CN113978575A - AGV dolly and universal motion thereof - Google Patents
AGV dolly and universal motion thereof Download PDFInfo
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- CN113978575A CN113978575A CN202111361046.2A CN202111361046A CN113978575A CN 113978575 A CN113978575 A CN 113978575A CN 202111361046 A CN202111361046 A CN 202111361046A CN 113978575 A CN113978575 A CN 113978575A
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- wheel
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- 230000033001 locomotion Effects 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 239000000969 carrier Substances 0.000 claims description 3
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims 1
- 238000011065 in-situ storage Methods 0.000 abstract description 2
- 230000003068 static effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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Images
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention provides an AGV (automatic guided vehicle) and a universal motion mechanism thereof, wherein the AGV comprises a frame and universal motion mechanisms respectively arranged at the front end and the rear end of the frame, each set of universal motion mechanism comprises two sets of walking units respectively positioned at the left side and the right side, each set of walking unit comprises a rotating round table rotatably connected in a bearing seat, the upper surface of the rotating round table is fixedly connected with a steering driven belt pulley with the same axis, the steering driven belt pulley is connected with a wheel train driving belt pulley and a walking wheel respectively at the upper part and the lower part of the rotating round table through an upper wheel carrier and a lower wheel carrier, the wheel train driving belt pulley is connected and driven by a driving motor, and a transmission belt penetrates through the rotating round table and the steering driven belt pulley and is respectively connected with the wheel train driving belt pulley and a wheel train driven belt pulley part on the walking wheel; the steering driving belt pulley is connected with the steering driven belt pulley of each of the two groups of walking units through a steering belt. The invention can do linear motion and in-situ radius rotation motion in any direction, has compact structure and greatly increases the operation and application range.
Description
Technical Field
The invention belongs to the technical field of unmanned transport vehicles, and particularly relates to an AGV trolley and a universal movement mechanism thereof.
Background
An Automated Guided Vehicle, also called AGV cart generally, is a transportation cart equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transportation cart in industrial application, and using a rechargeable battery as its power source. The route and behavior of the vehicle can be controlled by a computer. General AGV dolly can turn round action such as turn to in the course of the work absolutely, and current AGV dolly can't solve the problem of the linear motion of arbitrary direction of non-fore-and-aft direction, original place radius rotary motion because of its automobile body structure's restriction, is unsuitable to operate in narrow and small space, and application range reduces greatly.
Disclosure of Invention
In view of this, the present invention provides an AGV cart and a universal movement mechanism thereof, which specifically comprises:
the universal motion mechanism is applied to an AGV and comprises two groups of walking units which are respectively positioned on the left side and the right side, and each group of walking units comprises
A bearing seat;
the rotating round table is rotationally connected with the bearing seat through a roller bearing; the upper surface of the rotating circular table is fixedly connected with a steering driven belt pulley integrally positioned on the upper surface of the bearing seat in an abutting mode, the steering driven belt pulley and the rotating circular table rotate coaxially and coaxially, a wheel frame through hole is formed in a disc body of the steering driven belt pulley, the upper surface of the rotating circular table is vertically and fixedly connected with a pair of upper wheel frames, the lower surface of the rotating circular table is vertically and fixedly connected with a pair of lower wheel frames, the two upper wheel frames penetrate through the wheel frame through hole, a wheel train driving belt pulley is rotatably connected between the parts, positioned on the upper disc surface of the steering driven belt pulley, of the two upper wheel frames through a rotating shaft, the wheel train driving belt pulley is coaxially and fixedly connected with a motor shaft of a driving motor, and the driving motor is fixedly connected with the upper wheel frame on one side;
the two lower wheel carriers are rotatably connected with a walking wheel, the walking wheel is coaxially and fixedly connected with a driven pulley part of the gear train, and a transmission belt penetrates through the rotating circular table and the steering driven pulley and is then respectively connected with a driving pulley part of the gear train and the driven pulley part of the gear train;
the center between the two groups of walking units is provided with a steering driving belt pulley which is connected and driven by a steering power motor, and the steering driving belt pulley is connected with the steering driven belt pulley of each of the two groups of walking units through a steering belt.
The top ends of two upper wheel frames of each group of walking units are also fixedly connected with a rotating part of a conductive sliding ring, the rotating axis of the conductive sliding ring is coaxial with the same group of steering driven pulleys, the static part of the conductive sliding ring is fixedly connected with a bracket fixed with the frame, and a lead led out from the rotating part is electrically connected with a driving motor.
A tension wheel used for tensioning the steering belt is also arranged between the steering driving belt pulley and each steering driven belt pulley.
The upper wheel frame vertically and fixedly connected with the upper surface of the rotary circular truncated cone is symmetrically arranged by taking the rotating axis of the rotary circular truncated cone as a center, and the lower wheel frame vertically and fixedly connected with the lower surface of the rotary circular truncated cone is symmetrically arranged by taking the rotating axis of the rotary circular truncated cone as a center.
The driven pulley part of the gear train connected with the transmission belt is positioned in the middle section of the travelling wheel, and two ends of the gear train are respectively and fixedly provided with a section of tire part coaxially.
The AGV comprises a frame and universal motion mechanisms which are respectively arranged at the front end and the rear end of the frame.
Each traveling wheel is driven by the self-propelled vehicle, universal steering without angle limitation can be realized, linear motion and in-situ radius rotation motion in any direction can be performed, the structure is compact, and the operation and application range is greatly enlarged.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic perspective view of an AGV of the present invention;
FIG. 2 is a perspective view of another view of the AGV of the present invention;
FIG. 3 is a perspective view of a single set of gimbal mechanism;
FIG. 4 is a perspective view of the walking unit;
FIG. 5 is an exploded view of the traveling unit;
fig. 6 is a perspective view of the road wheel.
1-a vehicle frame; 2-steering driving pulley; 3-a tension wheel; 4-a steering belt; 5-a steering driven pulley; 51-wheel carrier through hole; 6-bearing seat; 7-a ball bearing; 8, rotating the circular truncated cone; 81-belt through hole; 9-upper wheel frame; 10-lower wheel frame; 11-a drive motor; 12-a steering power motor; 13-train drive pulley; a 14-gear train driven pulley part; 15-a tyre portion; 16-a drive belt; 17-a conductive slip ring; 18-bracket.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in the figure, the AGV comprises a frame 1 and universal motion mechanisms respectively arranged at the front end and the rear end of the frame 1, each set of universal motion mechanism comprises two groups of walking units respectively positioned at the left side and the right side, and each group of walking units comprises
The bearing seat 6 is fixedly connected with the frame 1 through a fastening bolt;
the rotary circular table 8 is rotationally connected with the bearing seat 6 through a roller bearing 7; the upper surface of the rotary circular table 8 is fixedly connected with a steering driven belt pulley 5 integrally positioned on the upper surface of the bearing seat 6 in an abutting mode, the steering driven belt pulley 5 is integrally disc-shaped and rotates coaxially with the rotary circular table 8, a wheel frame through hole 51 is formed in a disc body of the steering driven belt pulley 5, the upper surface of the rotary circular table 8 is vertically and fixedly connected with a pair of upper wheel frames 9 which are symmetrically arranged by taking the rotating axis of the rotary circular table 8 as the center, the lower surface of the rotary circular table 8 is vertically and fixedly connected with a pair of lower wheel frames 10 which are symmetrically arranged by taking the rotating axis of the rotary circular table 8 as the center, and the two upper wheel frames 9 penetrate through the wheel frame through holes 51, and a gear train driving pulley 13 is rotatably connected between the parts of the two upper wheel frames 9, which are positioned above the upper disc surface of the steering driven pulley 5, through a rotating shaft, the gear train driving pulley is coaxially and fixedly connected with a motor shaft of a driving motor 11, and the driving motor 11 is fixedly connected with the upper wheel frame on one side.
The two lower wheel frames 10 are used for being rotatably connected with a walking wheel, the walking wheel is coaxially and fixedly connected with a wheel train driven pulley part, the belt through holes 81 used for penetrating through the transmission belt 16 are further formed in the positions, located between the two upper wheel frames 9, of the rotating circular truncated cone, the transmission belt 16 penetrates through the belt through holes 81 and the wheel frame through holes 51 of the steering driven pulley 5 and then is respectively connected with the wheel train driving pulley 13 and the wheel train driven pulley part, and the upper wheel frames 9, the steering driven pulley 5, the rotating circular truncated cone, the bearing seats 6 and the lower wheel frames 10 jointly form certain protection on the transmission belt 16. The rotation of the driving travelling wheels is conducted by the driving motor through the wheel train driving belt pulley, the transmission belt 16 and the wheel train driven belt pulley part, namely, each group of travelling units is a self-driving travelling wheel structure.
In order to make the structure more compact, the power transmission smoother, the stress is balanced, and the rotation eccentricity caused by the unilateral stress is avoided, the invention also provides a structural embodiment of the walking wheel, as shown in fig. 6, a driven pulley part 14 of the wheel train connected with a transmission belt 16 is positioned in the middle section of the walking wheel, and two ends of the wheel train are respectively and fixedly provided with a section of tire part 15 coaxially.
The center between two sets of traveling units is provided with a steering driving pulley 2, the steering driving pulley 2 is in conductive connection with the steering driven pulleys 5 of the two sets of traveling units through a steering belt 4, and further, a tension wheel 3 for tensioning the steering belt 4 is arranged between the steering driving pulley 2 and each steering driven pulley 5. The steering driving belt pulley 2 is rotationally connected to the mounting plate, a steering power motor 12 is fixedly connected below the mounting plate, the steering power motor 12 provides power for the steering driving belt pulley 2, one steering power motor 12 can drive the traveling wheels of two groups of traveling units to synchronously steer through a belt pulley conduction system, in order to better realize universal steering without angle limitation, the top ends of two upper wheel frames 9 of each group of traveling units are fixedly connected with a rotating part of a conductive sliding ring 17, the rotating axis of the conductive sliding ring 17 is coaxial with the steering driven belt pulley 5 of the same group, a static part of the conductive sliding ring 17 is fixedly connected with a bracket 18 fixed with the vehicle frame 1, a lead led out from the static part can be laid along the bracket 18 and electrically connected with a power supply, and the lead led out from the rotating part is electrically connected with a driving motor 11 and co-rotates along with the driving motor.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. The universal motion mechanism is applied to an AGV and is characterized by comprising two groups of walking units which are respectively positioned on the left side and the right side, and each group of walking units comprises
A bearing seat;
the rotating round table is rotationally connected with the bearing seat through a roller bearing; the upper surface of the rotating circular table is fixedly connected with a steering driven belt pulley integrally positioned on the upper surface of the bearing seat in an abutting mode, the steering driven belt pulley and the rotating circular table rotate coaxially and coaxially, a wheel frame through hole is formed in a disc body of the steering driven belt pulley, the upper surface of the rotating circular table is vertically and fixedly connected with a pair of upper wheel frames, the lower surface of the rotating circular table is vertically and fixedly connected with a pair of lower wheel frames, the two upper wheel frames penetrate through the wheel frame through hole, a wheel train driving belt pulley is rotatably connected between the parts, positioned on the upper disc surface of the steering driven belt pulley, of the two upper wheel frames through a rotating shaft, the wheel train driving belt pulley is coaxially and fixedly connected with a motor shaft of a driving motor, and the driving motor is fixedly connected with the upper wheel frame on one side;
the two lower wheel carriers are rotatably connected with a walking wheel, the walking wheel is coaxially and fixedly connected with a driven pulley part of the gear train, and a transmission belt penetrates through the rotating circular table and the steering driven pulley and is then respectively connected with a driving pulley part of the gear train and the driven pulley part of the gear train;
the center between the two groups of walking units is provided with a steering driving belt pulley which is connected and driven by a steering power motor, and the steering driving belt pulley is connected with the steering driven belt pulley of each of the two groups of walking units through a steering belt.
2. The universal motion mechanism as claimed in claim 1, wherein each group of traveling units further comprises a rotating part fixedly connected to the top ends of the two upper wheel carriers, the rotating shaft of the conductive slip ring is coaxial with the same group of driven and steering pulleys, the stationary part of the conductive slip ring is fixedly connected to a bracket fixed to the frame, and a lead wire led out from the rotating part is electrically connected to the driving motor.
3. The universal kinematic mechanism according to claim 1, wherein a tension wheel for tensioning the steering belt is further provided between the steering driving pulley and each of the steering driven pulleys.
4. The universal motion mechanism according to claim 1, wherein the upper wheel frame vertically fixed to the upper surface of the rotary truncated cone is disposed symmetrically with respect to the rotation axis of the rotary truncated cone, and the lower wheel frame vertically fixed to the lower surface of the rotary truncated cone is disposed symmetrically with respect to the rotation axis of the rotary truncated cone.
5. The universal motion mechanism of claim 1, wherein the driven pulley portion of the wheel system for connecting to the transmission belt is located at the middle of the wheel system, and a tire portion is coaxially fixed at each of the two ends of the wheel system.
An AGV according to claim 1, comprising a frame and the universal movement mechanism of claim 1 disposed at the front and rear ends of the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111361046.2A CN113978575A (en) | 2021-11-17 | 2021-11-17 | AGV dolly and universal motion thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111361046.2A CN113978575A (en) | 2021-11-17 | 2021-11-17 | AGV dolly and universal motion thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113978575A true CN113978575A (en) | 2022-01-28 |
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ID=79749014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111361046.2A Pending CN113978575A (en) | 2021-11-17 | 2021-11-17 | AGV dolly and universal motion thereof |
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| Country | Link |
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| CN (1) | CN113978575A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114413925A (en) * | 2022-03-03 | 2022-04-29 | 南通理工学院 | Unmanned vehicle for conveying path planning and operation method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102346482A (en) * | 2011-05-27 | 2012-02-08 | 北京英传奇科技有限公司 | In-situ steering wheel type robot base mechanism |
| CN209176446U (en) * | 2018-08-28 | 2019-07-30 | 中山向荣脚轮制造有限公司 | A kind of servo-actuated universal wheel suitable for AGV trolley |
| CN110481673A (en) * | 2019-08-15 | 2019-11-22 | 燕山大学 | Main passive differential mixed connection supporting leg and six degree of freedom posture adjustment platform |
| CN111003078A (en) * | 2019-12-31 | 2020-04-14 | 杭州锐冠科技有限公司 | Power wheel device |
| CN211943570U (en) * | 2020-03-05 | 2020-11-17 | 湖北三峡职业技术学院 | Two-wheeled independent walking steering device |
-
2021
- 2021-11-17 CN CN202111361046.2A patent/CN113978575A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102346482A (en) * | 2011-05-27 | 2012-02-08 | 北京英传奇科技有限公司 | In-situ steering wheel type robot base mechanism |
| CN209176446U (en) * | 2018-08-28 | 2019-07-30 | 中山向荣脚轮制造有限公司 | A kind of servo-actuated universal wheel suitable for AGV trolley |
| CN110481673A (en) * | 2019-08-15 | 2019-11-22 | 燕山大学 | Main passive differential mixed connection supporting leg and six degree of freedom posture adjustment platform |
| CN111003078A (en) * | 2019-12-31 | 2020-04-14 | 杭州锐冠科技有限公司 | Power wheel device |
| CN211943570U (en) * | 2020-03-05 | 2020-11-17 | 湖北三峡职业技术学院 | Two-wheeled independent walking steering device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114413925A (en) * | 2022-03-03 | 2022-04-29 | 南通理工学院 | Unmanned vehicle for conveying path planning and operation method thereof |
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Address after: Room 320, South 3rd Floor, No. 113, Kaifang Road, Huairou District, Beijing 101499 Applicant after: Beijing Tielishan Technology Co.,Ltd. Address before: 101400 2nd floor, building 1, No.82, Yueyuan street, Yanqi Economic Development Zone, Huairou District, Beijing Applicant before: MT.TITLIS (BEIJING) CONTROL TECHNOLOGY Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220128 |