CN103273988A - All-directional traveling system applicable to AGV (automatic guided vehicle) - Google Patents
All-directional traveling system applicable to AGV (automatic guided vehicle) Download PDFInfo
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- 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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- bogie truck
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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
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.
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) |
Applications Claiming Priority (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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| CN103273988A true CN103273988A (en) | 2013-09-04 |
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| CN2013102341311A Pending CN103273988A (en) | 2013-06-14 | 2013-06-14 | All-directional traveling system applicable to AGV (automatic guided vehicle) |
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Cited By (14)
| 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 |
| CN111086572A (en) * | 2020-01-16 | 2020-05-01 | 深圳市科昭科技有限公司 | Intelligence lift post turns to AGV robot |
| WO2020199431A1 (en) * | 2019-03-29 | 2020-10-08 | 上海快仓智能科技有限公司 | Automated guided vehicle |
| CN112550519A (en) * | 2020-12-16 | 2021-03-26 | 尚大(苏州)智能制造研究院有限公司 | Moving device for intelligent robot and moving method thereof |
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| 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 |
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- 2013-06-14 CN CN2013102341311A patent/CN103273988A/en active Pending
Patent Citations (5)
| 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 (15)
| 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 |
| CN111086572A (en) * | 2020-01-16 | 2020-05-01 | 深圳市科昭科技有限公司 | Intelligence lift post turns to AGV robot |
| CN112550519A (en) * | 2020-12-16 | 2021-03-26 | 尚大(苏州)智能制造研究院有限公司 | Moving device for intelligent robot and moving method thereof |
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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 |
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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. |
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Application publication date: 20130904 |