CN104118292A - Integrated AGV driving and lifting mechanism - Google Patents
Integrated AGV driving and lifting mechanism Download PDFInfo
- Publication number
- CN104118292A CN104118292A CN201410396844.2A CN201410396844A CN104118292A CN 104118292 A CN104118292 A CN 104118292A CN 201410396844 A CN201410396844 A CN 201410396844A CN 104118292 A CN104118292 A CN 104118292A
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Abstract
The invention relates to an integrated AGV driving and lifting mechanism. The integrated AGV driving and lifting mechanism comprises a driving installing plate (1), a speed reducer A (4), a chain drive device, vibration dampers, a lifting device, two drive shafts (8) and drive wheels (5). The speed reducer A (4) is installed on the driving installing plate (1), the two drive shafts (8) are installed on the lower side of the driving installing plate (1), the two drive wheels (5) are installed on the ends of the outer sides of the two drive shafts (8) respectively, the ends of the inner sides of the two drive shafts (8) are rotationally installed on the lower side of the drive installing plate (1), the vibration dampers are arranged between the two drive shafts (8) and the drive installing plate (1) respectively, and the lifting device is vertically installed in the middle of the drive installing plate (1). The integrated AGV driving and lifting mechanism has the advantages of being good in damping effect, high in vehicle body strength and high in road grabbing capacity and has the automatic resetting function.
Description
Technical field
The present invention relates to a kind of automatic guided vehicle, particularly a kind of AGV drives and promotes integrated mechanism.
Background technology
Automatic guided vehicle AGV has been at home and abroad a kind of logistics transportation equipment that is widely used in automatic factory.All there is certain fluctuating and can be very not smooth in factory's actual ground.Conventionally AGV four-wheel lands and probably causes drive wheel to skid.Therefore design driven wheel damper mechanism is very necessary.
The automatic guided vehicle of AGV producer at home generally adopts dependent elastic type vibration damping or scissor elastic type vibration damping.The result that dependent formula elastic damping usually causes is that AGV vehicle body has certain inclination, and rollover phenomenon easily occurs.Price scissors formula vibration damping is taken turns to install to six and is proposed high requirement, and installation difficulty is high.
If in the situation that driving wheels still land, artificially promoting AGV is the thing of relatively requiring great effort.Therefore by automatically controlled driving wheels, realizing its automatic lifting is more humane design.Yet, drive wheels in operational process, its rotation is followed routing information and is changed and change, and this just causes driving not necessarily degree in a vertical angle of wheels axis direction and AGV axis direction.If do not allowed in lifting process, do not drive wheels just to return, after again landing, magnetic navigation sensor on driver train just may read to report less than path derailing, but is actually less than what derail, therefore now in the automatic lifting mechanism of driver train, has return function just to seem very necessary.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art, provide a kind of good damping result, bus body strength high, grab ground ability a kind of AGV strong and that there is automatic aligning function and drive and promote integrated mechanism.
Object of the present invention is achieved through the following technical solutions: a kind of AGV drives and promotes integrated mechanism, it comprises drive installation plate, reducing motor A, chain gearing, shock attenuation unit, jacking system, axle drive shaft and drive wheel, reducing motor A is arranged on drive installation plate, axle drive shaft has two, axle drive shaft is arranged on the downside of drive installation plate, two drive wheels are arranged on respectively the outboard end of two axle drive shafts, the medial end of two axle drive shafts is rotatably mounted on the downside of drive installation plate, between two axle drive shafts and drive installation plate, be respectively arranged with shock attenuation unit, described jacking system is vertically arranged on the midway location of drive installation plate,
Described chain gearing comprises drive sprocket, chain and driven sprocket, drive sprocket is arranged on the output shaft of reducing motor A, driven sprocket is arranged on the middle part of axle drive shaft by bearing, the sidewall of driven sprocket is connected with the wheel hub transmission of drive wheel, between drive sprocket and driven sprocket, by chain gear, is connected;
Described shock attenuation unit comprises sleeve, slide block, spring, end cap and vibration damping adapter plate, the lower end of sleeve is fixed on the middle part of axle drive shaft, the inwall bearing fit of slide block and sleeve, between sleeve and slide block, spring is installed, the inner side end face of the end face of spring and slide block contacts, the bottom surface of spring contacts with sleeve inside bottom surface, end cap is arranged on the top of sleeve, and slide block is through end cap, vibration damping adapter plate is fixedly mounted on bearing seat, and the two ends of vibration damping adapter plate are fixedly connected with the top end face of slide block respectively;
Described jacking system comprises lower bearing bracket, lifting shaft, upper spider, linear bearing, reducing motor, on lower bearing bracket, be fixed with linear axis bearing, in linear axis bearing, linear bearing is installed, lifting shaft runs through the upper and lower two ends of linear axis bearing, upper center is provided with damper spring, and the upper end of damper spring is fixed on the below of upper spider, and upper spider and lower bearing bracket are fixedly linked, lifting shaft top is provided with lower end face, and lower end face is the slope with single radially pit; One side of lower bearing bracket is provided with lift shaft bearing, lift shaft bearing is also provided with reducing motor B away from a side of lower bearing bracket, on the output shaft of reducing motor B, rotating disk is installed, rotating disk departs from the outer face of reducing motor B output shaft capacity eccentric bearing is installed, and capacity eccentric bearing is positioned at the below of lower end face.
The downside of described drive installation plate is provided with bearing seat, in bearing seat, by bearing, is horizontally installed with S. A., and the middle part of S. A. is through the radial hole of axle drive shaft medial extremity.
The bottom of described drive installation plate is also fixedly connected with bottom stiffener, and the two ends of bottom stiffener extend to respectively the below of shock attenuation unit.
The present invention has the following advantages:
1, adopt independently hanging vibration reduction mechanism, in the process of moving, drive wheel, according to road surface situation, regulates respectively the vibration damping height of the drive wheel of drive installation plate both sides to AGV, makes the drive installation plate held stationary of trying one's best, its good damping result.
2, shock attenuation unit is symmetricly set on the downside of drive installation plate, realize respectively vibration damping, pass through spring buffer, drive installation plate is directly not stressed, and below drive installation plate, be also provided with bottom stiffener, further promote the maximum weighted ability of drive installation plate, whole bus body strength is high, long service life.
3, no matter be to move on pit or the road surface at convex closure, by elongation and the compression of spring, all can guarantee drive wheel close proximity to ground all the time, make drive wheel " catch " tightly ground, earth-grasping force is strong.
4, in lifting process, under lifting shaft, end face has constant slope, after capacity eccentric bearing contacts with end face under lifting shaft, the peripheral force producing can make lifting shaft rotate towards the pit direction of its lower end face, when capacity eccentric bearing falls into after the pit of end face under lifting shaft, lifting shaft only no longer rotates and promotes, thereby realizes automatic aligning function in AGV driver train lifting process.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is chain gearing structural representation of the present invention;
Fig. 3 is damping device structure schematic diagram of the present invention;
Fig. 4 is lifting device structure schematic diagram of the present invention;
In figure: 1-drive installation plate, 2-drive sprocket, 3-chain, 4-reducing motor A, 5-drive wheel, 6-driven sprocket, 7-bottom stiffener, 8-axle drive shaft, 9-S. A., 10-sleeve, 11-bearing seat, 12-vibration damping adapter plate, 13-end cap, 14-spring, 15-slide block, 16-reducing motor B, 17-rotating disk, 18-upper spider, 19-damper spring, 20-lifting shaft, 21-linear axis bearing, 22-linear bearing, 23-capacity eccentric bearing, 24-lower bearing bracket, 25-lift shaft bearing, end face under 26-.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described, but protection scope of the present invention is not limited to the following stated.
As shown in Figure 1, a kind of AGV drives and promotes integrated mechanism, it comprises drive installation plate 1, reducing motor A4, chain gearing, shock attenuation unit, jacking system, axle drive shaft 8 and drive wheel 5, reducing motor A4 is arranged on drive installation plate 1, axle drive shaft 8 has two, axle drive shaft 8 is arranged on the downside of drive installation plate 1, two drive wheels 5 are arranged on respectively the outboard end of two axle drive shafts 8, the medial end of two axle drive shafts 8 is rotatably mounted on the downside of drive installation plate 1, between two axle drive shafts 8 and drive installation plate 1, be respectively arranged with shock attenuation unit, described jacking system is vertically arranged on the midway location of drive installation plate 1,
As shown in Figure 2, described chain gearing comprises drive sprocket 2, chain 3 and driven sprocket 6, drive sprocket 2 is arranged on the output shaft of reducing motor A4, driven sprocket 6 is arranged on the middle part of axle drive shaft 8 by bearing, the sidewall of driven sprocket 6 is connected with the wheel hub transmission of drive wheel 5, between drive sprocket 2 and driven sprocket 6, by chain 3 transmissions, is connected;
As shown in Figure 3, described shock attenuation unit comprises sleeve 10, slide block 15, spring 14, end cap 13 and vibration damping adapter plate 12, the lower end of sleeve 10 is fixed on the middle part of axle drive shaft 8, the inwall bearing fit of slide block 15 and sleeve 10, between sleeve 10 and slide block 15, spring 14 is installed, the inner side end face of the end face of spring 14 and slide block 15 contacts, the bottom surface of spring 14 contacts with sleeve 10 inside bottom surface, end cap 13 is arranged on the top of sleeve 10, and slide block 15 is through end cap 13, vibration damping adapter plate 12 is fixedly mounted on bearing seat 11, the two ends of vibration damping adapter plate 12 are fixedly connected with the top end face of slide block 15 respectively, the downside of described drive installation plate 1 is provided with bearing seat 11, in bearing seat 11, by bearing, is horizontally installed with S. A. 9, and the middle part of S. A. 9 is through the radial hole of axle drive shaft 8 medial extremitys, the bottom of described drive installation plate 1 is also fixedly connected with bottom stiffener 7, and the two ends of bottom stiffener 7 extend to respectively the below of shock attenuation unit.
As shown in Figure 4, described jacking system comprises lower bearing bracket 24, lifting shaft 20, upper spider 18, linear bearing 22, reducing motor 16, on lower bearing bracket 24, be fixed with linear axis bearing 21, linear bearing 22 is installed in linear axis bearing 21, lifting shaft 20 runs through linear axis bearing, and Shang Xia 21 two ends, upper center is provided with damper spring 19, the upper end of damper spring 19 is fixed on the below of upper spider 18, upper spider 18 is fixedly linked with lower bearing bracket 24, lifting shaft 20 tops are provided with lower end face 26, and lower end face 26 is for having the slope of single radially pit; One side of lower bearing bracket 24 is provided with lift shaft bearing 25, lift shaft bearing 25 is also provided with reducing motor B16 away from a side of lower bearing bracket 24, rotating disk 17 is installed on the output shaft of reducing motor B16, rotating disk 17 departs from the outer face of reducing motor B16 output shaft capacity eccentric bearing 23 is installed, and capacity eccentric bearing 23 is positioned at the below of lower end face 26.
Working process of the present invention is as follows: reducing motor A4 output shaft by drive sprocket 2, chain 3 and driven sprocket 6 transmission of power to drive wheel.The medial extremity of axle drive shaft is through a S. A. 9, and the two ends of S. A. 9 respectively, by a bearing and bearing seat 11 isolation, make drive wheel 5 have certain slewing area to realize the damping of vibrations of drive wheel 5 around S. A. 9 by shock attenuation unit.The principle of work of shock attenuation unit is: slide block 15 passes through spring 14 bearing fits with sleeve 10, when drive wheel 5 is rolled into uneven ground, axle drive shaft 8 rotates around S. A. 9, the middle part of axle drive shaft 8 and sleeve 10 are fixedly linked, band moving sleeve 10 rises, sleeve 10 is in the just section that rises, under the buffer action of spring 14, slide block 15 does not rise at once, after spring 14 is under pressure and acquires a certain degree, the relative sleeve 10 of slide block 15 moves up, thereby drives vibration damping adapter plate 12, drive installation plate 1 to move up.In whole vibration damping process, spring 14 plays gantry hysteresis.In lifting process, 20 times end faces of lifting shaft have constant slope, lowest part is pit radially, after 20 times end faces of capacity eccentric bearing 23 and lifting shaft contact, the peripheral force producing can make lifting shaft 20 rotate towards the pit direction of its lower end face, when capacity eccentric bearing 23 falls into after the pit of 20 times end faces of lifting shaft, lifting shaft 20 only no longer rotates and promotes, thereby realizes automatic aligning function in AGV driver train lifting process.
The above, be only the specific embodiment of the present invention, and single protection scope of the present invention is not limited to this.Anyly be familiar with those skilled in the art in the technical scope that the present invention discloses, the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention, so protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (3)
1. an AGV drives and promotes integrated mechanism, it is characterized in that: it comprises drive installation plate (1), reducing motor A(4), chain gearing, shock attenuation unit, jacking system, axle drive shaft (8) and drive wheel (5), reducing motor A(4) be arranged on drive installation plate (1), axle drive shaft (8) has two, axle drive shaft (8) is arranged on the downside of drive installation plate (1), two drive wheels (5) are arranged on respectively the outboard end of two axle drive shafts (8), the medial end of two axle drive shafts (8) is rotatably mounted on the downside of drive installation plate (1), between two axle drive shafts (8) and drive installation plate (1), be respectively arranged with shock attenuation unit, described jacking system is vertically arranged on the midway location of drive installation plate (1),
Described chain gearing comprises drive sprocket (2), chain (3) and driven sprocket (6), drive sprocket (2) is arranged on reducing motor A(4) output shaft on, driven sprocket (6) is arranged on the middle part of axle drive shaft (8) by bearing, the sidewall of driven sprocket (6) is connected with the wheel hub transmission of drive wheel (5), between drive sprocket (2) and driven sprocket (6), by chain (3) transmission, is connected;
Described shock attenuation unit comprises sleeve (10), slide block (15), spring (14), end cap (13) and vibration damping adapter plate (12), the lower end of sleeve (10) is fixed on the middle part of axle drive shaft (8), the inwall bearing fit of slide block (15) and sleeve (10), between sleeve (10) and slide block (15), spring (14) is installed, the end face of spring (14) contacts with the inner side end face of slide block (15), the bottom surface of spring (14) contacts with sleeve (10) inside bottom surface, end cap (13) is arranged on the top of sleeve (10), and slide block (15) is through end cap (13), vibration damping adapter plate (12) is fixedly mounted on bearing seat (11), the two ends of vibration damping adapter plate (12) are fixedly connected with the top end face of slide block (15) respectively,
Described jacking system comprises lower bearing bracket (24), lifting shaft (20), upper spider (18), linear bearing (22), reducing motor (16), on lower bearing bracket (24), be fixed with linear axis bearing (21), linear bearing (22) is installed in linear axis bearing (21), lifting shaft (20) runs through the upper and lower two ends of linear axis bearing (21), upper center is provided with damper spring (19), the upper end of damper spring (19) is fixed on the below of upper spider (18), upper spider (18) is fixedly linked with lower bearing bracket (24), lifting shaft (20) top is provided with lower end face (26), lower end face (26) is for having the slope of single radially pit, one side of lower bearing bracket (24) is provided with lift shaft bearing (25), lift shaft bearing (25) is also provided with reducing motor B(16 away from a side of lower bearing bracket (24)), rotating disk (17) is installed on output shaft reducing motor B(16), rotating disk (17) departs from reducing motor B(16) capacity eccentric bearing (23) is installed on the outer face of output shaft, capacity eccentric bearing (23) is positioned at the below of lower end face (26).
2. a kind of AGV according to claim 1 drives and promotes integrated mechanism, it is characterized in that: the downside of described drive installation plate (1) is provided with bearing seat (11), in bearing seat (11), by bearing, be horizontally installed with S. A. (9), the middle part of S. A. (9) is through the radial hole of axle drive shaft (8) medial extremity.
3. a kind of AGV according to claim 1 drives and promotes integrated mechanism, it is characterized in that: the bottom of described drive installation plate (1) is also fixedly connected with bottom stiffener (7), the two ends of bottom stiffener (7) extend to respectively the below of shock attenuation unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410396844.2A CN104118292B (en) | 2014-08-13 | 2014-08-13 | A kind of AGV drives and promotes integrated mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410396844.2A CN104118292B (en) | 2014-08-13 | 2014-08-13 | A kind of AGV drives and promotes integrated mechanism |
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| CN104118292A true CN104118292A (en) | 2014-10-29 |
| CN104118292B CN104118292B (en) | 2016-03-02 |
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| CN201410396844.2A Active CN104118292B (en) | 2014-08-13 | 2014-08-13 | A kind of AGV drives and promotes integrated mechanism |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385866A (en) * | 2014-11-17 | 2015-03-04 | 成都四威高科技产业园有限公司 | Hook mechanism for submerged AGV (Automatic Guided Vehicle) |
| CN104444177A (en) * | 2014-12-09 | 2015-03-25 | 潍坊路加精工有限公司 | Carrier vehicle and drive unit thereof |
| CN104589983A (en) * | 2014-12-09 | 2015-05-06 | 深圳市佳顺伟业科技有限公司 | Agv driving device and agv |
| CN105698835A (en) * | 2016-03-04 | 2016-06-22 | 清远市新中科检测有限公司 | Adjustable test stand |
| CN105966493A (en) * | 2016-05-31 | 2016-09-28 | 芜湖智久机器人有限公司 | Bidirectional rotation actuating devices for AGV |
| CN106005101A (en) * | 2016-05-31 | 2016-10-12 | 芜湖智久机器人有限公司 | Adjustable-pressure AGV driving mechanism |
| CN106042876A (en) * | 2016-06-02 | 2016-10-26 | 芜湖智久机器人有限公司 | Driving device of AGV |
| 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 |
| CN107972441A (en) * | 2017-12-14 | 2018-05-01 | 昆山巨航智能化设备有限公司 | adaptive mobile robot driving device |
| CN107985448A (en) * | 2017-12-04 | 2018-05-04 | 苏州艾吉威机器人有限公司 | A kind of AGV driving hoisting mechanisms and AGV trolleies |
| CN108423083A (en) * | 2018-02-01 | 2018-08-21 | 上海明匠智能系统有限公司 | Wheel driver, AGV and Intelligent logistics conveying equipment |
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| CN204020456U (en) * | 2014-08-13 | 2014-12-17 | 成都四威高科技产业园有限公司 | A kind of AGV drives and promotes integrated mechanism |
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| JPH11208817A (en) * | 1998-01-20 | 1999-08-03 | Toyota Autom Loom Works Ltd | Load transferring device and stacker crane |
| CN202624432U (en) * | 2012-05-02 | 2012-12-26 | 广州市远能物流自动化设备科技有限公司 | Driving device of automated guided vehicle (AGV) |
| KR20130135562A (en) * | 2012-06-01 | 2013-12-11 | 현대엔지니어링(주) | Four-wheel drive automated guided vehicle using chain |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385866A (en) * | 2014-11-17 | 2015-03-04 | 成都四威高科技产业园有限公司 | Hook mechanism for submerged AGV (Automatic Guided Vehicle) |
| CN104444177A (en) * | 2014-12-09 | 2015-03-25 | 潍坊路加精工有限公司 | Carrier vehicle and drive unit thereof |
| CN104589983A (en) * | 2014-12-09 | 2015-05-06 | 深圳市佳顺伟业科技有限公司 | Agv driving device and agv |
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| CN105698835A (en) * | 2016-03-04 | 2016-06-22 | 清远市新中科检测有限公司 | Adjustable test stand |
| CN106005101A (en) * | 2016-05-31 | 2016-10-12 | 芜湖智久机器人有限公司 | Adjustable-pressure AGV driving mechanism |
| CN105966493A (en) * | 2016-05-31 | 2016-09-28 | 芜湖智久机器人有限公司 | Bidirectional rotation actuating devices for AGV |
| CN106005101B (en) * | 2016-05-31 | 2018-11-09 | 芜湖智久机器人有限公司 | A kind of pressure adjustable AGV driving mechanisms |
| CN106042876A (en) * | 2016-06-02 | 2016-10-26 | 芜湖智久机器人有限公司 | Driving device of AGV |
| 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 |
| CN107985448A (en) * | 2017-12-04 | 2018-05-04 | 苏州艾吉威机器人有限公司 | A kind of AGV driving hoisting mechanisms and AGV trolleies |
| CN107972441A (en) * | 2017-12-14 | 2018-05-01 | 昆山巨航智能化设备有限公司 | adaptive mobile robot driving device |
| CN108423083A (en) * | 2018-02-01 | 2018-08-21 | 上海明匠智能系统有限公司 | Wheel driver, AGV and Intelligent logistics conveying equipment |
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