CN109130749A - A kind of AGV trolley - Google Patents
A kind of AGV trolley Download PDFInfo
- Publication number
- CN109130749A CN109130749A CN201810969315.5A CN201810969315A CN109130749A CN 109130749 A CN109130749 A CN 109130749A CN 201810969315 A CN201810969315 A CN 201810969315A CN 109130749 A CN109130749 A CN 109130749A
- Authority
- CN
- China
- Prior art keywords
- stringer
- agv
- crossbeam
- interconnecting piece
- rack
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G9/00—Resilient suspensions of a rigid axle or axle housing for two or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G9/00—Resilient suspensions of a rigid axle or axle housing for two or more wheels
- B60G9/02—Resilient suspensions of a rigid axle or axle housing for two or more wheels the axle or housing being pivotally mounted on the vehicle, e.g. the pivotal axis being parallel to the longitudinal axis of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/30—Rigid axle suspensions
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Handcart (AREA)
Abstract
The present invention provides a kind of AGV trolleies, mainly include stringer, crossbeam, spring and the oscillating bearing composition for constituting shaft.The stringer is hinged on AGV car rack by a pair of oscillating bearing being arranged in parallel in the horizontal direction, swings up and down the stringer, while being also equipped with spring between the stringer and rack, for adjusting the pressure of wheel and ground and providing damping effect.The stringer is installed together with the crossbeam by hinge, and the crossbeam is enable to swing, after wheel is mounted on the crossbeam, it is ensured that two sides wheel and ground face contact are good, uniform force.The function of being realized a secondary common hinge in the present invention using pairs of oscillating bearing (flexural pivot), is reduced mach required precision, also eliminates common hinge and need to process bearing block, the trouble of the machined parts such as shaft reduces cost.
Description
Technical field
The present invention relates to AGV (automated guided vehicle) fields, and in particular, to a kind of AGV driving wheel suspension fork mechanism.
Technical background
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to and be equipped with
Electricity magnetically or optically waits homing guidances device, it can be travelled along defined guide path, has safeguard protection and various transfers
The transport vehicle of function.
AGV compared with walking, is creeped or other non-wheeled mobile robots have action fast characterized by wheel type mobile
The prompt, advantages such as work efficiency is high, structure is simple, controllability is strong, safety is good.With other equipment phase common in material conveying
Than the zone of action of AGV is not limited without being laid with the fixed device such as track, support saddle frame by place, road and space.Therefore,
In automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible unmanned metaplasia
It produces.
Traditional AGV driving wheel suspension fork mechanism is whole pressure regulating mechanism, part AGV using straight line lifting and spring
Driving wheel suspension fork mechanism can design hinge in left and right gear member to make two-wheeled uniform force, but relatively complicated in mechanical structure,
The components needed are more, and mechanical precision is also relatively difficult improves, the adaptability on broken terrain compared with
It is low.
Summary of the invention
In view of the above-mentioned problems, main purpose is to improve mechanical the present invention provides a kind of AGV driving wheel suspension fork mechanism
Also cost is reduced while performance, specific technical solution is as follows:
A kind of AGV trolley, including the crossbeam and stringer being installed in AGV rack.
The stringer, the front-rear direction along AGV is arranged, and has rack interconnecting piece and stringer interconnecting piece；The rack connects
Socket part is located at one end of the stringer, and passes through at least a pair of first articulated structure hinge in the horizontal direction with the AGV rack
Connection, swings up and down the relatively described AGV rack of the stringer；
The crossbeam, the left and right directions along AGV are arranged, and are all had wheel mounting portion in its left and right ends and be located at described
Crossbeam interconnecting piece between the wheel mounting portion of left and right ends, each wheel mounting portion are connected with driving wheel respectively；The crossbeam connects
Vertically hinge is connect by least a pair of second articulated structure for socket part and the stringer interconnecting piece, makes the crossbeam can be with
The relatively described AGV vehicle frame swings, and the crossbeam connecting portion is below the stringer interconnecting piece；
A kind of pressure regulating mechanism includes: caging bolt, the first nut assembly, the second nut assembly and elastic component；It is described
Caging bolt passes through the AGV rack, crossbeam interconnecting piece and stringer interconnecting piece from bottom to top, and the nut portion of bolt part is connected to
The downside of the AGV rack；First nut piece is rotatably connected in the caging bolt and is connected to the upside of the AGV rack, to match
It is up and down to close the nut portion limitation caging bolt；Second nut piece is socketed on the end in the screw rod portion of the caging bolt,
And the elastic component is connected between the second nut piece and the stringer interconnecting piece for buffering ground shock and adjusting driving
Pressure between wheel and ground.
Further, at least a pair of first articulated structure is L-type oscillating bearing.
Further, at least a pair of second articulated structure is linear type oscillating bearing.
Further, hub motor is configured on the driving wheel.
The present invention also provides another technical solutions:
A kind of AGV trolley, including the crossbeam and stringer being installed in AGV rack.
The stringer, the front-rear direction along AGV is arranged, and has rack interconnecting piece and stringer interconnecting piece；The rack connects
Socket part is located at one end of the stringer, and passes through at least a pair of first articulated structure hinge in the horizontal direction with the AGV rack
Connection, swings up and down the relatively described AGV rack of the stringer；
The crossbeam, the left and right directions along AGV are arranged, and are all had wheel mounting portion in its left and right ends and be located at described
Crossbeam interconnecting piece between the wheel mounting portion of left and right ends, each wheel mounting portion are connected with driving wheel respectively；The crossbeam connects
Vertically hinge is connect by least a pair of second articulated structure for socket part and the stringer interconnecting piece, makes the crossbeam can be with
The relatively described AGV vehicle frame swings, and the crossbeam connecting portion is above the stringer interconnecting piece；
A kind of pressure regulating mechanism includes: caging bolt, the first nut assembly, the second nut assembly and elastic component；It is described
Caging bolt passes through the AGV rack, stringer interconnecting piece and crossbeam interconnecting piece from bottom to top, and the nut portion of bolt part is connected to
The downside of the AGV rack；First nut piece is rotatably connected in the caging bolt and is connected to the upside of the AGV rack, to match
It is up and down to close the nut portion limitation caging bolt；Second nut piece is socketed on the end in the screw rod portion of the caging bolt,
And the elastic component is connected between the second nut piece and the stringer interconnecting piece for buffering ground shock and adjusting driving
Pressure between wheel and ground.
The invention has the advantages that:
1, in the present invention, stringer is mounted in AGV rack by oscillating bearing hinge, make entire swinging crossbeam can more than
Lower swing；Spring is housed, for adjusting the driving wheel being mounted on AGV driving wheel suspension fork mechanism and floor between stringer and AGV rack
Pressure and damping effect is provided and adjusts the pressure between driving wheel and ground.
2, it in the present invention, is connected between stringer and crossbeam by oscillating bearing hinge, makes entire crossbeam can relative to stringer
To swing, to guarantee uniform force between two driving wheels on the AGV driving wheel suspension fork mechanism, also improve it is concave-convex not
Adaptability on flat ground.
Detailed description of the invention
Fig. 1 is a kind of mechanism principle figure of the driving wheel suspension fork mechanism of AGV trolley；
Fig. 2 is the AGV driving wheel suspension fork mechanism specific embodiment main view；
Fig. 3 is the AGV driving wheel suspension fork mechanism specific embodiment top view；
Fig. 4 is the AGV driving wheel suspension fork mechanism specific embodiment 3-D view；
Wherein, the components that the number in attached drawing refers to are as follows:
1.AGV rack；2. stringer；3. crossbeam；4.AGV driving wheel；5. spring；6.L type oscillating bearing；7. linear type joint shaft
It holds；8. caging bolt；9 second nut pieces；10 first nut pieces.
Specific embodiment
In order to make the purpose of the present invention, technical solution and advantage are more clear, with reference to the accompanying drawings and embodiments, to this hair
It is bright to be further elaborated, it should be understood that specific implementation described herein is only used to explain the present invention, is not used to
Limit the present invention.
In conjunction with Fig. 1 to Fig. 4, in the present embodiment, present invention employs oscillating bearings.Oscillating bearing is a kind of spherical surface sliding
Bearing, sliding contact surface are an Internal Spherical Surface and a spherical outside surface, and when movement can be in any angle rotary oscillation, it is adopted
It is made with a variety of special process processing methods such as alramenting, fried mouth, edge pad, sprayings.Oscillating bearing has load-carrying ability
Greatly, shock resistance, anticorrosive, wear-resistant, Self-aligning, the features such as having lubricated.
Compared with rolling bearing, oscillating bearing structure is simpler, mainly there is the inner ring and one of spherical outside surface by one
It is a to be made of the outer ring of Internal Spherical Surface.Oscillating bearing is generally used for the lower pendulum motion of speed (i.e. angular movement), due to sliding table
Face is spheric, can also make banking motion (i.e. aligning movement) within the scope of certain angle, in support shaft and the decentraction of axle housing hole
When spending larger, remain to work normally.
Oscillating bearing can bear biggish load.According to its different type and structure, radial load, axial direction can be born
Load or radially, axially simultaneous joint load.Due to studding with composite material on the spherical outside surface of inner ring, therefore the bearing exists
It may result from lubricating in work.It is generally used for the lower pendulum motion of speed and low speed rotation, it can also be within the scope of certain angle
Make banking motion, when support shaft and axle housing hole nonconcentricity are larger, remains to work normally.
The specific embodiment of the invention is as described below:
A kind of AGV trolley, including the crossbeam 3 and stringer 2 being installed in AGV rack 1.
The stringer 2 arranges close to the side of rack 1 there is rack interconnecting piece and the other side to match along the front-rear direction of AGV
Set stringer interconnecting piece.The rack interconnecting piece is cut with scissors with the AGV rack by least a pair of first oscillating bearing 6 in the horizontal direction
Chain link, the installation of the first oscillating bearing 6 allow the bottom in the relatively described AGV rack 1 of the stringer 2 therebetween
It is dynamic.The rack interconnecting piece is the mounting hole being adapted with first oscillating bearing.
The crossbeam 3 is arranged along the left and right directions of AGV, is all had wheel mounting portion in its left and right ends and is located at the left side
Crossbeam interconnecting piece between the wheel mounting portion at right both ends, each wheel mounting portion are connected with driving wheel 4 respectively.The crossbeam connection
Vertically hinge is connect by least a pair of of second joint bearing 7 for portion and the stringer interconnecting piece, makes the crossbeam 3 can be with
The relatively described AGV vehicle frame 1 swings.In the present embodiment, the crossbeam connecting portion is below the stringer interconnecting piece, institute
It states crossbeam interconnecting piece and the stringer interconnecting piece is to be provided with closing on the crossbeam 3 and the stringer 3 with described second respectively
The compatible mounting hole of bearings.
It further include having a kind of pressure regulating mechanism.The pressure regulating mechanism has specifically included caging bolt 8, the first nut
Component 10, the second nut assembly 9 and elastic component 5.The caging bolt 8 passes through the AGV rack 1, the crossbeam from bottom to top
Interconnecting piece and the stringer interconnecting piece, and the nut portion of the caging bolt 8 is connected to the downside of the AGV rack 1.First spiral shell
Parent part 10 is rotatably connected in the caging bolt 8 and is connected to the upside of the AGV rack 1, to cooperate nut portion to limit the limit
Bolt 8 is up and down, and the second nut piece 9 is socketed on the end in the screw rod portion of the caging bolt 8, and the elastic component 5 abuts
For buffering ground shock and adjusting the pressure between driving wheel and ground between the second nut piece 9 and the stringer interconnecting piece
Power, while the effect of damping is also functioned to, some washers can also be accordingly increased and increase the compactness connected between component.
Further, at least a pair of first oscillating bearing is L-type oscillating bearing 6 (state's tender).
Further, at least a pair of of second joint bearing is linear type oscillating bearing 7 (state's tender).
As shown in Figures 2 and 3, a width hinge is constituted using a pair of of L-type oscillating bearing (state's tender) in embodiment, uses one
Another width hinge is constituted to linear type oscillating bearing (state's tender), conventional hinge is eliminated and the machines such as bearing block, rotary shaft is needed to add
The trouble of workpiece, and reduce machining accuracy requirement, save the cost.
Further, hub motor is configured on the driving wheel, taking turns firm motor keeps structure simpler, also can be used
Motor, retarder, power wheel are assembled in as driving wheel.
Through the above structure, it is connected between stringer and crossbeam by oscillating bearing hinge, makes entire crossbeam can relative to stringer
To swing, to guarantee uniform force between two driving wheels on the AGV driving wheel suspension fork mechanism, also improve it is concave-convex not
Adaptability on flat ground, the stringer are connect with the AGV rack also by oscillating bearing hinge, can be carried out certain
Swing up and down, be more advantageous to the flexibility of the traveling of trolley.
It in another embodiment, can also be by stringer 2 mounted in crossbeam 3 in the limited situation of some structure spaces
Lower section keeps its space more compact to further decrease the space structure of entire AGV driving wheel suspension fork mechanism.Due to this
Scheme is the approximate schemes of above scheme, and those skilled in the art can know how to practice according to above scheme and respective drawings
The program, therefore, attached drawing just no longer provide.
Likewise, using other hinge arrangements (as hinged in carried out hinged or Hooke's joint using two shafts)
Can achieve makes to be connected by a hinge between stringer and crossbeam, and entire crossbeam is allow to swing relative to stringer, to guarantee
Uniform force between two driving wheels on AGV driving wheel suspension fork mechanism, also improves the adaptation energy on broken terrain
Power, the stringer are connect with the AGV rack also by oscillating bearing hinge, can carry out it is certain swing up and down, more favorably
In the flexibility of the traveling of trolley.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of AGV trolley, including the crossbeam (2) and stringer (3) being installed on AGV rack (1), which is characterized in that
The stringer (2), the front-rear direction along AGV trolley is arranged, and has rack interconnecting piece and stringer interconnecting piece；The rack
Connecting portion passes through at least a pair of first articulated structure in the horizontal direction in one end of the stringer, and with the AGV rack (1)
Hinge connection, make the stringer (2) can the relatively described AGV rack (1) swing up and down；
The crossbeam (3), the left and right directions along AGV trolley is arranged, and is all had wheel mounting portion in its left and right ends and be located at
Crossbeam interconnecting piece between the wheel mounting portion of the left and right ends, each wheel mounting portion are connected with driving wheel respectively；The cross
By at least a pair of second articulated structure, vertically hinge is connect beam interconnecting piece with the stringer interconnecting piece, makes the crossbeam
(3) can the relatively described AGV rack (1) swing, and the crossbeam connecting portion is below the stringer interconnecting piece；
A kind of pressure regulating mechanism includes: caging bolt (8), the first nut assembly (10), the second nut assembly (9) and elasticity
Part (10)；The caging bolt (8) passes through the AGV rack (1), crossbeam interconnecting piece and stringer interconnecting piece, and spiral shell from bottom to top
The nut portion of spigot is connected to the downside of the AGV rack (1)；First nut piece (10) be rotatably connected in the caging bolt (8) and
It is connected to the upside of the AGV rack (1), it is up and down to cooperate nut portion to limit the caging bolt (8)；Second nut piece
(9) it is socketed on the end in the screw rod portion of the caging bolt (8), and the elastic component (5) is connected to the second nut piece (9) and institute
It states between stringer interconnecting piece for buffering ground shock.
2. AGV trolley as described in claim 1, which is characterized in that first articulated structure and second articulated structure
For oscillating bearing.
3. AGV trolley as claimed in claim 2, which is characterized in that at least a pair of first articulated structure is L-type joint shaft
Hold (6).
4. AGV trolley as claimed in claim 2, which is characterized in that at least a pair of second articulated structure is that linear type is closed
Bearings (7).
5. AGV trolley as described in claim 1, which is characterized in that configured with the firm motor of wheel on the driving wheel (4).
6. a kind of AGV trolley, including the crossbeam and stringer being installed in AGV rack, which is characterized in that
The stringer, the front-rear direction along AGV is arranged, and has rack interconnecting piece and stringer interconnecting piece；The rack interconnecting piece
Positioned at one end of the stringer, and with the AGV rack, by least a pair of first articulated structure, hinge is connect in the horizontal direction,
Swing up and down the relatively described AGV rack of the stringer；
The crossbeam, the left and right directions along AGV are arranged, and are all had wheel mounting portion in its left and right ends and be located at the left and right
Crossbeam interconnecting piece between the wheel mounting portion at both ends, each wheel mounting portion are connected with driving wheel respectively；The crossbeam interconnecting piece
By at least a pair of second articulated structure, vertically hinge is connect with the stringer interconnecting piece, keeps the crossbeam opposite
The AGV vehicle frame swings, and the crossbeam connecting portion is above the stringer interconnecting piece；
A kind of pressure regulating mechanism includes: caging bolt, the first nut assembly, the second nut assembly and elastic component；The limit
Bolt passes through the AGV rack, stringer interconnecting piece and crossbeam interconnecting piece from bottom to top, and the nut portion of bolt part be connected to it is described
The downside of AGV rack；First nut piece is rotatably connected in the caging bolt and is connected to the upside of the AGV rack, to cooperate spiral shell
It is up and down that cap portion limits the caging bolt；Second nut piece is socketed on the end in the screw rod portion of the caging bolt, and institute
State elastic component be connected between the second nut piece and the stringer interconnecting piece for buffer ground shock and adjust driving wheel and
Pressure between ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810969315.5A CN109130749B (en) | 2018-08-23 | 2018-08-23 | AGV dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810969315.5A CN109130749B (en) | 2018-08-23 | 2018-08-23 | AGV dolly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109130749A true CN109130749A (en) | 2019-01-04 |
| CN109130749B CN109130749B (en) | 2023-09-12 |
Family
ID=64791316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810969315.5A Active CN109130749B (en) | 2018-08-23 | 2018-08-23 | AGV dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109130749B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023092586A1 (en) * | 2021-11-29 | 2023-06-01 | Abb Schweiz Ag | Driving system and automatic guided vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007060173A1 (en) * | 2007-12-13 | 2009-06-25 | Norbert Lohrmann | Multitrack vehicle, particularly vehicle, has two steering wheels arranged on common imaginary axle, and has another wheel, whose axle is arranged parallel and spaced to axle |
| CN101612970A (en) * | 2009-07-30 | 2009-12-30 | 武汉科技学院 | Novel lying type three wheel rickshaw |
| JP2010089549A (en) * | 2008-10-03 | 2010-04-22 | Honda Motor Co Ltd | Stabilizer mounting structure |
| CN107351614A (en) * | 2017-06-22 | 2017-11-17 | 北京福田戴姆勒汽车有限公司 | A kind of braking balance suspension and multiple-axle vehicle |
| CN108161889A (en) * | 2018-02-08 | 2018-06-15 | 北京华航唯实机器人科技股份有限公司 | A kind of industrial robot based on AGV |
-
2018
- 2018-08-23 CN CN201810969315.5A patent/CN109130749B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007060173A1 (en) * | 2007-12-13 | 2009-06-25 | Norbert Lohrmann | Multitrack vehicle, particularly vehicle, has two steering wheels arranged on common imaginary axle, and has another wheel, whose axle is arranged parallel and spaced to axle |
| JP2010089549A (en) * | 2008-10-03 | 2010-04-22 | Honda Motor Co Ltd | Stabilizer mounting structure |
| CN101612970A (en) * | 2009-07-30 | 2009-12-30 | 武汉科技学院 | Novel lying type three wheel rickshaw |
| CN107351614A (en) * | 2017-06-22 | 2017-11-17 | 北京福田戴姆勒汽车有限公司 | A kind of braking balance suspension and multiple-axle vehicle |
| CN108161889A (en) * | 2018-02-08 | 2018-06-15 | 北京华航唯实机器人科技股份有限公司 | A kind of industrial robot based on AGV |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023092586A1 (en) * | 2021-11-29 | 2023-06-01 | Abb Schweiz Ag | Driving system and automatic guided vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109130749B (en) | 2023-09-12 |
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