CN210212526U

CN210212526U - AGV differential drive device with beat function

Info

Publication number: CN210212526U
Application number: CN201921326957.XU
Authority: CN
Inventors: Bing Ye; 叶兵
Original assignee: Hunan Thought And Control Intelligent Technology Co Ltd
Current assignee: Wenzhou Sikong Intelligent Technology Co.,Ltd.
Priority date: 2019-08-15
Filing date: 2019-08-15
Publication date: 2020-03-31
Anticipated expiration: 2029-08-15

Abstract

The embodiment of the utility model discloses an AGV differential driving device with a deflection function, which comprises a power driving unit arranged below a vehicle body through a supporting and fixing plate, wherein a deflection adjusting unit is hinged on the power driving unit, and the upper part of the deflection adjusting unit is connected with the supporting and fixing plate through a guide buffer unit; the direction buffer unit is including the fixed support uide bushing that sets up in the adjustment unit top that deflects, and the movable sleeve is equipped with the support guide post in the support uide bushing, and supports the upper end fixed connection support fixed plate of guide post, and the cover is equipped with buffer spring on the support uide bushing between support fixed plate and the adjustment unit that deflects, the utility model discloses a self-adaptation deflection buffer structure makes AGV can adapt to various uneven road surfaces, increases AGV's life, at the level of the road surface irregularity, ensures that two drive wheel homoenergetic can with road surface in close contact with to can provide sufficient traction force, in order to avoid skidding, the condition such as direction out of control takes place, guarantees the stability of drive arrangement drive power.

Description

AGV differential drive device with beat function

Technical Field

The embodiment of the utility model provides an embodiment relates to automated guided vehicle power drive technical field, concretely relates to AGV differential drive arrangement with beat function.

Background

AGVs (Automated Guided vehicles) are also commonly referred to as Automated Guided vehicles, and refer to vehicles equipped with electromagnetic or optical automatic guiding devices, which can travel along a predetermined guiding path, and have safety protection and various transfer functions. AGV obtains extensive application in fields such as factory's logistics automation, automatic assembly line. The AGV is characterized by wheeled movement, and has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like compared with walking, crawling or other non-wheeled mobile robots. Compared with other equipment commonly used in material conveying, the AGV has the advantages that fixing devices such as rails and supporting frames do not need to be laid in the moving area of the AGV, and the AGV is not limited by sites, roads and spaces. Therefore, in the automatic logistics system, the automation and the flexibility can be fully embodied, and the efficient, economical and flexible unmanned production is realized.

AGV's drive arrangement is the important component of AGV equipment, and current AGV drive arrangement requires comparatively high to the road flatness, and AGV equipment is when using, and the road surface is hugged closely constantly to the assurance drive wheel that can not be fine, and motor drive power can not fine performance for the drive power of AGV automobile body is unstable. When the vehicle runs on a rugged road, the driving wheels are easy to leave the road due to bumping, so that the phenomena of insufficient traction force, skid, direction runaway and the like are caused.

SUMMERY OF THE UTILITY MODEL

Therefore, the embodiment of the utility model provides a AGV differential drive arrangement with beat function to AGV is met when jolting and is being had the easy problem of being destroyed because of the vibrations range is big among the solution prior art.

In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:

an AGV differential driving device with a deflection function comprises a power driving unit, a deflection adjusting unit and a guide buffer unit, wherein the power driving unit is arranged below a vehicle body through a support fixing plate, the power driving unit is hinged with the deflection adjusting unit, and the upper part of the deflection adjusting unit is connected with the support fixing plate through the guide buffer unit;

the guide buffer unit comprises a support guide sleeve fixedly arranged above the deflection adjusting unit, a support guide column is movably sleeved in the support guide sleeve, the upper end of the support guide column is fixedly connected with the support fixing plate, and a buffer spring is sleeved on the support guide column between the support fixing plate and the deflection adjusting unit.

The utility model discloses the characteristic still lies in, direction buffer unit is still including being used for the restriction support the uide bushing for support the spacing seat of guide post pivoted, spacing seat makes power drive unit and deflection adjustment unit all can only reciprocate.

The utility model discloses the characteristic still lies in, the lower extreme that supports the guide post is provided with and is used for preventing support the guide post snap ring of guide post from supporting the landing on the uide bushing.

The utility model discloses the characteristic still lies in, the power drive unit includes the motor mounting panel, two relative inboard equal coaxial lines of motor mounting panel install driving motor, driving motor installs the drive wheel through the drive shaft transmission, the regulating unit that deflects articulates on the motor mounting panel.

The utility model discloses the characteristic still lies in, the regulating unit that deflects is including deflecting the regulation backup pad, support uide bushing fixed mounting in the top of deflecting the regulation backup pad, it articulates through deflecting the regulation back shaft to deflect the regulation backup pad on the power drive unit.

The embodiment of the utility model provides a have following advantage:

the utility model discloses a self-adaptation's buffer structure that deflects makes AGV can adapt to various uneven road surfaces, increases AGV's life, at the road surface not at ordinary times, ensures two drive wheel homoenergetic and road surface in close contact with to can provide sufficient traction force, take place with the condition such as avoiding skidding, the direction is out of control, guarantee drive arrangement drive power's stability.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall split structure of the present invention;

fig. 3 is a schematic front structural view of the present invention;

fig. 4 is a schematic side view of the present invention;

fig. 5 is a schematic top view of the present invention;

fig. 6 is a schematic cross-sectional view of a-a' in fig. 3 according to the present invention;

fig. 7 is a schematic cross-sectional view of B-B' in fig. 4 according to the present invention;

fig. 8 is a schematic view of the split structure of the guiding buffer unit of the present invention;

fig. 9 is a schematic view of an integrated structure of the guiding buffer unit of the present invention;

fig. 10 is a schematic view of a split structure of the power driving unit of the present invention;

fig. 11 is a schematic view of an integrated structure of the power driving unit of the present invention;

FIG. 12 is a schematic structural view of the present invention on uneven ground;

fig. 13 shows an AGV equipped with the differential drive device of the present invention.

In the figure:

2-supporting the fixed plate; 3-a guide buffer unit; 5-a power drive unit; 6-AGV body; 7-a universal driven wheel; 8-ground;

301-supporting guide posts; 302-a buffer spring; 303-a limiting seat; 304-guide post snap ring; 305-supporting a guide sleeve;

401-deflection adjusting support plate; 402-yaw adjustment support shaft;

501-driving a motor; 502-motor mounting plate; 503-a drive shaft; 504-driving wheels.

Detailed Description

The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

When the AGV walks on a rugged road, the driving wheels are easy to leave the road due to jolt, so that the phenomena of insufficient traction force, skid, out-of-control direction and the like are caused.

Example 1:

therefore, as shown in fig. 1 to 13, the present invention provides an AGV differential driving device with a yaw function, which includes a power driving unit 5 installed below an AGV body 6 through a supporting and fixing plate 2, wherein the supporting and fixing plate 2 provides support for the power driving unit 5.

Preferably, the power driving unit 5 comprises a motor mounting plate 502, a driving motor 501 is coaxially mounted on two opposite inner sides of the motor mounting plate 502, and the driving motor 501 is drivingly mounted with a driving wheel 504 through a driving shaft 503. The yaw adjustment unit 4 is hinged to the motor mounting plate 502.

A deflection adjusting unit 4 is hinged on the power driving unit 5, and the upper part of the deflection adjusting unit 4 is connected with the supporting and fixing plate 2 through a guide buffer unit 3;

the deflection adjusting unit 4 and the guiding buffer unit 3 can play a role in damping and left-right micro-displacement when the ground 8 is uneven, reduce the wear of the AGV and prolong the service life of the AGV. The drive wheels 504 can reliably land when empty or full, providing stable driving force and ensuring the stability of the AGV drive.

Wherein the guide buffer unit 3 provides a buffer for the power driving unit 5 so that the driving wheel 504 is always in contact with the ground, and provides a guide for the power driving unit 5 so that the driving wheel 504 can only move up and down.

The deflection adjusting unit 4 is connected with the power driving unit 5 through a hinge, and when the walking ground is uneven, the power driving unit 5 can be automatically adjusted to deflect by a certain angle to adapt to the ground.

Example 2:

the yaw adjusting unit 4 includes a yaw adjusting support plate 401, a support guide 305 is fixedly installed above the yaw adjusting support plate 401, and the yaw adjusting support plate 401 is hinged on the power driving unit 5 through a yaw adjusting support shaft 402. So that the yaw adjustment support plate 401 can slightly rotate with respect to the power drive unit 5.

Example 3:

the guide buffer unit 3 comprises a support guide sleeve 305 fixedly arranged above the deflection adjusting unit 4, and a support guide column 301 is movably sleeved in the support guide sleeve 305. The support guide sleeve 305 and the support guide column 301 are in clearance fit. The support guide posts 301 may provide axial sliding support for the support guide sleeve 305.

And the upper ends of the supporting guide posts 301 are fixedly connected with the supporting and fixing plate 2, so that the power driving unit 5 can move up and down linearly relative to the supporting and fixing plate 2.

Preferably, a buffer spring 302 is sleeved on the supporting guide column 301 between the supporting fixing plate 2 and the deflection adjusting unit 4. The power driving unit 5 can make a yawing motion relative to the guide buffer unit 3. The buffer spring 302 indirectly brings the driving wheel 504 into contact with the ground 8 at all times by its elastic force, thereby obtaining a sufficient driving force.

Preferably, the guide cushion unit 3 further includes a limiting seat 303 for limiting the rotation of the support guide sleeve 305 relative to the support guide column 301, and the limiting seat 303 enables both the power driving unit 5 and the yaw adjusting unit 4 to move only up and down.

Further, the lower end of the support guide 301 is provided with a guide snap ring 304 for preventing the support guide 301 from sliding off the upper end of the support guide sleeve 305.

The working principle of the differential driving device is as follows:

1. straight and turning motion:

when the two driving motors 501 output power at the same rotating speed, the driving wheels 504 can drive the AGV to move forward or backward, and when the two driving motors 501 output power at different rotating speeds, the AGV can be driven to turn by the speed difference between the driving wheels 504.

2. The drive wheel 504 passes over an uneven road surface:

the power driving unit 5 rotates relative to the deflection adjusting unit 4, so that the two driving wheels 504 can deflect left and right and float up and down adaptively along with the fluctuation of the road surface, and in the process, the guiding and buffering unit 3 plays a role in damping and guiding, and the impact of the uneven road surface to the AGV is relieved.

Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. The utility model provides a AGV differential drive device with beat function, includes installs power drive unit (5) in the automobile body below through supporting fixed plate (2), its characterized in that: a deflection adjusting unit (4) is hinged on the power driving unit (5), and the upper part of the deflection adjusting unit (4) is connected with the supporting and fixing plate (2) through a guide buffer unit (3);

the direction buffer unit (3) are including fixed setting the support uide bushing (305) of deflection regulating unit (4) top, the activity cover is equipped with support guide post (301) in support uide bushing (305), just the upper end fixed connection of supporting guide post (301) support fixed plate (2), the cover is equipped with buffer spring (302) on support guide post (301) between support fixed plate (2) and deflection regulating unit (4).

2. An AGV differential drive with yaw functionality according to claim 1 and further characterized by: the guide buffer unit (3) further comprises a limiting seat (303) used for limiting the support guide sleeve (305) to rotate relative to the support guide column (301), and the limiting seat (303) enables the power driving unit (5) and the deflection adjusting unit (4) to move only up and down.

3. An AGV differential drive with yaw functionality according to claim 1 and further characterized by: the lower end of the support guide post (301) is provided with a guide post clamping ring (304) for preventing the support guide post (301) from sliding off from the upper end of the support guide sleeve (305).

4. An AGV differential drive with yaw functionality according to claim 1 and further characterized by: the power driving unit (5) comprises a motor mounting plate (502), two opposite inner sides of the motor mounting plate (502) are provided with a driving motor (501) coaxially, the driving motor (501) is provided with a driving wheel (504) through a driving shaft (503), and the deflection adjusting unit (4) is hinged on the motor mounting plate (502).

5. An AGV differential drive with yaw functionality according to claim 1 and further characterized by: the deflection adjusting unit (4) comprises a deflection adjusting support plate (401), the support guide sleeve (305) is fixedly arranged above the deflection adjusting support plate (401), and the deflection adjusting support plate (401) is hinged on the power driving unit (5) through a deflection adjusting support shaft (402).