CN202686562U - Multi-gear heavy-load mobile robot automatic guided vehicle (AGV) - Google Patents
Multi-gear heavy-load mobile robot automatic guided vehicle (AGV) Download PDFInfo
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- CN202686562U CN202686562U CN 201220155259 CN201220155259U CN202686562U CN 202686562 U CN202686562 U CN 202686562U CN 201220155259 CN201220155259 CN 201220155259 CN 201220155259 U CN201220155259 U CN 201220155259U CN 202686562 U CN202686562 U CN 202686562U
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Abstract
The utility model discloses a multi-gear heavy-load mobile robot AGV. The AGV comprises a frame, wheels, an electric control device, a floating spring structural frame, a driving device and a steering device, wherein the electric control device is connected with the driving device and the steering device electrically, the wheels are divided into driving wheels and supporting wheels, the driving wheels are connected with the driving device coaxially, the floating spring structural frame is installed between the wheels and the frame and is connected with a wheel assembly support, the wheels are installed on the wheel assembly support, and buffer load-sharing effects are achieved. According to the AGV, a multi-gear, full-floating and multi-drive chassis structure is adopted, the usage generality of the driving wheels is increased, the structural size of the driving wheels is reduced, the production cost is reduced, a vehicle has good stability, and usage requirements of heavy-load and various road surfaces are met.
Description
Technical field
The invention belongs to Intelligent logistics carrying, transport vehicles technical field, relate generally to a kind of improvement of many train heavy duty mobile robot AGV vehicles.
Background technology
The AGV car is just brought into use at developed country's six the seventies, and the fields such as now Factory Logistics automation, automated assembly line are used quite extensive.China also begins to have the market demand gradually after the nineties, and is progressively developed faster.Recent years particularly, because the minimizing of labour power and increasing of cost, the demand of AGV has had obvious increase, and particularly the work finished of heavily loaded AGV is manually can not accomplish or be difficult to accomplish, therefore there is the larger market space in the demand of heavily loaded AGV.The technology of AGV mainly was for the underloading demand in the past, and all below 3 tons, AGV car wheel all is 4 or 3 in general load, wherein was with 1 buffering wheel or did not have buffering wheel.The kinds of processes requirement of vehicle maintenance maintenance is difficult to adapt to all kinds of work-yards to the restriction of operating needs.
Existing AGV chassis wheel is " three-wheel " or " four-wheel ", 3 determine a plane, because ground is uneven, if wheel is " four-wheel ", at least take turns by one and possess the function of fluctuating, the four-wheel on guarantee chassis can both contact with ground, and it is even more important to guarantee that especially driving contacts with ground, guarantees the walking power of drive wheel.This chassis train technology can satisfy operating needs for underloading AGV (below 10 tons), and for heavy duty (especially more than 30 tons) AGV, three-wheel or four-wheel technology have just had following significantly shortcoming.
1. because wheel is few, and each wheel load is large, high to requirement and the ground requirement of wheel;
Since wheel to bear load large, the wheel footpath needs to strengthen, and causes chassis of vehicle body to increase, and uses inconvenience, stability reduces, material increases car body and increases the weight of cost up;
3. because wheel is few, wheelspan (wheelbase) strengthens, and in order to keep the rigidity of car body, the section bar that car body forms strengthens, and causes car body heavy, and power strengthens, and effect reduces, and has increased manufacturing cost and operating cost.The present invention is directed to the deficiency described in the above-mentioned background technology and improve, high, the large load of a kind of degree of freedom is provided and can adapts to many trains heavy duty mobile robot AGV of different size workpiece.
Summary of the invention
Many train heavy duty mobile robot AGV of the present invention, comprise vehicle frame, wheel system, electrical controller, the floating spring structure-steel framing, it is characterized in that: wheel system comprises drive wheel and the support wheel that is installed on the wheel set support, actuating device, steering hardware and floating spring structure-steel framing, actuating device and steering hardware are electrically connected with electrical controller, the floating spring structure-steel framing is installed between wheel system and the vehicle frame, the floating spring structure-steel framing is comprised of upper leaf spring and lower leaf spring, the leaf spring both ends are bolted up and down, upper leaf spring is connected with vehicle frame by bolt, lower leaf spring is connected with rebound by bolt, and rebound is connected with the wheel set support.
Further, the floating spring structure-steel framing horizontal cross of described many trains heavy duty mobile robot AGV is by N of connecting panel serial connection, vertically vertically by bolt and connect N, N 〉=1.The outside, the middle part of leaf spring arranges respectively the subplate spring up and down, and the subplate spring is by a width of cloth or several stack captive joints.
The actuating device of described many train heavy duty mobile robot AGV is drive motor.Steering hardware comprises horizontal rotation supporting, steer motor, turns to miniature gears, fixedly big gear wheel, support, rotary encoder and corner miniature gears, drive wheel is rack-mount, with the coaxial installation of drive motor, the horizontal rotation supporting has relatively turnable inner ring and outer ring, and the upper end face of outer ring is equipped with fixedly big gear wheel; The lower surface of inner ring is connected with support, and the miniature gears that turns to the engagement of fixing big gear wheel is installed on the output shaft of steer motor; Fixedly big gear wheel one side and corner pinion, the corner miniature gears is installed in the rotary encoder rotating shaft, and rotary encoder links to each other with support.
Further, the wheel quantity of many trains heavy duty mobile robot AGV of the present invention＞4, drive wheel quantity＞2, wherein drive wheel is divided into the band steering hardware and rotary support is not to two kinds, and support wheel is cardan wheel, and described bolt can replace with connecting pin.
The present invention is directed to the deficiency described in the above-mentioned background technology and improve, adopt the above many wheel train structures of four-wheel, reduced the carrying of single-wheel, in many trains, drive wheel and support wheel (Unpowered wheel) are arranged respectively.The concrete structure of floating spring structure-steel framing wherein, so that drive wheel and support wheel all have the function of fluctuating, reduce the requirement of AGV car to wheel and ground, also adopted simultaneously many drive wheels (more than 2, can reach 16) to drive, thereby reduce the power of each drive wheel, the drive wheel that is used for underloading AGV can be used for heavily loaded AGV, increase the commonality that drive wheel uses, reduce the scantling of structure of drive wheel, reduce AGV bassinet structure size, reduced productive costs.
Description of drawings
The many train heavy duties of Fig. 1 mobile robot AGV car birds-eye view
The many train heavy duties of Fig. 2 mobile robot AGV chassis constructional drawing
The constructional drawing of Fig. 3 floating spring structure-steel framing
The many train heavy duties of Fig. 4 mobile robot AGV car driving device structure figure
The many train heavy duties of Fig. 5 mobile robot AGV car steering hardware constructional drawing
Wherein: 1 vehicle frame, 2 drive wheels, 3 support wheels, 4 floating spring structure-steel framings, 5 electrical controllers, 6 assembly brackets, 7 rebounds, 8 actuating devices, 9 steering hardwares
42 times leaf springs of leaf spring, 43 subplate springs, 44 bolts, 45 connecting panels on 41
81 drive motor
90 horizontal rotations support 91 steer motor 92 and turn to fixedly big gear wheel 94 rotary encoders 95 corner miniature gearss 96 supports of miniature gears 93
The specific embodiment
The present invention implements in the following way: heavily loaded AGV bassinet structure as illustrated in fig. 1 and 2, the floating spring of installation structure-steel framing 4 is arranged between vehicle frame 1 and each wheel, wheel is divided into drive wheel and support wheel, the driving of drive wheel and turning to is to be realized by electrical controller 5 accessory drives and steering hardware, comprise speed synchronously and direction synchronous, support wheel is cardan wheel, unpowered, only rise and support and equilibrium activity following walking; Can drop into drive wheel 2 and the support wheel 3 of varying number according to dead-weight capacity.Actuating device drives AGV garage and walks, drive wheel can be with steering hardware, also can not be with, and the drive wheel that band turns to is called " steering wheel ", only need walking that 1 steering wheel just can realize car body and turn to, just can realize (comprising 2) more than 2 steering wheels car body craspedodrome, walk crosswise and diagonal; 2 drive wheels will be arranged at least, the walking that realizes car body by 2 drive wheel differential motions with turn to.The wheel minimum number of many train heavy duty mobile robot AGV cars has 4, and is different according to carrying a position.
Many train heavy duty mobile robot AGV of the present invention can satisfy the operating needs of multiple dead-weight capacity, take 30 tonnages as example, can adopt 5 tons of drive wheels of 4 5Kw carryings, 4 support cardan wheels that carry 6 tons.
Floating spring structure-steel framing structure as shown in Figure 3: the floating spring structure-steel framing is comprised of upper leaf spring 41 and lower leaf spring 42 the floating spring structure-steel framing, the leaf spring both ends are bolted up and down, making up and down, leaf spring becomes one, upper leaf spring is connected with vehicle frame 1 by bolt 44, lower leaf spring is connected with rebound 7 by bolt, rebound is connected with wheel set support 10, and wheel is installed on the wheel set support.The leaf spring both ends are referred to as single group leaf spring through fixing by bolt 44 or connecting pin up and down, are the elementary cells that forms the damping, buffering system.When vehicle frame bore load, the floating spring structure-steel framing played buffering and all carries effect.For pressure and the torsion that adapts to different operating modes, can two groups of leaf springs be transversely linked by two ends connecting panel 45, single group leaf spring is connected with connecting panel by bolt 44 and is laterally connected, and connecting panel is further strengthened the globality of two groups of leaf springs, strengthens the bearing capacity of floating spring structure-steel framing.In order to increase deformability, increase the torsion of AGV vehicle, also can by bolt 44 or connecting pin will or two groups of leaf springs vertically couple together, further, can also be according to the needs of operating mode, three secondary or many secondary single group leaf springs by connecting panel 45 horizontal cross serial connection, also can vertically vertically be serially connected in by bolt.Leaf spring is elastic deformation spare up and down, and plate spring sheet is processed into arc or half elliptic structure, is made by spring steel, and through corresponding Technology for Heating Processing, is system's important composition part.Subplate spring 43 can be 1 pair, also can by 2,3 secondary or many secondary stack captive joints, decide on stressing conditions.
The drive motor 81 of the actuating device of many train heavy duty mobile robot AGV is connected the control car speed with driving wheel hub 82; The steering hardware of many trains heavy duty mobile robot AGV comprises horizontal rotation supporting 90, steer motor 91, turn to that little tooth 92 is taken turns, fixedly big gear wheel 93, support 96, rotary encoder 94 and corner miniature gears 95, the horizontal rotation supporting has relatively turnable inner ring and outer ring, and the upper end face of outer ring is equipped with fixedly big gear wheel; The lower surface of inner ring is connected with support 96, and drive wheel is rack-mount, with drive motor 81 coaxial installations, the miniature gears that turns to the engagement of fixing big gear wheel is installed on the output shaft of steer motor 91; Fixedly big gear wheel 93 1 sides and 95 engagements of corner miniature gears, corner miniature gears 95 is installed in the rotary encoder rotating shaft, and rotary encoder 94 links to each other with support 96.Simultaneously be called steering wheel with the wheel that turns to and drive, send 91 work of predetermined angle order-driven steer motor by vehicle control syetem, turn to miniature gears 92 around fixedly big gear wheel 93 rotations, so that support 96 turns at a certain angle, coder record and feedback steering wheel institute gyration, when the angle of obtaining when coder reaches consistent with the control system predetermined angle, the drive wheel direction is locked, vehicle control syetem is according to the real work set angle, realizes heavily loaded mobile robot's craspedodrome, the Eight characters, walks crosswise, the action such as diagonal, translation and cast.
The present invention adopts many trains, full floating, the chassis structure that drives more, by electrical controller many wheel train structures are controlled automatically, and all wheels are all with the floating spring structure-steel framing of pooling feature, thereby increased the commonality that drive wheel uses, reduced the scantling of structure of drive wheel, reduced productive costs, and vehicle stability is good, satisfy the design of the operating needs floating spring structure-steel framing of heavy duty and multiple road, play and overcome uneven year effect of the uneven wheel load in ground; Thereby many trains, full floating, Intelligent logistics carrying and the conveying that drives have been realized more, particularly satisfied heavily loaded AGV vehicle to wheel load, many-sided high request such as ground, a plurality of drive wheels and support wheel are installed in bottom of frame, a plurality of drive wheels turn to by electrical controller control synchronously, comprise that speed is synchronous and direction is synchronous, support wheel is cardan wheel, following walking.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, modification, replacement and modification to these embodiment that scope of the present invention is by claims and be equal to and limit.
Claims (10)
1. train more than kind heavy duty mobile robot AGV, comprise vehicle frame (1), wheel system, electrical controller (5), floating spring structure-steel framing (4), it is characterized in that: wheel system comprises drive wheel (2) and the support wheel (3) that is installed on the wheel set support (6), control actuating device (8) and steering hardware (9) and the floating spring structure-steel framing (4) of each wheel, wherein actuating device and steering hardware are electrically connected with electrical controller (5), floating spring structure-steel framing (4) is installed between wheel and the vehicle frame (1), the floating spring structure-steel framing is comprised of upper leaf spring (41) and lower leaf spring (42), the leaf spring both ends are fixing by bolt (44) up and down, upper leaf spring is connected with vehicle frame (1) by bolt, lower leaf spring is connected with rebound (7) by bolt, and rebound is connected with wheel set support (6).
2. many trains heavy duty mobile robot AGV according to claim 1 is characterized in that: floating spring structure-steel framing (4) horizontal cross is by N of connecting panel (45) serial connection, and is vertical vertically by bolt (44) and to meet N individual, N 〉=1.
3. many trains heavy duty mobile robot AGV according to claim 1, it is characterized in that: the outside, the middle part of leaf spring arranges respectively subplate spring (43) up and down, and the subplate spring is by a width of cloth or several stack captive joints.
4. each described many trains heavy duty mobile robot AGV according to claim 1-3, it is characterized in that: actuating device is drive motor (81).
5. each described many trains heavy duty mobile robot AGV according to claim 1-3, it is characterized in that: steering hardware comprises horizontal rotation supporting (90), steer motor (91), turn to miniature gears (92), fixing big gear wheel (93), support (96), rotary encoder (94) and corner miniature gears (95), drive wheel (2) is installed on the support (96), with the coaxial installation of drive motor (81), the horizontal rotation supporting has relatively turnable inner ring and outer ring, and the upper end face of outer ring is equipped with fixedly big gear wheel (93); The lower surface of inner ring is connected with support (96), be equipped with on the output shaft of steer motor (91) with the engagement of fixing big gear wheel turn to miniature gears (92); Fixedly big gear wheel (93) one sides and corner miniature gears (95) engagement, corner miniature gears (95) is installed in rotary encoder (94) rotating shaft, and rotary encoder (94) links to each other with support (96).
6. many train heavy duty mobile robot AGV according to claim 5 is characterized in that: wheel quantity＞4.
7. many train heavy duty mobile robot AGV according to claim 6 is characterized in that: drive wheel quantity＞2.
8. many trains heavy duty mobile robot AGV according to claim 7, it is characterized in that: drive wheel is divided into the band steering hardware and is not with two kinds of steering hardwares.
9. many trains heavy duty mobile robot AGV according to claim 7, it is characterized in that: support wheel is cardan wheel.
10. many trains heavy duty mobile robot AGV according to claim 7, it is characterized in that: described bolt can replace with connecting pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201220155259 CN202686562U (en) | 2012-04-13 | 2012-04-13 | Multi-gear heavy-load mobile robot automatic guided vehicle (AGV) |
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| CN 201220155259 CN202686562U (en) | 2012-04-13 | 2012-04-13 | Multi-gear heavy-load mobile robot automatic guided vehicle (AGV) |
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| CN202686562U true CN202686562U (en) | 2013-01-23 |
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| CN 201220155259 Expired - Fee Related CN202686562U (en) | 2012-04-13 | 2012-04-13 | Multi-gear heavy-load mobile robot automatic guided vehicle (AGV) |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN103909994A (en) * | 2014-03-06 | 2014-07-09 | 无锡普智联科高新技术有限公司 | AGV (automatic guided vehicle) for dense storage area |
| CN105383588A (en) * | 2015-11-02 | 2016-03-09 | 武汉理工大学 | AGV car needed by automatic parking system |
| CN106515904A (en) * | 2016-12-26 | 2017-03-22 | 同方威视技术股份有限公司 | Mobile platform |
| CN107878138A (en) * | 2017-10-31 | 2018-04-06 | 杭州极木科技有限公司 | Heavy-load transportation platform |
| CN108081946A (en) * | 2017-11-13 | 2018-05-29 | 深圳先进技术研究院 | The electronic directive wheel of omnidirectional and robot, vehicle with the electronic directive wheel of the omnidirectional |
| CN108189929A (en) * | 2018-02-24 | 2018-06-22 | 国信机器人无锡股份有限公司 | The ultra-thin omni-directional wheel group of parking robot |
| WO2018165907A1 (en) * | 2017-03-15 | 2018-09-20 | Hong Kong R & D Centre for Logistics and Supply Chain Management Enabling Technologies Limited | Self leveling autonomous guided vehicle |
| CN109131638A (en) * | 2018-10-08 | 2019-01-04 | 深圳市今天国际智能机器人有限公司 | AGV steering wheel stabilising arrangement and AGV steering wheel |
| CN109533085A (en) * | 2019-01-07 | 2019-03-29 | 共享智能铸造产业创新中心有限公司 | A kind of heavy duty AGV |
| CN114572090A (en) * | 2022-03-07 | 2022-06-03 | 湖南利美防爆装备制造股份有限公司 | Double-differential-type negative-back type automatic navigation vehicle |
| CN115503509A (en) * | 2022-10-13 | 2022-12-23 | 宁波韦尔德斯凯勒智能科技有限公司 | Multi-motor driving system of heavy-load mobile robot and control and abnormality judgment method thereof |
-
2012
- 2012-04-13 CN CN 201220155259 patent/CN202686562U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN102673676B (en) * | 2012-04-13 | 2015-11-25 | 机科发展科技股份有限公司 | Many train heavy duty mobile robot AGV |
| CN103909994A (en) * | 2014-03-06 | 2014-07-09 | 无锡普智联科高新技术有限公司 | AGV (automatic guided vehicle) for dense storage area |
| CN103909994B (en) * | 2014-03-06 | 2016-04-20 | 无锡普智联科高新技术有限公司 | A kind of AGV transport trolley for intensive storage |
| CN105383588A (en) * | 2015-11-02 | 2016-03-09 | 武汉理工大学 | AGV car needed by automatic parking system |
| CN106515904B (en) * | 2016-12-26 | 2021-08-27 | 同方威视技术股份有限公司 | Mobile platform |
| CN106515904A (en) * | 2016-12-26 | 2017-03-22 | 同方威视技术股份有限公司 | Mobile platform |
| WO2018165907A1 (en) * | 2017-03-15 | 2018-09-20 | Hong Kong R & D Centre for Logistics and Supply Chain Management Enabling Technologies Limited | Self leveling autonomous guided vehicle |
| US11584181B2 (en) | 2017-03-15 | 2023-02-21 | Hong Kong R&D Centre for Logistics and Supply Chain Management Enabling Technologies Limited | Self leveling autonomous guided vehicle |
| CN107878138A (en) * | 2017-10-31 | 2018-04-06 | 杭州极木科技有限公司 | Heavy-load transportation platform |
| CN108081946A (en) * | 2017-11-13 | 2018-05-29 | 深圳先进技术研究院 | The electronic directive wheel of omnidirectional and robot, vehicle with the electronic directive wheel of the omnidirectional |
| CN108189929A (en) * | 2018-02-24 | 2018-06-22 | 国信机器人无锡股份有限公司 | The ultra-thin omni-directional wheel group of parking robot |
| CN109131638A (en) * | 2018-10-08 | 2019-01-04 | 深圳市今天国际智能机器人有限公司 | AGV steering wheel stabilising arrangement and AGV steering wheel |
| CN109533085A (en) * | 2019-01-07 | 2019-03-29 | 共享智能铸造产业创新中心有限公司 | A kind of heavy duty AGV |
| CN109533085B (en) * | 2019-01-07 | 2024-06-07 | 共享智能铸造产业创新中心有限公司 | Heavy load AGV |
| CN114572090A (en) * | 2022-03-07 | 2022-06-03 | 湖南利美防爆装备制造股份有限公司 | Double-differential-type negative-back type automatic navigation vehicle |
| CN115503509A (en) * | 2022-10-13 | 2022-12-23 | 宁波韦尔德斯凯勒智能科技有限公司 | Multi-motor driving system of heavy-load mobile robot and control and abnormality judgment method thereof |
| CN115503509B (en) * | 2022-10-13 | 2023-11-14 | 宁波韦尔德斯凯勒智能科技有限公司 | Multi-motor driving system of heavy-duty mobile robot and control and abnormality judgment method thereof |
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