CN109774819A - Automated guided vehicle - Google Patents
Automated guided vehicle Download PDFInfo
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- CN109774819A CN109774819A CN201910195908.5A CN201910195908A CN109774819A CN 109774819 A CN109774819 A CN 109774819A CN 201910195908 A CN201910195908 A CN 201910195908A CN 109774819 A CN109774819 A CN 109774819A
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- driving
- car body
- automated guided
- guided vehicle
- driving device
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Abstract
The present invention relates to logistics haulage equipment technical fields, more particularly, to a kind of automated guided vehicle.Automated guided vehicle includes car body, driving mechanism and steering mechanism；Driving mechanism is for driving the driving wheel of car body two sides to rotate；Steering mechanism includes first driving device, transmission component and rotating support, and power is transferred to deflecting roller by transmission component by first driving device；Second driving device and transmission component are located on rotating support, and the vehicle frame of rotating support and car body longitudinally rotates connection around car body, and the deflecting roller of car body two sides is enable to rotate around the shaft of rotating support.The automated guided vehicle of the application has been Design of Steering Mechanism can be around the rotating support of car body longitudinally rotated, so as to guarantee the deflecting roller of two sides while landing, to ground adaptability height, the flatness on ground will not influence the normally travel of AGV, and structure is simple, manufacture difficulty is small, at low cost, is suitable for large batch of popularization and use.
Description
Technical field
The present invention relates to logistics haulage equipment technical fields, more particularly, to a kind of automated guided vehicle.
Background technique
Automated guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to equipped with electricity magnetically or optically
Equal homing guidances device, it can be travelled along defined guide path, have safeguard protection and the transport of various transfer functions
Vehicle is not required to the carrier of driver in industrial application.However common AGV trolley is turned on obstacle road surface on the market at present
It is commonly present the problem of two sides wheel cannot land simultaneously during to driving, causes AGV trolley bearing capacity small, the work of heavy load
It is easily damaged when condition.
Summary of the invention
The application's is designed to provide a kind of automated guided vehicle, to solve to deposit in the prior art to a certain extent
AGV trolley two sides wheel cannot land simultaneously caused by bearing capacity it is small, the technology that when operating condition of heavy load is easily damaged
Problem.
This application provides a kind of automated guided vehicles, including car body, driving mechanism and steering mechanism；
The driving mechanism is for driving the driving wheel of car body two sides to rotate；
The steering mechanism includes first driving device, transmission component and rotating support, and the first driving device is logical
It crosses the transmission component and power is transferred to deflecting roller；The first driving device and the transmission component are located at rotation branch
On support, the rotating support is rotatablely connected around the longitudinal direction of the car body and the vehicle frame of the car body, makes the car body two sides
The deflecting roller can be rotated around the shaft of the rotating support.
Further, the driving mechanism includes the second driving device and differential mechanism, and second driving device passes through institute
It states differential mechanism and power is transferred to the driving wheel.
Further, the rotating support includes support frame body, connecting shaft and mounting base；
The first driving device and the transmission component are all set in support frame as described above main body, and the mounting base is fixed
It is set on the vehicle frame of the car body, support frame as described above main body is rotatablely connected by the connecting shaft and the mounting base.
Further, the deflecting roller of the car body two sides is symmetrical set relative to the axis of the connecting shaft.
Further, the rotating support further includes positioning seat, and the positioning seat is set to institute along the cross-car
The two sides of rotating support are stated, and the tumbler of the positioning seat and the deflecting roller is rotatablely connected.
Further, the positioning seat includes upper positioning seat and lower positioning seat, the upper positioning seat and the lower positioning seat
It respectively corresponds and is rotatablely connected with the upper and lower ends of the tumbler.
Further, second driving device and the quantity of the differential mechanism are one, and two of the differential mechanism
Output end passes through wheel two driving wheels of axis connection respectively.
Further, the transmission component includes gear, rack gear and kinematic link, and the gear and first driving fill
The output end set is connected, and the gear is meshed with the rack gear, and the both ends of the rack gear pass through the kinematic link respectively
It is connect with the tumbler of two deflecting rollers.
Further, the first driving device is decelerating motor.
Further, second driving device is decelerating motor.
Compared with prior art, the invention has the benefit that the automated guided vehicle of the application sets for steering mechanism
The deflecting roller of two sides can be guaranteed while land by having counted rotating support, and then ensure that driving wheel and deflecting roller can simultaneously
Ground, to ground adaptability height, the flatness on ground will not influence the normally travel of AGV.
In addition, the automated guided vehicle structure of the application is simple, manufacture difficulty is small, at low cost, is suitable for large batch of
It promotes the use of.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the overall structure diagram of automated guided vehicle provided in an embodiment of the present invention；
Fig. 2 is the inside overall structure diagram of automated guided vehicle provided in an embodiment of the present invention；
Fig. 3 is structural representation of the automated guided vehicle steering mechanism provided in an embodiment of the present invention under the first visual angle
Figure；
Fig. 4 is structural representation of the automated guided vehicle steering mechanism provided in an embodiment of the present invention under the second visual angle
Figure；
Fig. 5 is structural representation of the automated guided vehicle steering mechanism provided in an embodiment of the present invention under third visual angle
Figure；
Fig. 6 is structural representation of the automated guided vehicle steering mechanism provided in an embodiment of the present invention under the 4th visual angle
Figure；
Fig. 7 is the structural schematic diagram of automated guided vehicle driving mechanism provided in an embodiment of the present invention.
Appended drawing reference:
1- car body, 2- driving mechanism, the second driving device of 21-, 22- differential mechanism, 3- steering mechanism, the driving dress of 31- first
It setting, 32- transmission component, 321- gear, 322- rack gear, 323- kinematic link, 33- rotating support, 331- supports frame body,
332- connecting shaft, 333- mounting base, the upper positioning seat of 334-, positioning seat under 335-, 4- deflecting roller, 41- tumbler, 5- driving wheel.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.
The component for the embodiment of the present invention for usually describing and showing in attached drawing here can be with a variety of different configurations
To arrange and design.Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below and is wanted
The scope of the present invention of protection is sought, but is merely representative of selected embodiment of the invention.
Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Referring to the automated guided vehicle of Fig. 1 to Fig. 7 description according to some embodiments of the invention.
Referring to shown in Fig. 1 to Fig. 6, this application provides a kind of automated guided vehicles, including car body 1,2 and of driving mechanism
Steering mechanism 3, driving mechanism 2 is used to provide driving force to the driving wheel 5 of automated guided vehicle, to drive entire small garage
Into；Steering mechanism 3 is for driving deflecting roller 4 to rotate, to realize the steering of entire automated guided vehicle.
Specifically, the driving method that driving mechanism 2 can be common using automated guided vehicle, such as steering wheel driving,
This is not specifically limited.Steering mechanism 3 includes first driving device 31, transmission component 32 and rotating support 33, the first driving
Power is transferred to the deflecting roller 4 of 1 two sides of car body by transmission component 32 by device 31.When steering mechanism 3 is to two sides deflecting roller 4
When control is dependent control, it is possible that the deflecting roller 4 of two sides can not land simultaneously on obstacle road surface, i.e. deflecting roller 4
In a disengaging ground and vacantly skid, cause automated guided vehicle poor to bad adaptability, the bearing capacity on ground.And this
Application is by being arranged rotating support 33 in the corresponding position for turning to driving of frame interior, by first driving device 31 and transmission group
Part 32 is set on rotating support 33, and rotating support 33 is connect with the vehicle frame of car body 1 around longitudinally rotating for car body 1, that is, is revolved
Turn support frame 33 can longitudinally rotating around car body 1, enable AGV trolley in the deflecting roller 4 of 1 two sides of obstacle road surface upper body
Shaft around rotating support 33 rotates, i.e., longitudinally rotating around car body 1 mentions so that two sides wheel can land simultaneously
High automated guided vehicle also improves the carrying energy of trolley to the adaptability on ground and the stability of traveling process
Power.
To sum up, the automated guided vehicle of the application is that devise can be around the rotation of car body 1 longitudinally rotated for steering mechanism 3
Support frame 33 can guarantee the deflecting roller 4 of two sides while land, and then ensure that driving wheel 5 and deflecting roller 4 can land simultaneously,
To ground adaptability height, the flatness on ground will not influence the normally travel of AGV.In addition, the automated guided vehicle of the application
Structure is simple, and manufacture difficulty is small, at low cost, is suitable for large batch of popularization and use.
In one embodiment of the application, it is preferable that referring to shown in Fig. 1 and Fig. 7, driving mechanism 2 includes the second driving
Power is transferred to driving wheel 5 by differential mechanism 22 by device 21 and differential mechanism 22, the second driving device 21.Entirely driving device is
Power is provided by the second driving device 21, is transferred power to by differential mechanism 22 on the driving wheel 5 of 1 two sides of car body, to drive
Move entire automated guided vehicle.Differential mechanism 22 is the rotational speed difference that can adjust left and right wheels, make left and right wheels (driving wheel) with
The mechanism of different rotating speeds rotation.When trolley turning driving or on uneven road surface when driving, driving mechanism 2 make left and right wheels (drive
Driving wheel) it is rolled with different rotating speeds, guarantee that two side drive wheels 5 all do PURE ROLLING, improves trolley curve driving or in obstacle
Stability when road traveling.
Therefore, the automated guided vehicle of the application is driven by using differential mechanism 22, is transmitted to both sides semiaxis
While power, both sides semiaxis is allowed to rotate with different revolving speeds, meets two sidecar wheels and make not as far as possible in the form of pure rolling
Equidistant traveling, the sliding friction on tire and ground can be effectively reduced when turning round, and reduce the abrasion of driving wheel 5, and can be matched
It closes steering mechanism 3 and realizes bidirectional walking.
In one embodiment of the application, it is preferable that the second driving device 21 and the quantity of differential mechanism 22 are one,
Two output ends of differential mechanism 22 pass through wheel two driving wheels 5 of axis connection respectively.Embodiments herein passes through a driving dress
It sets cooperation differential mechanism 22 and realizes driving while to two wheels, structure is simple and easier to control.
In one embodiment of the application, it is preferable that referring to shown in Fig. 1 to Fig. 6, rotating support 33 is to pass through shaft
It is rotatablely connected with the vehicle frame of car body 1, to realize rotation.Specifically, rotating support 33 includes support frame body 331, connects
Spindle 332 and mounting base 333；First driving device 31 and transmission component 32 are all set on support frame body 331, mounting base
333 along the longitudinally fixed vehicle frame for being set to car body 1 of car body 1, and support frame body 331 passes through connecting shaft 332 and mounting base 333
Rotation connection, the axis direction of connecting shaft 332 are the longitudinal direction of car body 1, so that support frame body 331 can be with connection
The axis of axis 332 is that shaft realizes rotation.
It should be noted that turning to driving and the setting of deflecting roller 4, rotating support since rotating support 33 is corresponding
33 are located at the central region of car body 1, and rotating support 33 is rotated with the vehicle frame of car body 1 along the longitudinal rear and front end of car body 1 to be connected
It connects, i.e., is provided with connecting shaft 332 in support 331 rear and front end of frame body, naturally it is also possible to be a connecting shaft 332 through branch
The rear and front end of bracket body 331；And it corresponds to support frame body 331 and is respectively provided with along the vehicle frame of the longitudinal front and rear sides of car body 1
There is mounting base 333, support frame body 331 is rotatablely connected by connecting shaft 332 with corresponding mounting base 333, realizes support frame master
The rotation longitudinal around car body 1 of body 331 turns to the rotation longitudinal around car body 1 of driving and deflecting roller 4 to realize, and then realizes vehicle
1 synchronizing for two sides deflecting roller 4 of body lands.
In addition, steer-drive and the corresponding tumbler 41 of transmission component 32 and deflecting roller 4 can pass through positioning seat etc.
Structure realizes its fixation on support frame body 331, to realize with the rotation of rotating support 33 longitudinal around car body 1
Rotation, but specific fixed form is not specifically limited, according to specific steer-drive, transmission component 32 and can be turned
Specifically it is arranged to the structure of 4 corresponding tumblers 41 of wheel.
In one embodiment of the application, it is preferable that referring to shown in Fig. 1, Fig. 4 and Fig. 6, to guarantee 1 two sides of car body
The synchronism that deflecting roller 4 rotates, the deflecting roller 4 of 1 two sides of car body are symmetrical set relative to the axis of connecting shaft 332, that is, rotate
For support frame 33 between two sides deflecting roller 4, the connecting shaft 332 of rotating support 33 is located at the middle part of two deflecting rollers 4, realizes
The isometric rotation of 1 two sides deflecting roller 4 of car body.
In one embodiment of the application, it is preferable that ginseng as shown in figs. 3 to 5, rotating support 33 further include positioning
Seat, positioning seat are not influencing device of rotation driving and biography for the rotation connection with the tumbler 41 of 1 two sides deflecting roller 4 of car body
Dynamic component 32 is to the stability in the premise of 4 rotate driving of deflecting roller, improved when deflecting roller 4 is longitudinally rotated around car body 1.Specifically
Ground, since deflecting roller 4 is horizontally set at along car body 1 two sides of rotating support 33, positioning seat is horizontally set at along car body 1
The two sides of rotating support 33, and positioning seat can be rotatablely connected with the tumbler 41 of corresponding deflecting roller 4.
In one embodiment of the application, it is preferable that ginseng as shown in figs. 3 to 5, to further increase rotating support
33 stability connecting with the tumbler 41 of deflecting roller 4, positioning seat include upper positioning seat 334 and lower positioning seat 335, upper positioning seat
334 and lower positioning seat 335 respectively correspond with the upper and lower ends of tumbler 41 be rotatablely connected, thus preferably control two sides steering
Wheel 4 rotates and realization is synchronized and landed.
It should be noted that as shown in Figures 3 to 5, being turned to used by the automated guided vehicle of the embodiment of the present application
Part 41 is that AGV trolley or kart hang common knuckle, and upper positioning seat 334 and lower positioning seat 335 are respectively from upper and lower ends
With the pin shaft pin joint of tumbler 41, realizes the rotation connection of positioning seat and tumbler 41, rotating support 33 is passed through
The positioning seat at both ends drives the deflecting roller 4 of two sides to rotate, so that synchronizing for two sides wheel lands, while not influencing two sides again
The normal direction of rotation process of wheel.
In one embodiment of the application, it is preferable that referring to shown in Fig. 1, Fig. 4 and Fig. 6, transmission component 32 includes gear
321, rack gear 322 and kinematic link 323, gear 321 are connected with the output end of first driving device 31, gear 321 and rack gear
322 are meshed, and the both ends of rack gear 322 pass through kinematic link 323 respectively and connect with the tumbler 41 of two deflecting rollers 4, pass through tooth
The cooperation for taking turns 321 rack gears 322 drives kinematic link 323 that deflecting roller 4 is pushed to realize and turns to.
It should be noted that the specific structure of kinematic link 323 can be required according to the steering of specific automated guided vehicle
Setting, is not specifically limited, preferably double-connecting rod type structure, structure are simple herein.
In one embodiment of the application, it is preferable that first driving device 31 and the second driving device 21 can be used
Decelerating motor, driving mechanism 2 are transferred power on two driving wheels 5 in left and right by differential mechanism 22 using decelerating motor, are turned to
Mechanism 3 drives transmission component 32 that deflecting roller 4 is pushed to rotate by decelerating motor.
It should be noted that the signal transmission & control between driving mechanism 2 and steering mechanism 3 is existing homing guidance fortune
Routine techniques in defeated vehicle, does not illustrate herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of automated guided vehicle, which is characterized in that including car body, driving mechanism and steering mechanism；
The driving mechanism is for driving the driving wheel of the car body two sides to rotate；
The steering mechanism includes first driving device, transmission component and rotating support, and the first driving device passes through institute
It states transmission component and power is transferred to deflecting roller；The first driving device and the transmission component are respectively positioned on the rotation support
On frame, the rotating support is rotatablely connected around the longitudinal direction of the car body and the vehicle frame of the car body, makes the car body two sides
The deflecting roller can be rotated around the shaft of the rotating support.
2. automated guided vehicle according to claim 1, which is characterized in that the driving mechanism includes the second driving dress
It sets and power is transferred to the driving wheel by the differential mechanism by differential mechanism, second driving device.
3. automated guided vehicle according to claim 1, which is characterized in that the rotating support includes support frame master
Body, connecting shaft and mounting base；
The first driving device and the transmission component are all set in support frame as described above main body, the mounting base fixed setting
In on the vehicle frame of the car body, support frame as described above main body is rotatablely connected by the connecting shaft and the mounting base.
4. automated guided vehicle according to claim 3, which is characterized in that the deflecting roller phase of the car body two sides
The axis of the connecting shaft is symmetrical set.
5. automated guided vehicle according to claim 3, which is characterized in that the rotating support further includes positioning
Seat, the positioning seat are set to the two sides of the rotating support, and the positioning seat and the steering along the cross-car
The tumbler of wheel is rotatablely connected.
6. automated guided vehicle according to claim 5, which is characterized in that the positioning seat includes upper positioning seat under
Positioning seat, the upper positioning seat and the lower positioning seat are respectively corresponded to be rotatablely connected with the upper and lower ends of the tumbler.
7. automated guided vehicle according to claim 2, which is characterized in that second driving device and the differential
The quantity of device is one, and two output ends of the differential mechanism pass through wheel two driving wheels of axis connection respectively.
8. automated guided vehicle according to claim 5 or 6, which is characterized in that the transmission component includes gear, tooth
Item and kinematic link, the gear are connected with the output end of the first driving device, and the gear is mutually nibbled with the rack gear
It closes, the both ends of the rack gear pass through the kinematic link respectively and connect with the tumbler of two deflecting rollers.
9. automated guided vehicle according to claim 1, which is characterized in that the first driving device is the electricity that slows down
Machine.
10. automated guided vehicle according to claim 2, which is characterized in that second driving device is the electricity that slows down
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910195908.5A CN109774819A (en) | 2019-03-14 | 2019-03-14 | Automated guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910195908.5A CN109774819A (en) | 2019-03-14 | 2019-03-14 | Automated guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109774819A true CN109774819A (en) | 2019-05-21 |
Family
ID=66488003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910195908.5A Pending CN109774819A (en) | 2019-03-14 | 2019-03-14 | Automated guided vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN109774819A (en) |
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| 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 |
| CN111071680A (en) * | 2019-12-27 | 2020-04-28 | 席宏榕 | Article conveyer is used in commodity circulation transportation |
| CN111645465A (en) * | 2020-06-12 | 2020-09-11 | 江苏省农业科学院 | Novel rail-ground dual-purpose conveyor |
| CN113928443A (en) * | 2020-06-25 | 2022-01-14 | 东北林业大学 | Agricultural AGV transport vechicle based on visual navigation |
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| CN109383663A (en) * | 2017-08-09 | 2019-02-26 | 杭州海康机器人技术有限公司 | A kind of automated guided vehicle |
| CN209535282U (en) * | 2019-03-14 | 2019-10-25 | 航天通用技术(北京)有限公司 | Automated guided vehicle |
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| 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 |
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| 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 |
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