CN102963454A - Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) - Google Patents
Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) Download PDFInfo
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- CN102963454A CN102963454A CN2012104293765A CN201210429376A CN102963454A CN 102963454 A CN102963454 A CN 102963454A CN 2012104293765 A CN2012104293765 A CN 2012104293765A CN 201210429376 A CN201210429376 A CN 201210429376A CN 102963454 A CN102963454 A CN 102963454A
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Abstract
The invention discloses a dual-sliding shaft floatation supporting mechanism of an omnibearing movable AGV (Automatic Guided Vehicle), wherein a Mecanum wheel is fixed on a motor shaft; two annular ball bearings are arranged at two ends of the motor shaft and then are arranged in bearing seats; the two bearing seats are arranged on a bracket by virtue of locating of two locating pins; two sliding shafts are fixed on the bracket by virtue of bolted joint; two sliding linear bearings with flanges are fixed on fixing plates by virtue of screws; two rectangular helical springs are arranged at the lower parts of the sliding shafts; and two sliding shafts penetrate through the two sliding linear bearing with the flanges and are locked up. The dual-sliding shaft floatation supporting mechanism ensures that the Mecanum wheel rotates freely in the vertical direction and floats so as to realize the floatation support in the vertical direction, so that when a road surface is uneven, the Mecanum wheel can not be contacted with the ground and idle or can not idle while being slightly contacted with the ground, and simultaneously the vibration during the Mecanum wheel traveling process can be weakened, and the traveling direction accuracy and movement stability of the AGV can be greatly improved.
Description
Technical field
The present invention relates to physical construction, relate in particular to a kind of two slide shaft Floatable supporting mechanisms for all-around mobile formula AGV.
Background technology
In order to obtain preferably robust motion, common AGV(or Automatic Guided Vehicle, motor dolly) all adopt 4 wheel constructions, and for four-wheel AGV, by 3 principles that determine a plane, when uneven ground moves, fully kiss the earth of a wheel is always arranged, and the difficulty that this just brings motion control causes the not steady of body movement.Common AGV adopts common pneumatic rubber wheel, and the rubber wheel of inflating when pressurized can be adjusted automatically, to guarantee all kiss the earths of four-wheel.But this just cannot accomplish for directional wheel, and tens trundles are housed on the directional wheel, and these trundles can't adopt the rubber wheel of inflation, thereby it can't not adjusted at ordinary times automatically on ground.
All-around mobile in the plane based on the advantage of the AGV of the four wheel drive of directional wheel, side-to-side movement after getting final product, can rotate along at a point, can also walk sideling with arbitrarily angled, AGV with non-all-around mobile compares, such advantage is can be mobile flexibly in narrow space, can correct more quickly again simultaneously the walking deviation and move to exactly assigned address, if but have a wheel not have kiss the earth or slight kiss the earth, its sense of motion will change, and this can cause AGV to depart from guide wire so that can not correct at short notice, thereby cause violent swing, particularly under speed and load condition, especially be difficult to accomplish.In addition, because the constructional feature of directional wheel has determined that the portable AGV motion of full side is poorer than the stationarity of non-comprehensive formula AGV, in order to address the above problem, need a kind of two slide shaft Floatable supporting mechanisms for all-around mobile formula AGV of ad hoc meter.
" many trains heavy duty mobile robot AGV " (Chinese invention patent application number 201210107633.3) disclosed in the prior art, this invention realizes float support by up and down two leaf springs that are contained on the wheel, but this mechanism does not have the guiding at vertical direction, be subject to the transverse load hour wheel will deflection, and this will cause sense of motion to change for directional wheel, the friction force that causes simultaneously taking turns with ground strengthens, and motion is obstructed or break-in.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, a kind of two slide shaft Floatable supporting mechanisms for all-around mobile formula AGV are provided, so that wheel is not in contact with the ground and can not dally when Uneven road, or during slight kiss the earth and can not skid, vibration when also weakening simultaneously the wheel walking, greatly improve AGV garage and walked the accuracy of direction, and improved the stationarity of AGV car motion.The present invention is achieved by the following technical solutions:
According to an aspect of the present invention, two slide shaft Floatable supporting mechanisms of a kind of all-around mobile formula AGV are provided, comprise: two slide shafts, two flanged sliding straight bearings, two rectangular coil springs, adapter plate, support, two locating dowel pins, two bearing seats, two radial ball bearings, motor shaft and Mecanum wheel, Mecanum wheel is fixed on the motor shaft, the two ends of motor shaft are separately installed with a radial ball bearing, two radial ball bearings are contained in respectively in two bearing seats, two bearing seats pass through respectively the location and installation of two locating dowel pins on support, two slide shafts are fixed on the support by bolted connection, two flanged sliding straight bearings are fixed on the adapter plate, two rectangular coil springs are placed in respectively the bottom of two slide shafts, two slide shafts pass respectively two flanged sliding straight bearings, and the upper end of slide shaft has pad to pin.
Wherein, described Mecanum wheel is directional wheel, and all-around mobile gets final product rear side-to-side movement in the plane, can rotate along at a point, can also walk sideling with arbitrarily angled.
Preferably, described Mecanum wheel is the drive wheel of AGV.
Preferably, described two slide shafts and two flanged sliding straight bearings consist of two pairs of sliding straight bearing combinations of slide shaft, and the line of centers of two pairs of sliding straight bearing combinations of slide shaft and the wheel line of centers of Mecanum wheel are in same plane.
Preferably, described two slide shafts and two flanged sliding straight bearings consist of two pairs of sliding straight bearing combinations of slide shaft, and two pairs of sliding straight bearing combinations of slide shaft are vertical slide-and-guide.
Preferably, described two slide shafts and two flanged sliding straight bearings consist of two pairs of sliding straight bearing combinations of slide shaft, and wherein, the cooperation guiding length of the sliding straight bearing combination of slide shaft is greater than 1/2 of axle overall length.
Preferably, described each rectangular coil spring when load reduction length greater than ground irregularity degree 5mm.
According to another aspect of the present invention, also provide a kind of all-around mobile formula AGV car, comprise the AVG car body, be symmetrically installed with four on the AVG car body according to two slide shaft Floatable supporting mechanisms of described all-around mobile formula AGV provided by the invention.
Preferably, the adapter plate of two slide shaft Floatable supporting mechanisms of described all-around mobile formula AGV is installed on the frame of AGV car body, and the motor-driven Mecanum wheel of AGV car body rotates.
The vertical guiding of the present invention by two slide shafts and linear bearing is to guarantee that Mecanum wheel being free to slide of vertical direction, floats to be implemented in the vertical direction float support Mecanum wheel by two rectangular coil springs.Because such float support, so that Mecanum wheel is not in contact with the ground and can not dally when Uneven road, or during slight kiss the earth and can not skid, vibration when also weakening simultaneously the Mecanum wheel walking, greatly improve AGV garage and walked the accuracy of direction, and improved the stationarity of AGV car motion.
Description of drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is mechanism map of the present invention;
Fig. 2 is application example figure of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is implemented under take technical solution of the present invention as prerequisite, has provided detailed embodiment, but protection scope of the present invention is not limited to following embodiment.
Fig. 1 is mechanism map of the present invention, as shown in Figure 1, two slide shaft Floatable supporting mechanisms according to described all-around mobile formula AGV provided by the invention comprise: two slide shafts 1, two flanged sliding straight bearings 2, two rectangular coil springs 3, adapter plate 4, support 5, two locating dowel pins 6, two bearing seats 7, two radial ball bearings 8, motor shaft 9 and Mecanum wheel 10, Mecanum wheel 10 is fixed on the motor shaft 9, two radial ball bearings 8 are contained in respectively the two ends of motor shaft 9, then these two radial ball bearings 8 are respectively charged into corresponding bearing seat 7, location by two locating dowel pins 6 is installed in diaxon bearing 7 on the support 5, two slide shafts 1 are fixed on the support 5 by bolted connection, two flanged sliding straight bearings 2 are fixed by screws on the adapter plate 4, two rectangular coil springs 3 are placed in slide shaft 1 bottom, two slide shafts 1 are passed two flanged sliding straight bearings 2, the upper end of with two screws two pads 11 being pinned at two slide shafts 1 respectively.
Described Mecanum wheel 10 is a kind of directional wheel, and all-around mobile gets final product rear side-to-side movement in the plane, can rotate along at a point, can also walk sideling with arbitrarily angled.Mecanum wheel 10 is the drive wheel of AGV.Each Mecanum wheel 10 correspondence two pairs of slide shafts, 1/ sliding straight bearing 2 will be installed, and two pairs of slide shaft 1/ sliding straight bearing 2 line of centerss and wheel line of centers are in same plane, the two pairs of slide shaft 1/ sliding straight bearings 2 make the Mecanum wheel not deflection that fluctuates for vertical slide-and-guide, the two pairs of slide shafts, 1/ sliding straight bearing 2 cooperate the guiding length greater than the axle overall length 1/2 to guarantee guiding accuracy, reduction length is greater than ground irregularity degree 5mm when load for each Rectangular Spring 3, and wheel still can kiss the earth at ordinary times on ground like this.
In the present embodiment, when wheel travels on irregular road surface, because the effect of Rectangular Spring 3 does not change sense of motion with regard to not making this tyre skidding like this so that wheel still can kiss the earth.Simultaneously owing to be to slide along vertical direction, wheel slides up and down Shi Buhui left and right sides deflection, can not make the friction drag that is subjected to larger ground like this and causes dyskinesia.When the AGV car moves along the wheel axis direction and since this moment Mecanum wheel 10 lateral torsion larger, and two pairs of slide shaft 1/ sliding straight bearing 2 line of centerss and the layout of wheel line of centers in same plane be not so that wheel can be in the left and right directions deflection.
The vertical guiding of the present invention by two slide shafts 1 and linear bearing 2 is to guarantee that Mecanum wheel 10 being free to slide of vertical direction, floats to be implemented in the vertical direction float support Mecanum wheel 10 by two rectangular coil springs 3.Because such float support, so that Mecanum wheel 10 is not in contact with the ground and can not dally when Uneven road, or during slight kiss the earth and can not skid, vibration when also weakening simultaneously Mecanum wheel 10 walking, greatly improve AGV garage and walked the accuracy of direction, and improved the stationarity of AGV car motion.
Application example of the present invention such as Fig. 2, four Mecanum wheels 10 are arranged symmetrically with, the every wheel is drive wheel, whenever, take turns corresponding relocation mechanism as mentioned above, the adapter plate 4 of every relocation mechanism of taking turns all is fixed on the frame 12, and motor 13 drives Mecanum wheel 10 and rotates, on ground not at ordinary times, Mecanum wheel 10 vertically floats along slide shaft, and wheel contacts with ground all the time under the effect of rectangular coil spring 3.When whole car body moves along the axis direction of Mecanum wheel 10 and since two slide shaft 1/ linear bearings 2 lateral arrangement so that Mecanum wheel 10 can deflection.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (8)
1. two slide shaft Floatable supporting mechanisms of an all-around mobile formula AGV, it is characterized in that, comprise: two slide shafts (1), two flanged sliding straight bearings (2), two rectangular coil springs (3), adapter plate (4), support (5), two locating dowel pins (6), two bearing seats (7), two radial ball bearings (8), motor shaft (9) and Mecanum wheel (10), Mecanum wheel (10) is fixed on the motor shaft (9), the two ends of motor shaft (9) are separately installed with a radial ball bearing (8), two radial ball bearings (8) are contained in respectively in two bearing seats (7), two bearing seats (7) pass through respectively the location and installation of two locating dowel pins on support (5), two slide shafts (1) are fixed on the support (5) by bolted connection, two flanged sliding straight bearings (2) are fixed on the adapter plate (4), two rectangular coil springs (3) are placed in respectively the bottom of two slide shafts (1), two slide shafts (1) pass respectively two flanged sliding straight bearings (2), and the upper end of slide shaft (1) has pad to pin.
2. two slide shaft Floatable supporting mechanisms of all-around mobile formula AGV according to claim 1 is characterized in that, described Mecanum wheel is the drive wheel of AGV.
3. two slide shaft Floatable supporting mechanisms of all-around mobile formula AGV according to claim 1, it is characterized in that, described two slide shafts (1) and two flanged sliding straight bearings (2) consist of two pairs of sliding straight bearing combinations of slide shaft, and the line of centers of two pairs of sliding straight bearing combinations of slide shaft and the wheel line of centers of Mecanum wheel are in same plane.
4. two slide shaft Floatable supporting mechanisms of all-around mobile formula AGV according to claim 1, it is characterized in that, described two slide shafts (1) and two flanged sliding straight bearings (2) consist of two pairs of sliding straight bearing combinations of slide shaft, and two pairs of sliding straight bearing combinations of slide shaft are vertical slide-and-guide.
5. two slide shaft Floatable supporting mechanisms of all-around mobile formula AGV according to claim 1, it is characterized in that, described two slide shafts (1) and two flanged sliding straight bearings (2) consist of two pairs of sliding straight bearing combinations of slide shaft, wherein, the cooperation guiding length of the sliding straight bearing combination of slide shaft is greater than 1/2 of axle overall length.
6. two slide shaft Floatable supporting mechanisms of all-around mobile formula AGV according to claim 1 is characterized in that, described each rectangular coil spring when load reduction length greater than ground irregularity degree 5mm.
7. an all-around mobile formula AGV car comprises the AVG car body, it is characterized in that, is symmetrically installed with two slide shaft Floatable supporting mechanisms of four all-around mobile formula AGV as claimed in claim 1 on the AVG car body.
8. all-around mobile formula AGV car according to claim 7, it is characterized in that, the adapter plate (4) of two slide shaft Floatable supporting mechanisms of described all-around mobile formula AGV is installed on the frame (12) of AGV car body, and the motor of AGV car body (13) drives Mecanum wheel (10) and rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210429376.5A CN102963454B (en) | 2012-10-31 | 2012-10-31 | Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210429376.5A CN102963454B (en) | 2012-10-31 | 2012-10-31 | Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) |
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| CN102963454A true CN102963454A (en) | 2013-03-13 |
| CN102963454B CN102963454B (en) | 2015-05-20 |
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| CN201210429376.5A Expired - Fee Related CN102963454B (en) | 2012-10-31 | 2012-10-31 | Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) |
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| CN104163217A (en) * | 2013-05-16 | 2014-11-26 | 泰金宝电通股份有限公司 | Automatic guided vehicle device |
| CN104494382A (en) * | 2015-01-13 | 2015-04-08 | 辽宁欣海弘业航空科技有限公司 | Independent suspension mechanism of intelligent Mecanum wheel movement platform |
| CN104787144A (en) * | 2015-04-20 | 2015-07-22 | 东北大学 | Magnetic-adsorption multifunctional flaw detection robot |
| CN104960589A (en) * | 2014-08-22 | 2015-10-07 | 中科新松有限公司 | Omni-directional mobile robot device |
| CN104985985A (en) * | 2015-06-25 | 2015-10-21 | 广州六维数控设备有限公司 | AGV elastic support driving device with hub motor |
| CN105467998A (en) * | 2015-12-31 | 2016-04-06 | 厦门思尔特机器人系统股份公司 | Heavy load lifting type AGV |
| EP3034323A1 (en) * | 2014-12-16 | 2016-06-22 | Omniroll AG | Mecanum wheel vehicle and method of operation |
| EP3034324A1 (en) * | 2014-12-16 | 2016-06-22 | Omniroll AG | Mecanum wheel vehicle |
| CN105882783A (en) * | 2016-06-07 | 2016-08-24 | 广州普华灵动机器人技术有限公司 | Elastic floating structure of submerged omni-directional mobile AGV |
| CN106004298A (en) * | 2016-06-30 | 2016-10-12 | 华南理工大学 | AGV (automatic guided vehicle) elastic support driving device using hub motor and AGV |
| CN106143037A (en) * | 2016-08-09 | 2016-11-23 | 浙江科钛机器人股份有限公司 | Multistage Omni-mobile suspension fork mechanism and Omni-mobile platform |
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| CN106741265A (en) * | 2017-01-04 | 2017-05-31 | 芜湖德力自动化装备科技有限公司 | A kind of AGV platforms |
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| CN108081891A (en) * | 2017-12-15 | 2018-05-29 | 大连四达高技术发展有限公司 | Air spring wheel lifts suspension |
| CN108657299A (en) * | 2018-06-20 | 2018-10-16 | 上海懿牛机器人科技有限公司 | A kind of heavy duty transfer robot |
| CN108674107A (en) * | 2018-06-14 | 2018-10-19 | 常州模威科技有限公司 | Mecanum wheel independent wheel suspension |
| CN108749482A (en) * | 2018-06-12 | 2018-11-06 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and helping robot |
| CN109693533A (en) * | 2019-02-19 | 2019-04-30 | 聊城市恒丰电子有限公司 | A kind of driving wheel is directly connected to the AGV trolley of bearing and side guide floating |
| CN109969713A (en) * | 2019-04-02 | 2019-07-05 | 燕山大学 | A kind of heavy duty Omni-mobile AGV carrying platform |
| CN110340862A (en) * | 2018-04-08 | 2019-10-18 | Ai机器人株式会社 | Autonomous transfer robot |
| CN112479094A (en) * | 2020-11-26 | 2021-03-12 | 安徽信息工程学院 | Large-load electric remote control carrying platform |
| CN113815375A (en) * | 2020-09-28 | 2021-12-21 | 北京京东乾石科技有限公司 | Automatic guiding transport vehicle and walking wheel set thereof |
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| CN108749482B (en) * | 2018-06-12 | 2024-02-20 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and assisting robot |
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