CN111137371A - Steering driving unit and AGV - Google Patents
Steering driving unit and AGV Download PDFInfo
- Publication number
- CN111137371A CN111137371A CN202010013464.1A CN202010013464A CN111137371A CN 111137371 A CN111137371 A CN 111137371A CN 202010013464 A CN202010013464 A CN 202010013464A CN 111137371 A CN111137371 A CN 111137371A
- Authority
- CN
- China
- Prior art keywords
- swinging
- assembly
- plate
- drive unit
- mounting plate
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a steering drive unit and an AGV. In the steering drive unit: the driving assembly comprises a bottom plate and a driving speed reducing mechanism, at least two driving wheels in the driving speed reducing mechanism are arranged and are respectively positioned on the left side and the right side of the bottom plate, and the front side and the rear side of the bottom plate are respectively provided with a suspension mounting rack; the swinging and rotating assembly comprises a swinging and rotating base, a rotating support structure and a plurality of swinging bearings, the rotating support structure and the plurality of swinging bearings are arranged on the swinging and rotating base, the plurality of swinging bearings are respectively arranged on the suspension mounting frame, and the driving assembly can horizontally rotate relative to the damping assembly through the rotating support structure; the damping assembly comprises a lower pressing plate, a mounting plate and a plurality of damping units, wherein the damping units are arranged between the lower pressing plate and the mounting plate and are distributed along the circumferential direction around the central axis of the swinging and rotating assembly. The invention can realize multi-degree-of-freedom movement, has flexible shock absorption and very good landing performance.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to a steering driving unit and an AGV provided with the steering driving unit.
Background
AGVs (automated Guided vehicles), which are vehicles for implementing an automatic transport function, typically travel along a predetermined route by using electromagnetic, optical, and other automatic guiding devices.
Disclosure of Invention
In view of the above, the present invention provides a steering drive unit and an AGV, which can make each driving wheel of the AGV have good overall touchdown performance, and have good damping effect, and are not easy to turn over and jam.
In order to achieve the purpose, the invention provides the following technical scheme:
a steering drive unit comprising a drive assembly, an oscillating swing assembly and a shock assembly, wherein:
the driving assembly comprises a bottom plate and a driving speed reducing mechanism, at least two driving wheels in the driving speed reducing mechanism are arranged and are respectively positioned on the left side and the right side of the bottom plate, and the front side and the rear side of the bottom plate are respectively provided with a suspension mounting rack;
the swinging and rotating assembly comprises a swinging and rotating base, a rotating support structure and a plurality of swinging bearings, the rotating support structure and the plurality of swinging bearings are arranged on the swinging and rotating base, the plurality of swinging bearings are respectively arranged on the suspension mounting frame, and the driving assembly can horizontally rotate relative to the damping assembly through the rotating support structure;
the damping assembly comprises a lower pressing plate, a mounting plate and a plurality of damping units, and the damping units are arranged between the lower pressing plate and the mounting plate and wind the central axis of the swinging rotary assembly along the circumferential direction.
Preferably, in the above steering drive unit, the damping unit includes a spring and a hinge assembly, wherein:
two ends of the spring are respectively connected with the lower pressing plate and the mounting plate;
the hinge assembly comprises an upper mounting seat, a lower mounting seat and a hinge body, wherein two ends of the hinge body are hinged to the upper mounting seat and the lower mounting seat respectively.
Preferably, in the steering driving unit, the hinge body includes a first connecting rod and a second connecting rod, and the upper mounting seat, the first connecting rod, the second connecting rod and the lower mounting seat are hinged to each other by a pin shaft.
Preferably, in the steering drive unit, a first guide rod is further included, the first guide rod is arranged coaxially with the spring, and one end of the first guide rod is connected to the lower platen or the mounting plate.
Preferably, in the above steering drive unit, the damping unit includes a spring, a sliding bush, and a second guide rod, wherein:
two ends of the spring are respectively connected with the lower pressing plate and the mounting plate;
the two ends of the sliding sleeve are respectively a sliding sleeve connecting end and a sliding sleeve movable end, the sliding sleeve connecting end is connected with the mounting plate or the lower pressing plate, the sliding sleeve movable end extends into the spring, and the length of the sliding sleeve extending into the spring is smaller than that of the spring;
the second guide rod is sleeved in the sliding sleeve in a relatively sliding manner, the two ends of the second guide rod are respectively a guide rod connecting end and a guide rod movable end, and the guide rod connecting end is connected with the lower pressing plate or the mounting plate.
Preferably, in the steering drive unit, the sliding sleeve connection end is of a flange structure and is detachably connected to an upper side of the mounting plate by a bolt.
Preferably, in the steering drive unit, the movable ends of the guide rods in the plurality of damping units are connected to a connecting plate.
Preferably, in the steering drive unit, the driving assembly is provided with two driving speed reduction mechanisms, each driving speed reduction mechanism comprises a motor, a parallel shaft speed reducer and a driving wheel which are sequentially connected in a transmission manner, and the two driving wheels are concentric.
Preferably, in the above steering drive unit, the slewing support structure comprises an inner central shaft, a slewing bearing, and an outer central shaft, wherein:
the inner middle shaft is sleeved in the rotary bearing, and the swing rotary base is connected with the inner middle shaft;
the outer middle shaft is sleeved outside the rotary bearing, and the lower pressing plate is connected with the outer middle shaft.
Preferably, in the steering drive unit described above, the swing swivel base includes a suspension mounting plate and suspension bearing seats located on both sides below the suspension mounting plate, wherein:
the lower end of the inner middle shaft is connected with the suspension mounting plate;
the swing bearing is arranged on the suspension bearing seat.
An AGV provided with a steering drive unit as described hereinbefore.
According to the technical scheme, the steering driving unit and the AGV provided by the invention have the following characteristics:
through the rotary supporting structure, the driving assembly can horizontally rotate relative to the damping assembly and other parts of the AGV connected with the upper side of the damping assembly, so that the steering driving unit can realize curve running with various radians, in-situ rotation and translation with various angles with the forward running direction in a narrow space besides linear running;
through the oscillating bearing, the oscillating of the driving assembly can be realized, namely, the driving assembly (particularly the driving wheels at two sides of the bottom plate) and other parts are flexibly connected to a certain degree, so that the driving wheels have good integral grounding performance;
through the parallelly connected distribution of a plurality of shock attenuation unit circumference to be favorable to realizing steady shock attenuation effect from top to bottom, the part of bearing that makes damper upside connect obtains good shock attenuation effect, and difficult emergence is turned on one's side and is blocked.
The AGV provided by the invention can realize multi-degree-of-freedom movement and flexible shock absorption, and has very good landing performance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a three-dimensional structural view of a steering drive unit provided in a first embodiment of the present invention;
FIG. 2 is a three-dimensional block diagram of a drive assembly provided in a first embodiment of the present invention;
FIG. 3 is a three-dimensional block diagram of an oscillating swivel assembly provided in a first embodiment of the present invention;
FIG. 4 is a full sectional view of a slewing support structure provided in a first embodiment of the present invention;
FIG. 5 is a three-dimensional structural view of a shock-absorbing assembly provided in a first embodiment of the present invention;
FIG. 6 is a three-dimensional block diagram of a hinge assembly provided in a first embodiment of the present invention;
FIG. 7 is a three-dimensional structural view of a shock-absorbing assembly provided in a second embodiment of the present invention;
fig. 8 is a sectional view of a shock-absorbing unit provided in a second embodiment of the present invention.
Wherein:
1-a driving component, 2-a swinging and rotating component, 3-a damping component,
11-a bottom plate, 12-a hanging mounting frame, 13-a driving speed reducing mechanism,
21-suspension bearing seat, 22-oscillating bearing, 23-suspension mounting plate, 24-rotary supporting structure,
31-lower press plate, 32-mounting plate, 33-first guide bar, 34-hinge assembly, 35-spring,
41-connecting plate, 42-sliding sleeve, 43-second guide rod,
131-parallel shaft deceleration, 132-motor, 133-driving wheel,
241-middle shaft, 242-rotary bearing, 243-outer middle shaft,
244-the outer bearing cap, 245-the inner bearing cap,
341-first connecting rod, 342-upper mounting seat, 343-lower mounting seat, 344-pin shaft,
345-second connecting rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
First embodiment
Referring to fig. 1 to 6, fig. 1 is a three-dimensional structural view of a steering driving unit according to a first embodiment of the present invention; FIG. 2 is a three-dimensional block diagram of a drive assembly provided in a first embodiment of the present invention; FIG. 3 is a three-dimensional block diagram of an oscillating swivel assembly provided in a first embodiment of the present invention; FIG. 4 is a full sectional view of a slewing support structure provided in a first embodiment of the present invention; FIG. 5 is a three-dimensional structural view of a shock-absorbing assembly provided in a first embodiment of the present invention; fig. 6 is a three-dimensional structural view of a hinge assembly provided in a first embodiment of the present invention.
The first embodiment of the present invention provides a steering drive unit including a drive assembly 1, a swing assembly 2, and a damper assembly 3. Wherein:
the driving assembly 1 comprises a bottom plate 11 and a driving speed reducing mechanism 13, at least two driving wheels 133 in the driving speed reducing mechanism 13 are arranged and are respectively positioned at the left side and the right side of the bottom plate 11, and the front side and the rear side of the bottom plate 11 are respectively provided with a suspension mounting frame 12;
the swinging and rotating assembly 2 comprises a swinging and rotating base, a rotating support structure 24 and a plurality of swinging bearings 22, wherein the rotating support structure 24 and the swinging bearings 22 are arranged on the swinging and rotating base, the swinging bearings 22 are respectively arranged on the suspension mounting frame 12, and the driving assembly 1 can horizontally rotate relative to the damping assembly 3 through the rotating support structure 24;
the damping assembly 3 includes a lower pressing plate 31, a mounting plate 32 and a plurality of damping units, and the plurality of damping units are all disposed between the lower pressing plate 31 and the mounting plate 32 and are circumferentially distributed around the central axis of the swing slewing assembly 2.
The oscillating bearing is a bearing which rotates in a reciprocating manner within a certain angle, and the rotation angle in one direction is generally not more than 360 degrees. The unidirectional rotation angle of the rocking bearing 22 in the above-described steering drive unit is less than 60 degrees, or less.
As can be seen from the above technical solutions, a steering drive unit according to a first embodiment of the present invention includes:
through the rotary supporting structure 24, the driving assembly 1 can horizontally rotate relative to the damping assembly 2 and other parts of the AGV connected with the upper side of the damping assembly, so that the steering driving unit can realize curve running with various radians, on-site rotation and translation with various angles with the forward running direction in a narrow space besides linear running;
through the swing bearing 22, the driving assembly 1 can swing, that is, the driving assembly 1 (especially the driving wheels 133 on both sides of the bottom plate 11) and other parts can be flexibly connected to a certain extent, so as to ensure that each driving wheel 133 has good integral grounding performance;
through the parallelly connected distribution of a plurality of shock attenuation unit circumference to be favorable to realizing steady shock attenuation effect from top to bottom, the part of bearing that makes 3 upsides of damper obtains good shock attenuation effect, and difficult emergence is turned on one's side and is blocked.
When the steering driving unit is applied to the AGV, the AGV can move in multiple degrees of freedom, is flexible in damping and has good landing performance. But is not limited thereto and the steering driving unit may be applied to other mechanical devices or intelligent machines except for the AGV accident, and the present invention is not particularly limited thereto.
Specifically, referring to fig. 2, the driving assembly 1 is provided with two driving speed reducing mechanisms 13, and each driving speed reducing mechanism 13 includes a motor 132, a parallel shaft speed reducer 131 and a driving wheel 133, which are sequentially connected in a transmission manner. In which two drive reduction mechanisms 13 are installed on the base plate 11 with central symmetry and two drive wheels 133 are kept concentric to achieve differential motion. Accordingly, in the steering drive unit, the two driving wheels 133 can perform straight running, and the steering drive unit can perform various operations, that is, curve running with various arcs, in-situ rotation, and translation with various angles to the forward running direction in a narrow space, in addition to the straight running, by the speed difference between the two driving wheels 133.
Specifically, referring to fig. 4, the swing support structure 24 of the swing module 2 includes an inner central shaft 241, a swing bearing 242 and an outer central shaft 243. Wherein: the inner ring of the slewing bearing 242 is coaxially sleeved on the outer side of the inner center shaft 241, is axially fixed through an inner bearing cap 245, and the swinging slewing base (specifically, the suspension mounting plate 23) is connected with the inner center shaft 241; the outer ring of the rotary bearing 242 is coaxially sleeved in the outer central shaft 243 and axially fixed by the outer bearing gland 244, and the lower pressure plate 31 of the shock-absorbing assembly 3 is connected with the outer central shaft 243.
Specifically, referring to fig. 3 and 4, the swing swivel base of the swing swivel assembly 2 includes a suspension mounting plate 23 and suspension bearing seats 21, and the suspension bearing seats 21 are located at two sides below the suspension mounting plate 23. And, the lower end of the inner bottom bracket 241 is connected with the suspension mounting plate 23, thereby disposing the slewing support structure 24 above the suspension mounting plate 23; the two swing bearings 22 are respectively arranged on the two suspension bearing seats 21, and the lower ends of the two suspension bearing seats 21 are fixedly connected through a connecting piece.
Specifically, referring to fig. 5 and 6, the damping unit includes a spring 35 and a hinge assembly 34. Wherein, two ends of the spring 35 are respectively connected with the lower pressing plate 31 and the mounting plate 32; the hinge assembly 34 includes upper and lower mounting seats 342 and 343, and a hinge body having both ends hinged to the upper and lower mounting seats 342 and 343, respectively.
Specifically, the upper side of lower pressure plate 31 and the downside of mounting panel 32 are provided with the recess that is used for holding the tip of spring 35 respectively to it is spacing to carry out the level to spring 35, avoids the spring slope off tracking.
Specifically, each hinge assembly 34 includes three or more revolute pairs (or revolute kinematic pairs) connected in series. For example, as shown in fig. 6, the hinge body includes a first connection rod 341 and a second connection rod 345, and the upper mount 342, the first connection rod 341, the second connection rod 345 and the lower mount 343 are hinged to each other by a pin 344.
Specifically, referring to fig. 5, in the damping unit, a first guide rod 33 is further included, the first guide rod 33 is coaxially disposed with a spring 35, and one end of the first guide rod 33 is connected to the lower pressing plate 31 or the mounting plate 32.
In the damping assembly 3, the plurality of springs 35 are circumferentially arranged, so that a stable damping effect can be achieved; by arranging the hinge assemblies 34 circumferentially, relative movement between the lower pressure plate 31 and the mounting plate 32 can be ensured, and driving force can be transmitted between the lower pressure plate 31 and the mounting plate 32 while vibration absorption and buffering are ensured. In a word, in the damping assembly 3, the plurality of damping units are connected in parallel, so that driving force can be transmitted, a stable up-down damping effect can be realized, and the clamping is not easy to occur.
Second embodiment
Referring to fig. 7 and 8, fig. 7 is a three-dimensional structural view of a shock-absorbing assembly according to a second embodiment of the present invention; fig. 8 is a sectional view of a shock-absorbing unit provided in a second embodiment of the present invention.
The second embodiment of the present invention provides a steering drive unit that differs from the steering drive unit provided by the first embodiment of the present invention only in that the shock absorbing unit is different.
Specifically, referring to fig. 7 and 8, in the steering driving unit according to the second embodiment of the present invention, the damping unit includes a spring 35, a sliding sleeve 42 and a second guide rod 43. Wherein, two ends of the spring 35 are respectively connected with the lower pressing plate 31 and the mounting plate 32; the two ends of the sliding sleeve 42 are respectively a sliding sleeve connecting end and a sliding sleeve movable end, the sliding sleeve connecting end is connected with the mounting plate 32 or the lower pressing plate 31, the sliding sleeve movable end extends into the spring 35, and the length of the sliding sleeve 42 extending into the spring 35 is smaller than that of the spring 35; the second guide rod 43 is slidably sleeved in the sliding sleeve 42, and has a guide rod connecting end and a guide rod moving end at its two ends, and the guide rod connecting end is connected to the lower pressing plate 31 or the mounting plate 32.
It should be noted that, in order to ensure the relative sliding between the second guide rod 43 and the sliding sleeve 42, when the sliding sleeve connection end of the sliding sleeve 42 is connected with the mounting plate 32, the guide rod connection end of the second guide rod 43 is connected with the lower pressing plate 31 (as shown in fig. 8); when the slide coupling end of the slide 42 is coupled to the lower pressing plate 31, the guide coupling end of the second guide 43 is coupled to the mounting plate 32.
Specifically, the sliding sleeve 42 may be made of a self-lubricating material, such as brass or an engineering plastic. The sliding sleeve 42 is easy to wear in the long-term use process, so that, preferably, the sliding sleeve connecting end of the sliding sleeve 42 is in a flange structure and is detachably connected to the upper side of the mounting plate 32 through a bolt, and the spring 35 is clamped between the lower pressing plate 31 and the mounting plate 32, so that the sliding sleeve 42 can be simply and conveniently disassembled and replaced without integrally disassembling and assembling the steering driving unit.
Specifically, the upper side of lower pressure plate 31 and the downside of mounting panel 32 are provided with the recess that is used for holding the tip of spring 35 respectively to it is spacing to carry out the level to spring 35, avoids the spring slope off tracking.
Further, the damping device further comprises a connecting plate 41, and the movable ends of the guide rods of the second guide rods 43 in the plurality of damping units are connected with the connecting plate 41.
Third embodiment
A third embodiment of the present invention provides an AGV in which the steering drive unit provided in the first or second embodiment of the present invention is provided.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. Steering drive unit, characterized by comprising a drive assembly (1), an oscillating swivel assembly (2) and a shock-absorbing assembly (3), wherein:
the driving assembly (1) comprises a bottom plate (11) and a driving speed reducing mechanism (13), at least two driving wheels (133) in the driving speed reducing mechanism (13) are arranged and are respectively positioned on the left side and the right side of the bottom plate (11), and suspension mounting frames (12) are respectively arranged on the front side and the rear side of the bottom plate (11);
the swinging and rotating assembly (2) comprises a swinging and rotating base, a rotating support structure (24) and a plurality of swinging bearings (22), wherein the rotating support structure (24) and the swinging bearings (22) are arranged on the swinging and rotating base, the swinging bearings (22) are respectively arranged on the suspension mounting frame (12), and the driving assembly (1) can horizontally rotate relative to the shock absorption assembly (3) through the rotating support structure (24);
damper (3) include holding down plate (31), mounting panel (32) and a plurality of shock attenuation unit, and is a plurality of the shock attenuation unit all set up in holding down plate (31) with between mounting panel (32), and wind the central axis of swing gyration subassembly (2) distributes along circumference.
2. Steering drive unit according to claim 1, characterized in that the damping unit comprises a spring (35) and a hinge assembly (34), wherein:
two ends of the spring (35) are respectively connected with the lower pressure plate (31) and the mounting plate (32);
the hinge assembly (34) includes an upper mount (342) and a lower mount (343), and a hinge body having both ends hinged to the upper mount (342) and the lower mount (343), respectively.
3. The steer-drive unit according to claim 2, wherein the hinge body comprises a first connecting rod (341) and a second connecting rod (345), and the upper mount (342), the first connecting rod (341), the second connecting rod (345) and the lower mount (343) are hinged by a pin (344), respectively.
4. Steering drive unit according to claim 2, characterized in that it further comprises a first guide rod (33), said first guide rod (33) being arranged coaxially with said spring (35), and in that one end of said first guide rod (33) is connected with said lower pressure plate (31) or said mounting plate (32).
5. Steering drive unit according to claim 1, characterized in that the damping unit comprises a spring (35), a sliding sleeve (42) and a second guide rod (43), wherein:
two ends of the spring (35) are respectively connected with the lower pressure plate (31) and the mounting plate (32);
the two ends of the sliding sleeve (42) are respectively a sliding sleeve connecting end and a sliding sleeve movable end, the sliding sleeve connecting end is connected with the mounting plate (32) or the lower pressing plate (31), the sliding sleeve movable end extends into the spring (35), and the length of the sliding sleeve (42) extending into the spring (35) is smaller than that of the spring (35);
the second guide rod (43) is sleeved in the sliding sleeve (42) in a relatively sliding manner, the two ends of the second guide rod are respectively a guide rod connecting end and a guide rod movable end, and the guide rod connecting end is connected with the lower pressing plate (31) or the mounting plate (32).
6. Steering drive unit according to claim 5, characterised in that the slip joint end is of flanged construction and is detachably connected to the upper side of the mounting plate (32) by means of bolts;
and/or the movable ends of the guide rods in the plurality of damping units are connected with a connecting plate (41).
7. Steering drive unit according to any of claims 1 to 6, characterized in that two drive reduction mechanisms (13) are provided in the drive assembly (1), each drive reduction mechanism (13) comprising a motor (132), a parallel shaft reducer (131) and a drive wheel (133) in sequential transmission connection, the two drive wheels (133) being concentric.
8. Steering drive unit according to any of claims 1 to 6, characterized in that the slewing support structure (24) comprises an inner central shaft (241), a slewing bearing (242) and an outer central shaft (243), wherein:
the inner middle shaft (241) is sleeved in the rotary bearing (242), and the swinging rotary base is connected with the inner middle shaft (241);
the outer middle shaft (243) is sleeved outside the rotary bearing (242), and the lower pressing plate (31) is connected with the outer middle shaft (243).
9. Steering drive unit according to claim 8, characterized in that the swinging swivel base comprises a suspension mounting plate (23) and suspension bearing blocks (21) on both sides below the suspension mounting plate (23), wherein:
the lower end of the inner middle shaft (241) is connected with the suspension mounting plate (23);
the oscillating bearing (22) is arranged on the suspension bearing seat (21).
10. AGV, characterized in that a steering drive unit according to any of claims 1 to 9 is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010013464.1A CN111137371A (en) | 2020-01-07 | 2020-01-07 | Steering driving unit and AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010013464.1A CN111137371A (en) | 2020-01-07 | 2020-01-07 | Steering driving unit and AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111137371A true CN111137371A (en) | 2020-05-12 |
Family
ID=70523823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010013464.1A Pending CN111137371A (en) | 2020-01-07 | 2020-01-07 | Steering driving unit and AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111137371A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112895828A (en) * | 2021-03-12 | 2021-06-04 | 机械工业第九设计研究院有限公司 | Take absorbing ultra-thin differential drive for AGV |
| CN114835056A (en) * | 2022-03-21 | 2022-08-02 | 天津工程机械研究院有限公司 | Working method of differential driving unit for heavy-load AGV |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999871A (en) * | 2015-09-07 | 2015-10-28 | 河北工程大学 | Two-hinge guide automobile suspension mechanism capable of turning in crab walk manner |
| CN105857116A (en) * | 2016-05-12 | 2016-08-17 | 吴昊 | Driving mechanism of automatic guiding type carrying device |
| CN206243298U (en) * | 2016-11-30 | 2017-06-13 | 郑州大河智信科技股份公司 | A kind of comprehensive four-wheel drive AGV dollies |
| CN107776349A (en) * | 2017-10-11 | 2018-03-09 | 叶建新 | A kind of automotive suspension and the automobile with the suspension |
| CN207758907U (en) * | 2017-12-21 | 2018-08-24 | Tcl王牌电器(惠州)有限公司 | Differential drive unit and automatic guided vehicle |
| CN108583729A (en) * | 2017-12-30 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of automated guided vehicle suspension supporting mechanism |
| CN110002163A (en) * | 2019-04-27 | 2019-07-12 | 安徽凌坤智能科技有限公司 | A kind of intelligent carriage for the composite machine people that stores in a warehouse |
-
2020
- 2020-01-07 CN CN202010013464.1A patent/CN111137371A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999871A (en) * | 2015-09-07 | 2015-10-28 | 河北工程大学 | Two-hinge guide automobile suspension mechanism capable of turning in crab walk manner |
| CN105857116A (en) * | 2016-05-12 | 2016-08-17 | 吴昊 | Driving mechanism of automatic guiding type carrying device |
| CN206243298U (en) * | 2016-11-30 | 2017-06-13 | 郑州大河智信科技股份公司 | A kind of comprehensive four-wheel drive AGV dollies |
| CN107776349A (en) * | 2017-10-11 | 2018-03-09 | 叶建新 | A kind of automotive suspension and the automobile with the suspension |
| CN207758907U (en) * | 2017-12-21 | 2018-08-24 | Tcl王牌电器(惠州)有限公司 | Differential drive unit and automatic guided vehicle |
| CN108583729A (en) * | 2017-12-30 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of automated guided vehicle suspension supporting mechanism |
| CN110002163A (en) * | 2019-04-27 | 2019-07-12 | 安徽凌坤智能科技有限公司 | A kind of intelligent carriage for the composite machine people that stores in a warehouse |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112895828A (en) * | 2021-03-12 | 2021-06-04 | 机械工业第九设计研究院有限公司 | Take absorbing ultra-thin differential drive for AGV |
| CN114835056A (en) * | 2022-03-21 | 2022-08-02 | 天津工程机械研究院有限公司 | Working method of differential driving unit for heavy-load AGV |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7143011B2 (en) | In-wheel 3-arm suspension for vehicles | |
| CN103958923B (en) | There is the wheel of suspension system and there is the centering unit of suspension system | |
| CN111032396B (en) | Vehicle drive device | |
| CN111137371A (en) | Steering driving unit and AGV | |
| US6161853A (en) | Suspension system for vehicles | |
| EP0188562A1 (en) | Vehicle suspension | |
| CN112373260B (en) | Damping chassis system and mobile device | |
| US3674285A (en) | Vehicle suspension | |
| CN107651030B (en) | Buffer shaking crawler moving platform with built-in drive and robot with buffer shaking crawler moving platform | |
| US2417325A (en) | Drive axle construction for independently sprung wheels | |
| JP6210734B2 (en) | Vehicle suspension system | |
| CN115320475B (en) | Industrial delivery robot with shock absorption buffering and obstacle crossing functions | |
| JPH0541475B2 (en) | ||
| US4408541A (en) | Bogie truck car body support system | |
| EP4028315B1 (en) | A motor vehicle with a suspension using a tchebicheff four-bar linkage | |
| CN115071829B (en) | Floating chassis and robot | |
| CN210592220U (en) | Robot with double-bridge suspension | |
| JPH02300516A (en) | Elastic deflection type swivel bearing for car parts | |
| CN217574708U (en) | Modularized universal assembling suspension damping hub | |
| CN219256986U (en) | Improve cushioning effect's movable chassis that carries cargo | |
| CN216942651U (en) | Shock attenuation drive wheel | |
| CN216684667U (en) | Chassis device | |
| CN205469342U (en) | Automobile -used spare tire rack | |
| KR102340947B1 (en) | Module for limiting tilting angle and three-wheeled transportation device including the same | |
| CN113968255B (en) | Bogie and rail vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200512 |
|
| RJ01 | Rejection of invention patent application after publication |