CN114643854A - AGV trolley with high stability and operation method thereof - Google Patents
AGV trolley with high stability and operation method thereof Download PDFInfo
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- CN114643854A CN114643854A CN202210278473.2A CN202210278473A CN114643854A CN 114643854 A CN114643854 A CN 114643854A CN 202210278473 A CN202210278473 A CN 202210278473A CN 114643854 A CN114643854 A CN 114643854A
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- driving wheel
- agv
- main shaft
- connecting plate
- trolley
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000011065 in-situ storage Methods 0.000 claims abstract description 5
- 238000013016 damping Methods 0.000 claims description 22
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000035558 fertility Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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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 relates to an AGV with high stability and an operation method thereof, wherein when a left driving wheel and a right driving wheel rotate forwards or reversely at the same time, the forward or backward movement of the AGV can be realized; when the left driving wheel and the right driving wheel respectively rotate towards the opposite directions, the trolley rotates clockwise or anticlockwise in situ by taking the joint of the upper connecting plate and the bottom hinge of the AGV trolley body as the center; when the left driving wheel rotates and the right driving wheel is in standby, the left turning forward or the left turning backward of the trolley is realized; when the right driving wheel rotates and the left driving wheel is in standby, the trolley can turn right to advance or turn right to retreat; when the AGV trolley runs in road conditions of uneven road surface and hollow slope, the two driving wheels can be ensured to land all the time through the rotation of the upper connecting plate and the bottom hinge joint of the AGV trolley body. By the method, the running stability of the AGV trolley is improved, and the method has great market application and popularization values.
Description
Technical Field
The invention relates to an AGV with high stability and an operation method thereof, and belongs to the technical field of AGV transportation trolleys.
Background
Along with the rapid development of the mobile robot, the driving mode of the AGV is more diversified and convenient. Under the general condition, the AGV dolly requires very high to the roughness on road surface, when meetting unevenness's road surface, appears the action wheel easily and vacates, holds in the ground the power inadequately and influence drive power to the dolly shake, influence operation precision and stationarity, consequently, need improve current AGV dolly.
Disclosure of Invention
The invention aims to provide an improved AGV trolley with high stability and a running method thereof, aiming at the defects in the prior art, and the improved AGV trolley is capable of avoiding the problems of soaring and insufficient ground grabbing force.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
the utility model provides a AGV dolly that stability is high, includes AGV dolly body and installs the driving wheel mechanism on AGV dolly body, characterized by:
the driving wheel mechanism is a double-driving-wheel mechanism, and the double-driving-wheel mechanism comprises a left driving wheel, a left driving wheel motor, a damping spring, a right driving wheel motor, a right driving wheel, an upper connecting plate, a lower connecting plate, a main shaft and a main shaft seat;
a plurality of damping springs are arranged between the lower connecting plate and the upper connecting plate, one ends of the damping springs are fixed with the lower connecting plate, the other ends of the damping springs are fixed with the upper connecting plate, and the upper connecting plate is fixedly connected with the lower connecting plate through the plurality of damping springs; the left driving wheel and the right driving wheel are respectively arranged at two ends of the lower connecting plate, the left driving wheel motor and the right driving wheel motor are arranged on the lower connecting plate, a power output shaft of the left driving wheel motor is fixed with the left driving wheel, the left driving wheel is driven by the rotation of the power output shaft of the left driving wheel motor to rotate, the right driving wheel is fixed with the power output shaft of the right driving wheel motor, and the right driving wheel is driven by the rotation of the power output shaft of the right driving wheel motor to rotate;
the main shaft is fixed on a main shaft seat, and the main shaft seat is fixed at the center of the upper part of the upper connecting plate; the left driving wheel and the right driving wheel are symmetrically arranged around the main shaft; the bottom of the AGV trolley body is provided with a bearing seat, the main shaft is connected with the bearing seat at the bottom of the AGV trolley body, and the driving wheel mechanism can rotate around the bottom of the AGV trolley body;
first universal wheel, second universal wheel are still installed to AGV dolly body bottom, and the bottom hinged joint department of main shaft and AGV dolly body, first universal wheel, second universal wheel form the three point support to AGV dolly body.
The quantity of damping spring is 6, and 6 damping spring evenly distributed are on lower connecting plate, upper junction plate.
The upper portion center department of upper junction plate installs the spindle drum, and on the main shaft was fixed in the spindle drum, the main shaft worn in and worn out the spindle drum, and the bottom of AGV dolly body is equipped with the bearing frame for the installation main shaft, make through the main shaft with whole drive wheel mechanism install on AGV dolly body.
Install controller, battery on the AGV dolly body, left side drive wheel motor, right side drive wheel motor are all connected with controller, battery, and the battery provides the power for left side drive wheel motor, right side drive wheel motor, and left side drive wheel motor, right side drive wheel motor accept the control of controller.
A running method of an AGV with high stability is characterized by comprising the following steps:
the left driving wheel motor controls the left driving wheel to rotate, and the right driving wheel motor controls the right driving wheel to rotate;
when the left driving wheel and the right driving wheel rotate forwards or reversely at the same time, the trolley can move forwards or backwards;
when the left driving wheel and the right driving wheel respectively rotate towards the opposite directions, the trolley rotates clockwise or anticlockwise in situ by taking the main shaft as the center.
When the left driving wheel rotates and the right driving wheel is in standby, the trolley turns right to advance or turns right to retreat.
When the right driving wheel rotates and the left driving wheel is in standby, the left turning forward or the left turning backward of the trolley is realized;
because the whole double-driving-wheel mechanism has the degree of freedom of rotation around the main shaft, when the AGV meets road conditions of uneven road surface and uneven slope in the running process, the double-driving-wheel mechanism can ensure that the two driving wheels touch the ground all the time through the rotation of the main shaft, the AGV can run stably, and has enough ground gripping force and driving force.
The method is advanced and scientific, and the AGV with high stability and the running method thereof provided by the invention improve the existing AGV and mainly show that the driving wheel mechanism is a double-driving-wheel mechanism, and the double-driving-wheel mechanism comprises a left driving wheel, a left driving wheel motor, a damping spring, a right driving wheel motor, a right driving wheel, an upper connecting plate and a lower connecting plate; the upper connecting plate is hinged with the bottom of the AGV trolley body, and the driving wheel mechanism can rotate around the bottom of the AGV trolley body; when the device is used, the left driving wheel motor controls the left driving wheel to rotate, and the right driving wheel motor controls the right driving wheel to rotate; when the left driving wheel and the right driving wheel rotate forwards or reversely at the same time, the trolley can move forwards or backwards; when the left driving wheel and the right driving wheel respectively rotate towards the opposite directions, the trolley rotates clockwise or anticlockwise in situ by taking the main shaft as the center. When the left driving wheel rotates and the right driving wheel is in standby, the trolley turns right to advance or turns right to retreat. When the right driving wheel rotates and the left driving wheel is in standby, the left turning forward or the left turning backward of the trolley is realized; when the AGV dolly runs into road surface unevenness, slope hollow road conditions at the operation in-process, the rotation of dual driving wheel mechanism accessible main shaft ensures that two action wheels land all the time, guarantees that the AGV dolly operates steadily, and has sufficient land fertility and drive power of grabbing.
By the method, the running stability of the AGV trolley is improved, and the method has great market application and popularization values.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic bottom view of the present invention;
FIG. 3 is a schematic view of the driving wheel mechanism of the present invention;
in the figure: the AGV comprises an AGV trolley body 1, a driving wheel mechanism 2, a left driving wheel 2-1, a left driving wheel motor 2-2, a main shaft 2-3, a damping spring 2-4, a right driving wheel motor 2-5, a right driving wheel 2-6, an upper connecting plate 2-7, a lower connecting plate 2-8, a main shaft seat 2-9, a first universal wheel 3, a second universal wheel 4, a controller 5 and a battery 6.
Detailed Description
The present invention is further illustrated by the following examples.
An AGV trolley with high stability comprises an AGV trolley body 1 and a driving wheel mechanism 2 installed on the AGV trolley body 1, wherein the driving wheel mechanism 2 is a double-driving wheel mechanism, and the double-driving wheel mechanism comprises a left driving wheel 2-1, a left driving wheel motor 2-2, a damping spring 2-4, a right driving wheel motor 2-5, a right driving wheel 2-6, an upper connecting plate 2-7, a lower connecting plate 2-8, a main shaft 2-3 and a main shaft seat 2-9.
Wherein, a plurality of damping springs 2-4 are arranged between the lower connecting plate 2-8 and the upper connecting plate 2-7, one end of each damping spring 2-4 is fixed with the lower connecting plate 2-8, the other end is fixed with the upper connecting plate 2-7, and the upper connecting plate 2-7 is fixedly connected with the lower connecting plate 2-8 through the plurality of damping springs 2-4; a left driving wheel 2-1 and a right driving wheel 2-6 are respectively arranged at two ends of a lower connecting plate 2-8, a left driving wheel motor 2-2 and a right driving wheel motor 2-5 are arranged on the lower connecting plate 2-8, a power output shaft of the left driving wheel motor 2-2 is fixed with the left driving wheel 2-1, the left driving wheel 2-1 is driven to rotate by the rotation of the power output shaft of the left driving wheel motor 2-2, the right driving wheel 2-6 is fixed with the power output shaft of the right driving wheel motor 2-5, and the right driving wheel 2-6 is driven to rotate by the rotation of the power output shaft of the right driving wheel motor 2-5; the main shaft 2-3 is fixed on a main shaft seat 2-9, and the main shaft seat 2-9 is fixed at the center of the upper part of the upper connecting plate 2-7; the left driving wheel 2-1 and the right driving wheel 2-6 are symmetrically arranged about the main shaft 2-3; the main shaft 2-3 is connected with a bearing seat at the bottom of the AGV trolley body 1, and the driving wheel mechanism 2 can rotate around the bottom of the AGV trolley body 1; first universal wheel 3, second universal wheel 4 are still installed to AGV dolly body 1 bottom, and main shaft 2-3 and AGV dolly body 1's bottom hinged joint department, first universal wheel 3, second universal wheel 4 form the three point support to AGV dolly body 1.
Furthermore, the number of the damping springs 2-4 is 6, and the 6 damping springs 2-4 are uniformly distributed on the lower connecting plate 2-8 and the upper connecting plate 2-7.
Further, a spindle seat 2-9 is installed at the center of the upper portion of the upper connecting plate 2-7, a spindle 2-3 is fixed on the spindle seat 2-9, the spindle 2-3 penetrates through and penetrates out of the spindle seat 2-9, and a bearing seat is arranged on the AGV trolley body 1 and used for installing the spindle (2-3), so that the whole driving wheel mechanism 4 is installed on the AGV trolley body 1 through the spindle 2-3.
In addition, a controller 5 and a battery 6 are installed on the AGV trolley body 1, the left driving wheel motor 2-2 and the right driving wheel motor 2-5 are connected with the controller 5 and the battery 6, the battery 6 provides power for the left driving wheel motor 2-2 and the right driving wheel motor 2-5, and the left driving wheel motor 2-2 and the right driving wheel motor 2-5 are controlled by the controller 5.
When in use, the left driving wheel motor 2-2 controls the left driving wheel 2-1 to rotate, and the right driving wheel motor 2-5 controls the right driving wheel 2-6 to rotate; when the left driving wheel 2-1 and the right driving wheel 2-6 rotate forwards or reversely at the same time, the trolley can advance or retreat; when the left driving wheel 2-1 and the right driving wheel 2-6 respectively rotate in the opposite directions, the trolley rotates clockwise or anticlockwise in situ by taking the joint of the upper connecting plate 2-7 and the bottom hinge of the AGV trolley body 1 as the center. When the left driving wheel 2-1 rotates and the right driving wheel 2-6 is in standby, the trolley turns right to advance or turns right to retreat. When the right driving wheel 2-6 rotates and the left driving wheel 2-1 is in standby, the left turning forward or the left turning backward of the trolley is realized.
Because the whole double-driving-wheel mechanism has the freedom degree of rotating around the main shaft 2-3, when the AGV encounters road conditions with uneven road surfaces and slope potholes in the operation process, the double-driving-wheel mechanism can ensure that the left driving wheel and the right driving wheel touch the ground all the time through the rotation of the main shaft 2-3, the AGV is ensured to operate stably, and the ground grabbing force and the driving force are enough.
Claims (5)
1. The utility model provides a AGV dolly that stability is high, includes AGV dolly body (1) and installs drive wheel mechanism (2) on AGV dolly body (1), characterized by:
the driving wheel mechanism (2) is a double-driving-wheel mechanism, and the double-driving-wheel mechanism comprises a left driving wheel (2-1), a left driving wheel motor (2-2), a damping spring (2-4), a right driving wheel motor (2-5), a right driving wheel (2-6), an upper connecting plate (2-7), a lower connecting plate (2-8), a main shaft (2-3) and a main shaft seat (2-9);
a plurality of damping springs (2-4) are arranged between the lower connecting plates (2-8) and the upper connecting plates (2-7), one ends of the damping springs (2-4) are fixed with the lower connecting plates (2-8), the other ends of the damping springs are fixed with the upper connecting plates (2-7), and the upper connecting plates (2-7) are fixedly connected with the lower connecting plates (2-8) through the damping springs (2-4); the left driving wheel (2-1) and the right driving wheel (2-6) are respectively arranged at the two ends of the lower connecting plate (2-8), and the left driving wheel motor (2-2) and the right driving wheel motor (2-5) are arranged on the lower connecting plate (2-8), the power output shaft of the left driving wheel motor (2-2) is fixed with the left driving wheel (2-1), the power output shaft of the left driving wheel motor (2-2) rotates to drive the left driving wheel (2-1) to rotate, the power output shaft of the right driving wheel motor (2-5) is fixed with the right driving wheel (2-6), the power output shaft of the right driving wheel motor (2-5) rotates to drive the right driving wheel (2-6) to rotate, the main shaft (2-3) is fixed on a main shaft seat (2-9), and the main shaft seat (2-9) is fixed at the center of the upper part of the upper connecting plate (2-7); the left driving wheel (2-1) and the right driving wheel (2-6) are symmetrically arranged around the main shaft (2-3); a bearing seat is arranged at the bottom of the AGV trolley body (1), the main shaft (2-3) is connected with the bearing seat at the bottom of the AGV trolley body (1), and the driving wheel mechanism (2) can rotate around the bottom of the AGV trolley body (1);
first universal wheel (3), second universal wheel (4) are still installed to AGV dolly body (1) bottom, and main shaft (2-3) form the three point support to AGV dolly body (1) with the bottom junction of AGV dolly body (1), first universal wheel (3), second universal wheel (4).
2. The AGV of claim 1, wherein said AGV comprises: the number of the damping springs (2-4) is 6, and the 6 damping springs (2-4) are uniformly distributed on the lower connecting plate (2-8) and the upper connecting plate (2-7).
3. The intelligent AGV transport platform of claim 1, wherein: the AGV trolley comprises an upper connecting plate (2-7), and is characterized in that a main shaft seat (2-9) is installed at the center of the upper portion of the upper connecting plate (2-7), a main shaft (2-3) is fixed on the main shaft seat (2-9), the main shaft (2-3) penetrates through and penetrates out of the main shaft seat (2-9), a bearing seat is arranged on the AGV trolley body (1) and used for installing the main shaft (2-3), and the whole driving wheel mechanism (4) is installed on the AGV trolley body (1) through the main shaft (2-3).
4. The intelligent AGV transport platform of claim 1, wherein: install controller (5), battery (6) on AGV dolly body (1), left side drive wheel motor (2-2), right side drive wheel motor (2-5) are all connected with controller (5), battery (6), and battery (6) are left side drive wheel motor (2-2), right side drive wheel motor (2-5) provide the power, and left side drive wheel motor (2-2), right side drive wheel motor (2-5) accept the control of controller (5).
5. The method for operating an AGV with high stability as claimed in any one of claims 1 to 3, wherein:
the left driving wheel motor (2-2) controls the left driving wheel (2-1) to rotate, and the right driving wheel motor (2-5) controls the right driving wheel (2-6) to rotate;
when the left driving wheel (2-1) and the right driving wheel (2-6) rotate forwards or reversely at the same time, the trolley can move forwards or backwards;
when the left driving wheel (2-1) and the right driving wheel (2-6) respectively rotate in the opposite directions, the trolley rotates clockwise or anticlockwise in situ by taking the main shaft (2-3) as the center;
when the left driving wheel (2-1) rotates and the right driving wheel (2-6) is in standby, the trolley turns right to advance or turns right to retreat;
when the right driving wheel (2-6) rotates and the left driving wheel (2-1) is in standby, the left turning forward or the left turning backward of the trolley is realized;
because the whole double-driving-wheel mechanism has the freedom degree of rotation around the main shaft (2-3), when the AGV encounters a road condition with uneven road surface and hollow slope in the operation process, the double-driving-wheel mechanism can ensure that the left driving wheel (2-1) and the right driving wheel (2-6) land all the time through the rotation of the main shaft (2-3), so that the AGV can stably operate and has enough ground gripping force and driving force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210278473.2A CN114643854A (en) | 2022-03-22 | 2022-03-22 | AGV trolley with high stability and operation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210278473.2A CN114643854A (en) | 2022-03-22 | 2022-03-22 | AGV trolley with high stability and operation method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN114643854A true CN114643854A (en) | 2022-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210278473.2A Pending CN114643854A (en) | 2022-03-22 | 2022-03-22 | AGV trolley with high stability and operation method thereof |
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| Country | Link |
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| CN (1) | CN114643854A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117341823A (en) * | 2023-10-26 | 2024-01-05 | 苏州海通机器人***有限公司 | Suspension type chassis and AGV dolly |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235756A (en) * | 2015-10-19 | 2016-01-13 | 广西大学 | Compact AGV with zero turning radius and shock absorption function |
| CN105857116A (en) * | 2016-05-12 | 2016-08-17 | 吴昊 | Driving mechanism of automatic guiding type carrying device |
| CN106043428A (en) * | 2016-06-30 | 2016-10-26 | 易拓威（上海）机器人科技有限公司 | Single drive differential drive system and AGV trolley comprising system |
| CN207712140U (en) * | 2018-01-13 | 2018-08-10 | 安徽智泉农业科技有限公司 | A kind of agricultural machinery body construction and agricultural machinery |
-
2022
- 2022-03-22 CN CN202210278473.2A patent/CN114643854A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235756A (en) * | 2015-10-19 | 2016-01-13 | 广西大学 | Compact AGV with zero turning radius and shock absorption function |
| CN105857116A (en) * | 2016-05-12 | 2016-08-17 | 吴昊 | Driving mechanism of automatic guiding type carrying device |
| CN106043428A (en) * | 2016-06-30 | 2016-10-26 | 易拓威（上海）机器人科技有限公司 | Single drive differential drive system and AGV trolley comprising system |
| CN207712140U (en) * | 2018-01-13 | 2018-08-10 | 安徽智泉农业科技有限公司 | A kind of agricultural machinery body construction and agricultural machinery |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117341823A (en) * | 2023-10-26 | 2024-01-05 | 苏州海通机器人***有限公司 | Suspension type chassis and AGV dolly |
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Application publication date: 20220621 |
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| RJ01 | Rejection of invention patent application after publication |