CN103273988A - All-directional traveling system applicable to AGV (automatic guided vehicle) - Google Patents

All-directional traveling system applicable to AGV (automatic guided vehicle) Download PDF

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Publication number
CN103273988A
CN103273988A CN2013102341311A CN201310234131A CN103273988A CN 103273988 A CN103273988 A CN 103273988A CN 2013102341311 A CN2013102341311 A CN 2013102341311A CN 201310234131 A CN201310234131 A CN 201310234131A CN 103273988 A CN103273988 A CN 103273988A
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CN
China
Prior art keywords
bogie truck
drive wheel
wheel
lockout
revolution
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN2013102341311A
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Chinese (zh)
Inventor
邹攀
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hube Sanfeng Intelligent Conveying Equipment Co., Ltd.
Original Assignee
Changsha Cizon Machinery Science & Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changsha Cizon Machinery Science & Technology Co Ltd filed Critical Changsha Cizon Machinery Science & Technology Co Ltd
Priority to CN2013102341311A priority Critical patent/CN103273988A/en
Publication of CN103273988A publication Critical patent/CN103273988A/en
Pending legal-status Critical Current

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Abstract

The invention discloses an all-directional traveling system applicable to an AGV (automatic guided vehicle). The all-directional traveling system comprises a driving wheel assembly (5) and a power supply and a control device of the driving wheel assembly (5), the driving wheel assembly (5) is mounted on a frame (4) and provided with a wheel set driven by dual motors, the wheel set driven by the dual motors are mounted below a driving wheel bogie (6) which is sleeved on a bogie rotary shaft (7) through an annular pressing plate (3), the bogie rotary shaft (7) is mounted below the frame (4), four universal wheel mechanisms (2) with lifting devices are mounted below the driving wheel bogie (6) which is provided with a locking mechanism (8), a body of the locking mechanism (8) is mounted on the frame (4), and the motors of the driving wheel assembly (5), electrically-controlled portions of the lifting devices of the universal wheel mechanisms (2) and electrically-controlled portions of the locking mechanism (8) are electrically connected with the control device.

Description

A kind of omnibearing ambulation system that is applicable to the AGV lead car
Technical field
The present invention relates to a kind of omnibearing ambulation system of the AGV of being applicable to lead car.
Background technology
At present, the running gear of AGV lead car is to advance or to retreat basically, the time require that certain turn radius is arranged.Its weak point: can not turn in the original place arbitrarily angledly, more can not walk by arbitrary orientation, the occupied ground area is big.Domestic have part producer to adopt the walking of double steering engine realization AGV omnidirectional, but steering wheel all must adopt external import, domestic not production, and this scheme cost height, and also imported product is long time of delivery, and the control system of two steering wheels is also complicated especially.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of by but individual drive wheel is right, degree of automation is high, and is unattended, can the arbitrarily angled turning in original place, the omnibearing ambulation system that is applicable to the AGV lead car of arbitrary orientation walking.
Goal of the invention of the present invention is achieved in the following manner: described running gear comprises drive wheel composition and power supply and the control setup that is installed on the vehicle frame; It is right that described drive wheel is formed the wheel of configuration Dual-motors Driving, and the wheel of Dual-motors Driving is to being installed in the below of drive wheel bogie truck; Described drive wheel bogie truck is sleeved on the bogie truck axis of revolution by annular pressing plate, and the bogie truck axis of revolution is installed in the below of vehicle frame; The universal wheel mechanism of four band jacking systems is installed in the below of described drive wheel bogie truck; Described drive wheel bogie truck arranges lockout mechanism, the main body of lockout mechanism is installed on the vehicle frame, and during the walking of AGV lead car, lockout mechanism is embraced the drive wheel bogie truck, and the universal wheel mechanism of two band jacking systems of working direction is unsettled, and the universal wheel mechanism of two other band jacking system lands; The automatically controlled part of the electrical motor that described drive wheel is formed, the jacking system of universal wheel mechanism and the automatically controlled part of lockout mechanism all are electrically connected with control setup.
Four lifting push rods are installed in the below of described vehicle frame, and the lifting push rod is arranged in the outside of drive wheel bogie truck; The automatically controlled part of described lifting push rod is electrically connected with control setup.
Between described drive wheel bogie truck and the bogie truck axis of revolution down suction is set.
Described drive wheel bogie truck is the 0-90 degree around the corner of bogie truck axis of revolution rotation.
Compared with prior art, the present invention has the following advantages: simple and reasonable, and the degree of automation height, the people is on duty, the arbitrarily angled turning in original place, arbitrary orientation walking, the floor area of saving AGV lead car walking passage.
Description of drawings
Fig. 1 is one embodiment of the invention structural representation;
Fig. 2 analyses and observe the structure for amplifying scheme drawing for the A-A of Fig. 1, but the drive wheel bogie truck has rotated 0 degree or 90 degree with respect to vehicle frame;
Fig. 3 analyses and observe the structure for amplifying scheme drawing for the A-A of Fig. 1, but the drive wheel bogie truck has rotated 45 degree with respect to vehicle frame;
Fig. 4 is the structural representation of drive wheel bogie truck;
Fig. 5 is the structural representation of bogie truck axis of revolution;
Among the figure: 1-lifting push rod; The 2-universal wheel mechanism, the 3-annular pressing plate, the 4-vehicle frame, the 5-drive wheel is formed, 6-drive wheel bogie truck, 7-bogie truck axis of revolution, 8-lockout mechanism, the outer support ring of 9-, 10-down suction, 11-inside support ring.
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
With reference to the accompanying drawings, described running gear comprises drive wheel composition 5 and power supply and the control setup that is installed on the vehicle frame 4; It is right that described drive wheel is formed the wheel of 5 configuration Dual-motors Driving, and the wheel of Dual-motors Driving is to being installed in the below of drive wheel bogie truck 6; Described drive wheel bogie truck 6 is sleeved on the bogie truck axis of revolution 7 by annular pressing plate 3, and bogie truck axis of revolution 7 is installed in the below of vehicle frame 4; The universal wheel mechanism 2 of four band jacking systems is installed in the below of described drive wheel bogie truck 6; Described drive wheel bogie truck 6 arranges lockout mechanism 8, the main body of lockout mechanism 8 is installed on the vehicle frame 4, during the walking of AGV lead car, lockout mechanism 8 is embraced drive wheel bogie truck 6, and the universal wheel mechanism 2 of two band jacking systems of working direction is unsettled, and the universal wheel mechanism 2 of two other band jacking system lands; The automatically controlled part of the electrical motor of described drive wheel composition 5, the jacking system of universal wheel mechanism 2 and the automatically controlled part of lockout mechanism 8 all are electrically connected with control setup.
Four lifting push rods 1 are installed in the below of described vehicle frame 4, and lifting push rod 1 is arranged in the outside of drive wheel bogie truck 6; The automatically controlled part of described lifting push rod 1 is electrically connected with control setup.
Between described drive wheel bogie truck 6 and the bogie truck axis of revolution 7 down suction 10 is set.
Described drive wheel bogie truck 6 is the 0-90 degree around the corner of bogie truck axis of revolution 7 rotations.
Described lifting push rod 1 adopts technique known to design and produce.As: the lifting mechanism of mechanical lifting mechanism or fluid pressure type.
The universal wheel mechanism 2 of described band jacking system adopts technique known to design and produce.As: machinery or hydraulic pressure lifting mechanism are installed in the cardan wheel top.
Embodiment 1:
Mainly formed by the universal wheel mechanism 2 of drive wheel bogie truck 6 and four band jacking systems.Drive wheel bogie truck 6 is mainly formed 5 by the universal wheel mechanism 2 of turn table, lockout mechanism 8, four band jacking systems and drive wheel and is formed, and it is right that drive wheel composition 5 disposes the wheel of Dual-motors Driving.The turn table top arranges inside support ring 11 and outer support ring 9, and inside support ring 11 is installed removable annular pressing plate 3, and drive wheel bogie truck 6 is sleeved on the bogie truck axis of revolution 7 by annular pressing plate 3, and bogie truck axis of revolution 7 is installed in the below of vehicle frame 4; The universal wheel mechanism 2 of four band jacking systems is installed in the below of drive wheel bogie truck 6; The main body of lockout mechanism 8 is installed on the vehicle frame 4, when the AGV lead car is walked, lockout mechanism 8 is embraced drive wheel bogie truck 6, when drive wheel bogie truck 6 original place angle changings, lockout mechanism 8 unclamps drive wheel bogie truck 6, after allowing two right motor step wises of wheel of Dual-motors Driving slowly rotate to set angle, lockout mechanism 8 is embraced drive wheel bogie truck 6 again; The automatically controlled part of the electrical motor of drive wheel composition 5, the jacking system of universal wheel mechanism 2 and the automatically controlled part of lockout mechanism 8 all are electrically connected with control setup.
Embodiment 2:
On the basis of embodiment 1, four lifting push rods 1 are installed in the below of vehicle frame 4, and lifting push rod 1 is arranged in the outside of drive wheel bogie truck 6; The automatically controlled part of described lifting push rod 1 is electrically connected with control setup.
Embodiment 3:
On the basis of embodiment 2, between drive wheel bogie truck 6 and the bogie truck axis of revolution 7 down suction 10 is set.When four lifting push rods are stretched jack-up vehicle frame 41 time, because the existence in gap 9 makes the pressure of drive wheel bogie truck 6 tops reduce or releasing, more easily reliable during drive wheel bogie truck 6 anglecs of rotation.
Because the wheel of Dual-motors Driving to can just changeing, also can reverse, under car body 4 non-rotary situations, as long as angle from 0 to 90 degree of rotation drive wheel bogie truck 6, just can realize the omnibearing ambulation function that car body 4 is constant.

Claims (4)

1. omnibearing ambulation system that is applicable to the AGV lead car, described running gear comprise that the drive wheel that is installed on the vehicle frame (4) forms (5) and power supply and control setup; It is characterized in that: it is right that described drive wheel is formed the wheel of (5) configuration Dual-motors Driving, and the wheel of Dual-motors Driving is to being installed in the below of drive wheel bogie truck (6); Described drive wheel bogie truck (6) is sleeved on the bogie truck axis of revolution (7) by annular pressing plate (3), and bogie truck axis of revolution (7) is installed in the below of vehicle frame (4); The universal wheel mechanism (2) of four band jacking systems is installed in the below of described drive wheel bogie truck (6); Described drive wheel bogie truck (6) arranges lockout mechanism (8), the main body of lockout mechanism (8) is installed on the vehicle frame (4), during the walking of AGV lead car, lockout mechanism (8) is embraced drive wheel bogie truck (6), and the universal wheel mechanism (2) of two band jacking systems of working direction is unsettled, and the universal wheel mechanism (2) of two other band jacking system lands; The automatically controlled part of the electrical motor of described drive wheel composition (5), the jacking system of universal wheel mechanism (2) and the automatically controlled part of lockout mechanism (8) all are electrically connected with control setup.
2. running gear according to claim 1 is characterized in that: four lifting push rods (1) are installed in the below of described vehicle frame (4), and lifting push rod (1) is arranged in the outside of drive wheel bogie truck (6); The automatically controlled part of described lifting push rod (1) is electrically connected with control setup.
3. running gear according to claim 2 is characterized in that: between described drive wheel bogie truck (6) and the bogie truck axis of revolution (7) down suction (10) is set.
4. according to claim 1 or 2 or 3 described running gears, it is characterized in that: described drive wheel bogie truck (6) is the 0-90 degree around the corner of bogie truck axis of revolution (7) rotation.
CN2013102341311A 2013-06-14 2013-06-14 All-directional traveling system applicable to AGV (automatic guided vehicle) Pending CN103273988A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2013102341311A CN103273988A (en) 2013-06-14 2013-06-14 All-directional traveling system applicable to AGV (automatic guided vehicle)

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Application Number Priority Date Filing Date Title
CN2013102341311A CN103273988A (en) 2013-06-14 2013-06-14 All-directional traveling system applicable to AGV (automatic guided vehicle)

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448830A (en) * 2013-09-09 2013-12-18 无锡虹业自动化工程有限公司 Pivot steering AGV self-walking carrier vehicle
CN105711678A (en) * 2016-01-25 2016-06-29 广东溢达纺织有限公司 Drafting yarn car
CN106240673A (en) * 2016-10-12 2016-12-21 盐城工学院 A kind of mobile transfer robot and control method thereof
CN106276105A (en) * 2016-08-31 2017-01-04 无锡锡南铸造机械股份有限公司 A kind of RGV intelligence is across rail car
CN106315148A (en) * 2016-08-31 2017-01-11 无锡锡南铸造机械股份有限公司 Novel intelligent AGV
CN106864622A (en) * 2017-03-31 2017-06-20 深圳普智联科机器人技术有限公司 Robot gear mechanism based on diagonal dual drive train
CN106915627A (en) * 2017-01-25 2017-07-04 江山科锐普电子科技有限公司 Automatic logistics carrier
CN107097511A (en) * 2016-02-23 2017-08-29 朱隆娅 It is a kind of can active steering walking mechanism and screen printer
CN107600220A (en) * 2017-08-24 2018-01-19 天津玖良科技有限公司 A kind of all-direction moving unit suitable for AGV dollies
CN108100065A (en) * 2016-10-29 2018-06-01 熵零技术逻辑工程院集团股份有限公司 A kind of crawler-type carrier vehicle
CN109430086A (en) * 2018-11-13 2019-03-08 段美军 A kind of cattle breeding feeds device with movable type
WO2020199431A1 (en) * 2019-03-29 2020-10-08 上海快仓智能科技有限公司 Automated guided vehicle

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Publication number Priority date Publication date Assignee Title
US3809004A (en) * 1972-09-18 1974-05-07 W Leonheart All terrain vehicle
US5161814A (en) * 1989-04-28 1992-11-10 Walker Douglas W Trailerable structure with retractable suspension
JP2000001170A (en) * 1998-06-16 2000-01-07 Sony Corp Four-wheel steering hand truck
CN1498177A (en) * 2001-03-12 2004-05-19 杰维斯・B・韦布国际公司 Floating drive for vehicle
CN203268187U (en) * 2013-06-14 2013-11-06 长沙驰众机械科技有限公司 All-dimensional travelling device applicable to AGV (Automatic Guided Vehicle) guiding vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3809004A (en) * 1972-09-18 1974-05-07 W Leonheart All terrain vehicle
US5161814A (en) * 1989-04-28 1992-11-10 Walker Douglas W Trailerable structure with retractable suspension
JP2000001170A (en) * 1998-06-16 2000-01-07 Sony Corp Four-wheel steering hand truck
CN1498177A (en) * 2001-03-12 2004-05-19 杰维斯・B・韦布国际公司 Floating drive for vehicle
CN203268187U (en) * 2013-06-14 2013-11-06 长沙驰众机械科技有限公司 All-dimensional travelling device applicable to AGV (Automatic Guided Vehicle) guiding vehicle

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448830A (en) * 2013-09-09 2013-12-18 无锡虹业自动化工程有限公司 Pivot steering AGV self-walking carrier vehicle
CN105711678A (en) * 2016-01-25 2016-06-29 广东溢达纺织有限公司 Drafting yarn car
CN107097511A (en) * 2016-02-23 2017-08-29 朱隆娅 It is a kind of can active steering walking mechanism and screen printer
CN106276105A (en) * 2016-08-31 2017-01-04 无锡锡南铸造机械股份有限公司 A kind of RGV intelligence is across rail car
CN106315148A (en) * 2016-08-31 2017-01-11 无锡锡南铸造机械股份有限公司 Novel intelligent AGV
CN106240673A (en) * 2016-10-12 2016-12-21 盐城工学院 A kind of mobile transfer robot and control method thereof
CN108100065A (en) * 2016-10-29 2018-06-01 熵零技术逻辑工程院集团股份有限公司 A kind of crawler-type carrier vehicle
CN106915627A (en) * 2017-01-25 2017-07-04 江山科锐普电子科技有限公司 Automatic logistics carrier
CN106864622A (en) * 2017-03-31 2017-06-20 深圳普智联科机器人技术有限公司 Robot gear mechanism based on diagonal dual drive train
CN106864622B (en) * 2017-03-31 2019-05-14 深圳普智联科机器人技术有限公司 Robot gear mechanism based on diagonal line double drive train
CN107600220A (en) * 2017-08-24 2018-01-19 天津玖良科技有限公司 A kind of all-direction moving unit suitable for AGV dollies
CN109430086A (en) * 2018-11-13 2019-03-08 段美军 A kind of cattle breeding feeds device with movable type
WO2020199431A1 (en) * 2019-03-29 2020-10-08 上海快仓智能科技有限公司 Automated guided vehicle

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Owner name: HUBEI SANFENG INTELLIGENT CONVEYER EQUIPMENT CO.,

Free format text: FORMER OWNER: CHANGSHA CIZON MACHINERY SCIENCE + TECHNOLOGY CO., LTD.

Effective date: 20150129

TA01 Transfer of patent application right

Effective date of registration: 20150129

Address after: 435000 Jinshan Road, Jinshan Industrial Zone, Hubei, Huangshi, No. 398

Applicant after: Hube Sanfeng Intelligent Conveying Equipment Co., Ltd.

Address before: 410100 Hunan province Changsha Changsha City Economic and Technological Development Zone Li Xiang Road No. 19

Applicant before: Changsha Cizon Machinery Science & Technology Co., Ltd.

C41 Transfer of patent application or patent right or utility model
COR Change of bibliographic data

Free format text: CORRECT: ADDRESS; FROM: 410100 CHANGSHA, HUNAN PROVINCE TO: 435000 HUANGSHI, HUBEI PROVINCE

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WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20130904