.XA CN105235756A (en) | 2015-10-19 | 2015-10-19 | Compact AGV with zero turning radius and shock absorption function |
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| Publication Number | Publication Date |
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| CN105235756A true CN105235756A (en) | 2016-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510681118.XA Pending CN105235756A (en) | 2015-10-19 | 2015-10-19 | Compact AGV with zero turning radius and shock absorption function |
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Cited By (7)
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| CN105929829A (en) * | 2016-06-15 | 2016-09-07 | 丁尧 | AGV car and control method thereof |
| CN106275125A (en) * | 2016-09-07 | 2017-01-04 | 武汉萝卜兔科技有限公司 | A kind of AGV dolly with obstacle crossing function |
| CN106314129A (en) * | 2016-08-26 | 2017-01-11 | 北京超同步伺服股份有限公司 | AGV (Automatic Guided Vehicle) trolley capable of walking in any angle direction |
| CN106335335A (en) * | 2016-09-14 | 2017-01-18 | 哈尔滨工大服务机器人有限公司 | Suspended shock absorption mechanism and cargo dolly |
| CN108382146A (en) * | 2018-03-16 | 2018-08-10 | 安徽工程大学 | A kind of all-terrain moving robot Combined vehicle body suspension arrangement |
| CN109353767A (en) * | 2018-12-18 | 2019-02-19 | 深圳市佳顺智能机器人股份有限公司 | A kind of hanging damping steering wheel and automated guided vehicle |
| CN114643854A (en) * | 2022-03-22 | 2022-06-21 | 扬州威斯德智能科技有限公司 | AGV trolley with high stability and operation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105929829A (en) * | 2016-06-15 | 2016-09-07 | 丁尧 | AGV car and control method thereof |
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| CN108382146A (en) * | 2018-03-16 | 2018-08-10 | 安徽工程大学 | A kind of all-terrain moving robot Combined vehicle body suspension arrangement |
| CN108382146B (en) * | 2018-03-16 | 2023-06-16 | 安徽工程大学 | Combined vehicle body suspension device of all-terrain mobile robot |
| CN109353767A (en) * | 2018-12-18 | 2019-02-19 | 深圳市佳顺智能机器人股份有限公司 | A kind of hanging damping steering wheel and automated guided vehicle |
| CN114643854A (en) * | 2022-03-22 | 2022-06-21 | 扬州威斯德智能科技有限公司 | AGV trolley with high stability and operation method thereof |
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