CN206278173U - A kind of AGV dollies of omnidirectional's submarine - Google Patents
A kind of AGV dollies of omnidirectional's submarine Download PDFInfo
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- CN206278173U CN206278173U CN201621357514.3U CN201621357514U CN206278173U CN 206278173 U CN206278173 U CN 206278173U CN 201621357514 U CN201621357514 U CN 201621357514U CN 206278173 U CN206278173 U CN 206278173U
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Abstract
A kind of AGV dollies of omnidirectional's submarine, including vehicle frame and drive module, the drive module include motor and driving wheel, and the drive module also includes the first jackshaft, steering wheel, gear train and conductive plastic potentiometer；First jackshaft is arranged on casing middle part, and its lower end is inserted the casing and fixed with casing, and its top extends and passes the casing straight up；The steering wheel is rotatably mounted around the top of first jackshaft；The gear train includes two intermeshing first gears and second gear, and the first gear suit is fixed on the output shaft of the conductive plastic potentiometer, and the second gear suit is fixed on the top of first jackshaft, and it is fixed on the steering wheel.Conductive plastic potentiometer receives the information of displacement, and with the information that navigation sensor senses magnetic stripe, the direction to AGV dollies is finely adjusted.
Description
Technical field
The utility model is related to AGV dollies field, particularly a kind of AGV dollies of omnidirectional's submarine.
Background technology
AGV is the english abbreviation of automatic guided vehicle (Automated Guided Vehicle).Refer to be equipped with electromagnetism or
The homing guidance device such as optics, can travel, the fortune with safeguard protection and various transfer functions along the guide path of regulation
Defeated car, AGV belongs to the category of wheeled mobile robot (WMR-- Wheeled Mobile Robot).
The distinguishing feature of AGV dollies be it is unmanned, can be automatic in the case where manual guidance is not needed with safeguards system
Traveling, flexible, automation and intelligent level are high.AGV dollies can change according to storage goods yard requirement, technological process of production etc.
Become and flexible configuration, and the expense that operating path changes is very cheap compared with traditional conveyer belt or rigid transmission line.
If being furnished with charging crane, AGV dollies can also realize goods or material handling and carrying with other logistics equipments from mobile interface
Full process automatization.In addition, the characteristics of AGV dollies also have clean manufacturing, AGV dollies provide dynamic by the battery for carrying
Power, running noise is extremely low, pollution-free, can apply in many places for requiring working environment cleaning.
The transmission of signal is not accurate enough between the drive module and control module of existing AGV dollies, so by control
Module is controlled to drive module, when driving it to move ahead or turn to, the deviation on route easily occurs, to using bringing not
Just.
Utility model content
For drawbacks described above, the purpose of this utility model is to propose a kind of drive control accurately omnidirectional's submarine
AGV dollies.
It is that, up to this purpose, the utility model uses following technical scheme：
A kind of AGV dollies of omnidirectional's submarine, including vehicle frame and drive module, the drive module include motor and
Driving wheel, the motor is arranged in casing, and the casing is arranged on the vehicle frame, and driving wheel is separately mounted to described in two
The casing outside, the motor drives the driving wheel to rotate by wheel shaft；
The drive module also includes the first jackshaft, steering wheel, gear train and conductive plastic potentiometer；
First jackshaft is arranged on casing middle part, and its lower end is inserted the casing and fixed with casing, thereon
Portion extends and passes the casing straight up；
The steering wheel is rotatably mounted around the top of first jackshaft；The gear train is mutually nibbled including two
The first gear and second gear of conjunction, the first gear suit are fixed on the output shaft of the conductive plastic potentiometer, described
Second gear suit is fixed on the top of first jackshaft, and it is fixed on the steering wheel.
Preferably, first jackshaft is respectively provided on two sides with one group of damping spring group, the damping spring group it is upper
End is fixed on the steering wheel, and the lower end of the damping spring group is fixed on the casing.
Preferably, automatic lifting module is provided with above the drive module, the automatic lifting module is arranged on described
Vehicle frame；
The lifting module includes fixed disk, lifting motor, disk and lifting bearing；
The fixed disk suit is fixed on the top of first jackshaft；
The disk is fixed on the rotary shaft of the lifting motor, and the lifting bearing bias is fixed on the outer of the disk
Side end face；The lifting bearing is arranged on the fixed disk lower section so that the lifting motor is driving the disc rotary
During, the lifting bearing can make lifting action by the fixed disk with the drive module.
Preferably, eccentric cam fastener is fixed with the rotary shaft of the lifting motor, the disk is fixed on described inclined
Cardiac prominence wheel fastener；
The eccentric cam fastener is respectively provided on two sides with proximity switch, the control of the proximity switch and the AGV dollies
Molding block is electrically connected.
Preferably, the lifting motor is fixed on motor mounting plate, and the motor mounting plate is arranged on the vehicle frame；
Shown proximity switch is fixed on the motor mounting plate.
Preferably, the disk is arranged on mounting blocks by unilateral bearing, and the mounting blocks are arranged on the vehicle frame.
Preferably, it is arranged at intervals with below the fixed disk and compresses disk, the disk suit that compresses is fixed on described first
The top of jackshaft, the lifting bearing is arranged on the fixed disk and compresses between disk, and the lifting bearing can prop up described
Continue to move downward after the end face for compressing disk.
Preferably, the vehicle frame plane lower section of the vehicle frame is provided with traction rod assembly, the traction rod assembly include hitch frame,
Drawing bar, hold-down bars, spring, flange part, rotating disk, traction electric machine and traction bearing；
The hitch frame is suspended vacantly in the inner side of the vehicle frame plane；
The drawing bar is vertically extended on the middle part of the hitch frame, and its upper end can straight up stretch out institute
State vehicle frame plane；The lower end of the hold-down bars is fixed on the bottom surface of the hitch frame, and the inner chamber of the drawing bar is stretched into its upper end；
The spring housing is mounted in the hold-down bars, and its upper end props up the top surface of the inner chamber, and the lower end of the spring props up the traction
The bottom surface of frame；
The flange part is set with the lateral wall of the lower end for being fixed on the drawing bar by nut, and its end face is to the traction
The outside of rod extends；The rotating disk is fixed on the front end of the rotary shaft of the traction electric machine, and the traction bearing is eccentric fixed
In the end face outside of the rotating disk, and it is arranged on the top of the rotating disk, and tangent with the flange part.
Preferably, also including the inductive switch and induction pieces, the induction pieces are arranged on the outer face of the rotating disk；
The inductive switch and induction pieces are electrically connected, and the inductive switch is electrically connected with the control module of the AGV dollies.
Preferably, the flange part is down the integral structure part of "Ji" type.
The beneficial effects of the utility model：When needing former road to run back and forth, the control module of AGV dollies passes through
Rfid interrogator and navigation sensor receive information, are first travelled along a direction, along original opposite direction row after the completion of loading
Sail, the information of displacement is received by conductive plastic potentiometer, and the information that navigation sensor senses magnetic stripe, to AGV dollies
Direction be finely adjusted, the operating of both forward and reverse directions is carried out to the driving wheel in 2 groups of drive modules by 4 motors, realize
The traveling of travel directions.
When needing to carry out omnidirectional's operation, control module receives information, first edge by navigation sensor, rfid interrogator
A direction is travelled, and navigation sensor senses the change information of magnetic stripe, and control module receives signal and is transmitted to control signal
Drive module, changes traffic direction；Conductive plastic potentiometer senses displacement signal, is transmitted to control module, direction is carried out micro-
Adjust, navigation sensor senses the change information of magnetic stripe again, and control module receives signal and control signal is transmitted into driving mould
Block, changes traffic direction again, and conductive plastic potentiometer senses displacement signal, is transmitted to control module, and direction is finely adjusted,
It is achieved thereby that omnidirectional transports.
Brief description of the drawings
Fig. 1 is the top view of one embodiment of the AGV dollies of omnidirectional's submarine of the present utility model；
Fig. 2 is the stereogram of one embodiment of the AGV dollies of omnidirectional's submarine of the present utility model；
Fig. 3 is the sectional view of one embodiment of drive module in the utility model；
Fig. 4 is the scheme of installation of one embodiment of drive module and automatic lifting module in the utility model；
Fig. 5 is the scheme of installation of one embodiment of lifting motor and lifting bearing in the utility model；
Fig. 6 is the structural representation of one embodiment of traction rod assembly in the utility model；
Fig. 7 is the sectional view of one embodiment of traction rod assembly in the utility model.
Wherein：Vehicle frame 1, vehicle frame plane 100；
Drive module 2, motor 21, driving wheel 22, the first jackshaft 23, steering wheel 24, gear train 25, first gear
251, second gear 252, conductive plastic potentiometer 26；
Casing 3, damping spring group 4；
Automatic lifting module 5, fixed disk 51, lifting motor 52, disk 53 lifts bearing 54, and eccentric cam fastener 55 connects
Nearly switch 56, compresses disk 57；
Motor mounting plate 6, mounting blocks 7；
Traction rod assembly 8, hitch frame 81, drawing bar 82, inner chamber 820, hold-down bars 83, spring 84, flange part 85, rotating disk
86, draw bearing 87, inductive switch 88, induction pieces 89；
Control module 9, RFID read-write module 10, navigation sensor 11, angular transducer 12, battery pack 13.
Specific embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by specific embodiment.
As shown in Figures 3 and 4, a kind of AGV dollies of omnidirectional's submarine, including vehicle frame 1 and drive module 2, the driving
Module 2 includes motor 21 and driving wheel 22, and the motor 21 is arranged in casing 3, and the casing 3 is arranged on described
Vehicle frame 1, driving wheel 22 described in two is separately mounted to the outside of the casing 3, and the motor 21 drives the drive by wheel shaft
Driving wheel 22 is rotated；
The drive module 2 also includes the first jackshaft 23, steering wheel 24, gear train 25 and conductive plastic potentiometer 26；
First jackshaft 23 is arranged on the middle part of the casing 3, and its lower end is inserted the casing 3 and fixed with casing 3,
Its top extends and passes the casing 3 straight up；
The steering wheel 24 is rotatably mounted around the top of first jackshaft 23；The gear train 23 includes two
Intermeshing first gear 251 and second gear 252, the suit of the first gear 251 are fixed on the conductive plastics current potential
The output shaft of device 26, the second gear 252 is set with the top for being fixed on first jackshaft 23, and it is fixed on described turning
To disk 24.
As shown in Figures 1 and 2, a kind of 1, two, AGV dollies of omnidirectional's submarine, including vehicle frame drive module 2, two is controlled
Molding block 9, one RFID read-write module 10, two navigation sensor 11, angular transducer 12 and battery pack 13, each drives mould
Block 2 is connected with control module 9, and two drive modules 2 are symmetrically mounted on the bottom of vehicle frame 1, and two control modules 9 are symmetrically mounted on
On vehicle frame 1, two navigation sensors 9 are arranged in the front and back axis of vehicle frame 1, and are connected with control module 9, to read ground
The magnetic strip information in face simultaneously feeds back to control module 9, and control module 9 sends corresponding control signal to driving according to the signal of feedback
Module 2, makes AGV dollies be walked along ground magnetic strip line and maintains vehicle body stable；4 angular transducers 12 are respectively symmetrically installed in 2
In individual drive module, and it is connected with control module 9, for detecting the angle between drive module 2 and vehicle frame 1.RFID read-write
Module 10 is arranged on immediately below vehicle frame 1 and is connected with control module 9, for detecting ground magnetic card road sign and signal being transmitted into control
Molding block 9, control module 9 reads the information of magnetic card road sign according to RFID read-write module 10, sends corresponding control signal to drive
Dynamic model block 2 is acted accordingly so as to perform, and is such as turned to, accelerate etc.；Two battery packs 13 are arranged on vehicle frame 1 and are distributed in RFID readings
The both sides of writing module 10, power source is provided to all electrical equipments on AGV and instrument.
In the present embodiment, the bottom of the vehicle frame 1 is symmetrically mounted at before and after two drive modules 2, described in two
Motor 21 is separately positioned on the both sides of casing 3, and the driving wheel 22 is arranged on the shown outside of casing 31, the motor
21 drive the driving wheel 22 to rotate by wheel shaft 22；Drive driving wheel 22 to rotate respectively by two motors 21, move
Flexibly.
When dolly needs to turn to, steering wheel 24 is driven device with rotation, and the steering wheel 24 of rotation passes through in first
Heart axle 23 drives the driving wheel 22 of casing 3 and its both sides to turn to simultaneously, so that whole dolly is turned to.And steering wheel 24 is at it
In rotation process, second gear 252 is driven to rotate by first gear 251, second gear 252 is with conductive plastic potentiometer 26
The signal of oneself mechanical displacement is converted into electric signal, passes to the control mould of AGV dollies by operating, conductive plastic potentiometer 26
Block 9.
When needing former road to run back and forth, the control module 9 of AGV dollies is sensed by rfid interrogator 10 and navigation
Device 11 receives information, is first travelled along a direction, is travelled along original opposite direction after the completion of loading, by conductive plastics current potential
Device 26 receives the information of displacement, and with the information that navigation sensor 11 senses magnetic stripe, the direction to AGV dollies is finely adjusted,
The operating of both forward and reverse directions is carried out by the driving wheel 22 in 4 motors 21 pair, 2 groups of drive modules, the row of travel directions is realized
Sail.
When needing to carry out omnidirectional's operation, control module 9 receives letter by navigation sensor 11, rfid interrogator 10
Breath, first travels along a direction, and navigation sensor 11 senses the change information of magnetic stripe, and control module 9 receives signal simultaneously will control
Signal processed is transmitted to drive module 2, changes traffic direction；Conductive plastic potentiometer 26 senses displacement signal, is transmitted to control module
9, direction is finely adjusted, navigation sensor 11 senses the change information of magnetic stripe again, and control module 9 receives signal and will control
Signal processed is transmitted to drive module 2, and traffic direction is changed again, and conductive plastic potentiometer 26 senses displacement signal, is transmitted to control
Module 9, is finely adjusted to direction, it is achieved thereby that omnidirectional transports.
First jackshaft 23 is respectively provided on two sides with one group of damping spring group 4, and the upper end of the damping spring group 4 consolidates
The steering wheel 24 is scheduled on, the lower end of the damping spring group 4 is fixed on the casing 3.
Damping spring group 4 includes damping spring 41 and support bar 42, and the upper end of the support bar 42 is fixed on the steering
Disk 24, its lower end is fixed on the casing 3；The damping spring 41 is sleeved on the support bar 41, and its upper end props up described
The lower surface of steering wheel 24, lower end props up the upper surface of the casing 3, using the elastic characteristic of damping spring 41, alleviates AGV small
Car fluctuating in the process of running is jolted, the problem in raising condition, it is to avoid the kinds of goods or apparatus of dolly are by jolting and influenceing
Various quality or precision.
As shown in Fig. 3, Fig. 4 and Fig. 5, the top of the drive module 2 is provided with automatic lifting module 5, the automatic lifting
Module 5 is arranged on the vehicle frame 1；
The lifting module 5 includes fixed disk 51, lifting motor 52, disk 53 and lifting bearing 54；
The fixed disk 51 is set with the top for being fixed on first jackshaft 23；
The disk 53 is fixed on the rotary shaft of the lifting motor 52, and the bias of lifting bearing 54 is fixed on the circle
The end face outside of disk 53；The lifting bearing 54 is arranged on the lower section of the fixed disk 51 so that the lifting motor 52 is driving
During the disk 53 rotates, the lifting bearing 54 can be risen by the fixed disk 51 with the drive module 2
Drop is acted.
Lifting motor 52 is arranged on the side of the first jackshaft 23, and the lifting bearing 54 is stretched under the fixed disk 51
Side；Lifting motor 52 is rotated with disk 53, and eccentric fixed lifting bearing 54 is rotated with it on disk 53, when lifting bearing
After 54 are rotated upwardly into the position with the tangent contact in the lower surface of fixed disk 51, rotation is continued up, by the upward jack-up of fixed disk 51,
The driving wheel 22 of casing 3 and the both sides of casing 3 is lifted (lifting motor 52 stops operating) by fixed disk 51 by the first jackshaft 23,
So that the universal wheel on vehicle frame 1 is contacted with ground (when driving wheel 22 is contacted with ground, has height between universal wheel and ground
Difference), AGV dollies arbitrarily change direction, convenient transfer by universal wheel；After AGV dollies are transferred to appropriate location, lifting motor 52
Continuation is operated forward, and lifting bearing 54 is rotated down and disengaged with fixed disk 51, and fixed disk 51 is with the He of the first jackshaft 23
Casing 3 falls to the ground again in the presence of respective gravity, reduce bodywork height, continue through drive module 2 forward or to
After advance, it is easy to adjust.
Eccentric cam fastener 55 is fixed with the rotary shaft of the lifting motor 52, the disk 53 is fixed on the bias
Cam fastener 55；
The eccentric cam fastener 55 is respectively provided on two sides with proximity switch 56, and the proximity switch 56 is small with the AGV
The control module electrical connection of car.
The eccentric cam fastener 55 is respectively provided on two sides with proximity switch 56, one of proximity switch 56 pairs of driving moulds
The rise of block 2 is measured, and another landing of proximity switch 56 to drive module 2 is measured, by proximity switch 56
According to the number of times that eccentric cam fastener 55 is turned over, by its signal transmission to control module 9, control module 9 is by automatic lifting mould
Block 5 controls the lifting of drive module 2, and it is high to automatically control degree, easy to use.
The lifting motor 52 is fixed on motor mounting plate 6, and the motor mounting plate 6 is arranged on the vehicle frame 1；
Shown proximity switch 56 is fixed on the motor mounting plate 6.
Assembly space is saved, space utilization rate is improved, cramped construction improves the performance of device.
The disk 53 is arranged on mounting blocks 7 by unilateral bearing, and the mounting blocks 7 are arranged on the vehicle frame 1.
The disk 53 is installed in rotation on mounting blocks 7, the stability of its operation is improved；And disk 53 and installation
Installation between block 7 realizes that is, disk 53 can only be rotated with lifting bearing 54 around a direction by unilateral bearing, it is ensured that
Proximity switch 56 turns over the precision that number of times is detected to eccentric cam fastener 55.
The lower section of the fixed disk 51 is arranged at intervals with and compresses disk 57, and the suit of disk 57 that compresses is fixed in described first
The top of countershaft 23, the lifting bearing 54 is arranged on the fixed disk 51 and compresses between disk 57, the lifting energy of bearing 54
Continue to move downward after propping up the end face for compressing disk 57.
Lifting bearing 54 is rotated down and disengaged with fixed disk 51, and disk 53 is rotated further, and the lifting bearing 54 is supported
Residence continues to move downward after stating the end face for compressing disk 57, press against and compresses disk 57 and whole casing 3 falls to the ground downwards again,
Bodywork height is reduced, it is easy to adjust.
As shown in FIG. 6 and 7, the lower section of vehicle frame plane 100 of the vehicle frame 1 is provided with traction rod assembly 8, the drawing bar group
Part 8 includes hitch frame 81, drawing bar 82, hold-down bars 83, spring 84, flange part 85, rotating disk 86, traction electric machine and traction bearing
87；
The hitch frame 81 is suspended vacantly in the inner side of the vehicle frame plane 100；
The drawing bar 82 is vertically extended on the middle part of the hitch frame 81, and its upper end can stretch straight up
Go out the vehicle frame plane 100；The lower end of the hold-down bars 83 is fixed on the bottom surface of the hitch frame 83, and described leading is stretched into its upper end
Draw the inner chamber 820 of rod 82；The spring 84 is sleeved on the hold-down bars 83, and its upper end props up the top surface of the inner chamber 820, described
The lower end of spring 83 props up the bottom surface of the hitch frame 83；
The flange part 85 is set with the lateral wall of the lower end for being fixed on the drawing bar 82 by nut, and its end face is to described
The outside of drawing bar 82 extends；The rotating disk 86 is fixed on the front end of the rotary shaft of the traction electric machine, the traction bearing
87 bias are fixed on the end face outside of the rotating disk 86, and it is arranged on the top of the rotating disk 86, and with the flange
Part 85 is tangent.
In the present embodiment, traction electric machine (being not drawn into figure) is arranged on the side of hitch frame 81, and traction electric machine is rotated
When disk 86 is rotated, the eccentric fixed concomitant rotation of traction bearing 87, turns to the end contact with flange part 85 in rotating disk 86
After be rotated further, drive drawing bar 82 to be relatively fixed rod 83 and move downward against flange part 85, spring 83 is also with the fixation
Moving down for rod 83 is compressed downwardly, until drawing bar 82 is built in the lower section of vehicle frame plane 100 completely.Need by drawing bar 82 to
On stretch out the groove snapped on shelf, shelf is fixed on when on vehicle frame 1, continue through rotating disk 86 rotate traction bearing 87,
Traction bearing 87 is disengaged with flange part 85, the spring 83 for being compressed recovers deformation upwards, promote drawing bar 82 to transport upwards
Dynamic to stretch out vehicle frame plane 100, snapping in the groove on shelf makes shelf be fixed in vehicle frame plane 100, high degree of automation,
It is easy to use.
Also include the inductive switch 88 and induction pieces 89, the induction pieces 89 are arranged on the outer end of the rotating disk 86
Face；The inductive switch 88 and induction pieces 89 are electrically connected, and the inductive switch 88 is electrically connected with the control module of the AGV dollies
Connect.
Inductive switch 88 determines the number of times that induction pieces 89 pass through, and the times signal is transmitted into control module 9, control module
The running of 9 output corresponding signal control traction rod assemblys 8, high degree of automation, control is accurate, easy to use.
The flange part 85 is the integral structure part of "Ji" type.
Simple structure, compact assembling structure, cost performance is high.
Know-why of the present utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality
With new principle, and can not by any way be construed to the limitation to the utility model protection domain.Based on explanation herein,
Those skilled in the art associates other specific embodiments of the present utility model by would not require any inventive effort,
These modes are fallen within protection domain of the present utility model.
Claims (10)
1. a kind of AGV dollies of omnidirectional's submarine, including vehicle frame and drive module, the drive module include motor and drive
Driving wheel, the motor is arranged in casing, and the casing is arranged on the vehicle frame, and driving wheel described in two is separately mounted to institute
Casing outside is stated, the motor drives the driving wheel to rotate by wheel shaft, it is characterised in that：
The drive module also includes the first jackshaft, steering wheel, gear train and conductive plastic potentiometer；
First jackshaft is arranged on casing middle part, and its lower end is inserted the casing and fixed with casing, and its top is erected
Directly upwardly extend and pass the casing；
The steering wheel is rotatably mounted around the top of first jackshaft；The gear train is intermeshing including two
First gear and second gear, the first gear suit are fixed on the output shaft of the conductive plastic potentiometer, described second
Gear set is fixed on the top of first jackshaft, and it is fixed on the steering wheel.
2. AGV dollies of omnidirectional's submarine according to claim 1, it is characterised in that：The both sides of first jackshaft
One group of damping spring group is respectively equipped with, the upper end of the damping spring group is fixed on the steering wheel, the damping spring group
Lower end is fixed on the casing.
3. AGV dollies of omnidirectional's submarine according to claim 1, it is characterised in that：Set above the drive module
There is automatic lifting module, the automatic lifting module is arranged on the vehicle frame；
The lifting module includes fixed disk, lifting motor, disk and lifting bearing；
The fixed disk suit is fixed on the top of first jackshaft；
The disk is fixed on the rotary shaft of the lifting motor, and the lifting bearing bias is fixed on the outboard end of the disk
Face；The lifting bearing is arranged on the fixed disk lower section so that the lifting motor is driving the process of the disc rotary
In, the lifting bearing can make lifting action by the fixed disk with the drive module.
4. AGV dollies of omnidirectional's submarine according to claim 3, it is characterised in that：The rotary shaft of the lifting motor
On be fixed with eccentric cam fastener, the disk is fixed on the eccentric cam fastener；
The eccentric cam fastener is respectively provided on two sides with proximity switch, the control mould of the proximity switch and the AGV dollies
Block is electrically connected.
5. AGV dollies of omnidirectional's submarine according to claim 4, it is characterised in that：The lifting motor is fixed on electricity
On machine installing plate, the motor mounting plate is arranged on the vehicle frame；
Shown proximity switch is fixed on the motor mounting plate.
6. AGV dollies of the omnidirectional's submarine according to claim 3 or 4, it is characterised in that：The disk passes through one-way shaft
Hold installed in mounting blocks, the mounting blocks are arranged on the vehicle frame.
7. AGV dollies of omnidirectional's submarine according to claim 3, it is characterised in that：The lower section interval of the fixed disk
It is provided with and compresses disk, described to compress the top that disk suit is fixed on first jackshaft, the lifting bearing is arranged on described
Fixed disk and compress between disk, the lifting bearing continues to move downward after propping up the end face for compressing disk.
8. AGV dollies of omnidirectional's submarine according to claim 1, it is characterised in that：Under the vehicle frame plane of the vehicle frame
Side is provided with traction rod assembly, and the traction rod assembly includes hitch frame, drawing bar, hold-down bars, spring, flange part, rotating disk, leads
Draw motor and traction bearing；
The hitch frame is suspended vacantly in the inner side of the vehicle frame plane；
The drawing bar is vertically extended on the middle part of the hitch frame, and its upper end can straight up stretch out the car
Frame plane；The lower end of the hold-down bars is fixed on the bottom surface of the hitch frame, and the inner chamber of the drawing bar is stretched into its upper end；It is described
Spring housing is mounted in the hold-down bars, and its upper end props up the top surface of the inner chamber, and the lower end of the spring props up the hitch frame
Bottom surface；
The flange part is set with the lateral wall of the lower end for being fixed on the drawing bar by nut, and its end face is to the drawing bar
Outside extends；The rotating disk is fixed on the front end of the rotary shaft of the traction electric machine, and the traction bearing bias is fixed on institute
The end face outside of rotating disk is stated, and it is arranged on the top of the rotating disk, and it is tangent with the flange part.
9. AGV dollies of omnidirectional's submarine according to claim 8, it is characterised in that：Also include inductive switch and sensing
Part, the induction pieces are arranged on the outer face of the rotating disk；The inductive switch and induction pieces are electrically connected, the inductive switch
Control module with the AGV dollies is electrically connected.
10. AGV dollies of omnidirectional's submarine according to claim 8, it is characterised in that：The flange part for fall " several " word
The integral structure part of type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621357514.3U CN206278173U (en) | 2016-12-12 | 2016-12-12 | A kind of AGV dollies of omnidirectional's submarine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621357514.3U CN206278173U (en) | 2016-12-12 | 2016-12-12 | A kind of AGV dollies of omnidirectional's submarine |
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| CN206278173U true CN206278173U (en) | 2017-06-27 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476929A (en) * | 2016-12-12 | 2017-03-08 | 佛山市新鹏机器人技术有限公司 | A kind of AGV dolly of omnidirectional submarine |
| CN107985446A (en) * | 2018-01-24 | 2018-05-04 | 昆山瑞宝达电子有限公司 | Synchronous drive-type AGV trolleies |
| CN109278882A (en) * | 2018-08-20 | 2019-01-29 | 浙江精功机器人智能装备有限公司 | One kind drawing narrow chassis for heavy load AGV submarine |
| CN109279244A (en) * | 2018-09-10 | 2019-01-29 | 安徽灵翔智能机器人技术有限公司 | It is a kind of can autonomous barcode scanning identification storage transfer robot |
| CN110466962A (en) * | 2019-08-21 | 2019-11-19 | 上海飞为智能***股份有限公司 | A kind of device and method of AGV trolley delivery carrier automatic loading/unloading |
| CN112874658A (en) * | 2021-03-12 | 2021-06-01 | 深圳市佳顺智能机器人股份有限公司 | Latent AGV that pulls with self-balancing drive structure |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476929A (en) * | 2016-12-12 | 2017-03-08 | 佛山市新鹏机器人技术有限公司 | A kind of AGV dolly of omnidirectional submarine |
| CN107985446A (en) * | 2018-01-24 | 2018-05-04 | 昆山瑞宝达电子有限公司 | Synchronous drive-type AGV trolleies |
| CN109278882A (en) * | 2018-08-20 | 2019-01-29 | 浙江精功机器人智能装备有限公司 | One kind drawing narrow chassis for heavy load AGV submarine |
| CN109279244A (en) * | 2018-09-10 | 2019-01-29 | 安徽灵翔智能机器人技术有限公司 | It is a kind of can autonomous barcode scanning identification storage transfer robot |
| CN110466962A (en) * | 2019-08-21 | 2019-11-19 | 上海飞为智能***股份有限公司 | A kind of device and method of AGV trolley delivery carrier automatic loading/unloading |
| CN110466962B (en) * | 2019-08-21 | 2020-04-21 | 上海飞为智能***股份有限公司 | Automatic loading and unloading device and method for AGV trolley consignment carrier |
| CN112874658A (en) * | 2021-03-12 | 2021-06-01 | 深圳市佳顺智能机器人股份有限公司 | Latent AGV that pulls with self-balancing drive structure |
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Address after: 528225 A1 Factory Building, No. 40 Boai Middle Road, Shishan Town, Nanhai District, Foshan City, Guangdong Province (Residence Declaration) Patentee after: Guangdong Huibo Robot Technology Co., Ltd. Address before: 528225 Room A208 and A209, Research Building A, Nefo High-tech Think Tank Center, Nanhai Software Science Park, Shishan Town, Foshan City, Guangdong Province Patentee before: Xin Peng Robotics Technology Co., Ltd. of Foshan City |
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