CN104118292B - A kind of AGV drives and promotes integrated mechanism - Google Patents

A kind of AGV drives and promotes integrated mechanism Download PDF

Info

Publication number
CN104118292B
CN104118292B CN201410396844.2A CN201410396844A CN104118292B CN 104118292 B CN104118292 B CN 104118292B CN 201410396844 A CN201410396844 A CN 201410396844A CN 104118292 B CN104118292 B CN 104118292B
Authority
CN
China
Prior art keywords
drive
bearing
installation plate
shaft
reducing motor
Prior art date
Application number
CN201410396844.2A
Other languages
Chinese (zh)
Other versions
CN104118292A (en
Inventor
陈建华
包壁桢
肖骥
Original Assignee
成都四威高科技产业园有限公司
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 成都四威高科技产业园有限公司 filed Critical 成都四威高科技产业园有限公司
Priority to CN201410396844.2A priority Critical patent/CN104118292B/en
Publication of CN104118292A publication Critical patent/CN104118292A/en
Application granted granted Critical
Publication of CN104118292B publication Critical patent/CN104118292B/en

Links

Abstract

The present invention relates to a kind of AGV and drive lifting integrated mechanism, 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 the outboard end of two axle drive shafts (8) respectively, the medial end of two axle drive shafts (8) is rotatably mounted on the downside of drive installation plate (1), shock attenuation unit is respectively arranged with between two axle drive shafts (8) and drive installation plate (1), described jacking system is vertically arranged on the midway location of drive installation plate (1).The invention has the advantages that: good damping result, bus body strength be high, it is strong and have automatic aligning function to grab ground ability.

Description

A kind of AGV drives and promotes integrated mechanism
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 being widely used in automatic factory.All there is certain fluctuating and can not be very smooth in factory's actual ground.Usual 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.Scissors differential vibration damping is taken turns to install to six and is proposed high requirement, and installation difficulty is high.
If when driving wheels still to land, artificial promotion AGV is the thing comparing effort.Therefore realizing its automatic lifting by automatically controlled driving wheels is more humane design.But drive wheels in operational process, it rotates follows routing information change and changes, and this just causes driving wheels axis direction and direction, AGV axis not necessarily degree in a vertical angle.Wheels are driven just to return if do not allowed in lifting process, after again landing, magnetic navigation sensor on driver train just may be read to report derailing less than path, but is actually not derailing, has return function just to seem very necessary in the automatic lifting mechanism of therefore now driver train.
Summary of the invention
The object of the invention is to the shortcoming overcoming prior art, provide a kind of good damping result, bus body strength high, grab strong and that the there is automatic aligning function a kind of AGV of ground ability 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 the outboard end of two axle drive shafts respectively, the medial end of two axle drive shafts is rotatably mounted on the downside of drive installation plate, shock attenuation unit is respectively arranged with between two axle drive shafts and drive installation plate, 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 hub drive of drive wheel, is connected between drive sprocket with driven sprocket by chain gear;
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 end face of spring contacts with the inner side end face of slide block, 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, lower bearing bracket is 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 radial pit; The side of lower bearing bracket is provided with lift shaft bearing, lift shaft bearing is also provided with reducing motor B away from the side of lower bearing bracket, the output shaft of reducing motor B is provided with rotating disk, and the outer face that rotating disk departs from reducing motor B output shaft is provided with capacity eccentric bearing, 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, is horizontally installed with S. A. in bearing seat by bearing, and the radial hole of axle drive shaft medial extremity is passed at the middle part of S. A..
The bottom of described drive installation plate is also fixedly connected with bottom stiffener, and the two ends of bottom stiffener extend to the below of shock attenuation unit respectively.
The present invention has the following advantages:
1, adopt independently hanging vibration reduction mechanism, in the process of moving, drive wheel, according to surface conditions, regulates the vibration damping height of drive wheel of drive installation plate both sides to AGV respectively, drive installation plate is tried one's best held stationary, its good damping result.
2, shock attenuation unit is symmetricly set on the downside of drive installation plate, realize vibration damping respectively, pass through spring buffer, drive installation plate is directly not stressed, and be also provided with bottom stiffener in the below of drive installation plate, the maximum weighted ability of further lifting drive installation plate, whole bus body strength is high, long service life.
3, no matter be run at pit or on the road surface of convex closure, by elongation and the compression of spring, all can ensure drive wheel close proximity to ground all the time, make drive wheel " catch " ground tightly, earth-grasping force is strong.
4, in lifting process, under lifting shaft, end face has constant slope, after under capacity eccentric bearing with lifting shaft, end face contacts, the peripheral force produced can make lifting shaft rotate towards the pit direction of its lower end face, after the pit of end face under capacity eccentric bearing falls into lifting shaft, lifting shaft no longer rotates and only promotes, thus 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-.
Detailed description of the invention
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 the outboard end of two axle drive shafts 8 respectively, the medial end of two axle drive shafts 8 is rotatably mounted on the downside of drive installation plate 1, shock attenuation unit is respectively arranged with between two axle drive shafts 8 and drive installation plate 1, 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 hub drive of drive wheel 5, is connected between drive sprocket 2 with driven sprocket 6 by chain 3 transmission;
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, spring 14 is installed between sleeve 10 and slide block 15, 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, the downside of described drive installation plate 1 is provided with bearing seat 11, is horizontally installed with S. A. 9 in bearing seat 11 by bearing, and the radial hole of axle drive shaft 8 medial extremity is passed at the middle part of S. A. 9, 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 the below of shock attenuation unit respectively.
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, lower bearing bracket 24 is fixed with linear axis bearing 21, linear bearing 22 is installed in linear axis bearing 21, lifting shaft 20 runs through linear axis bearing about 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 and lower bearing bracket 24 are fixedly linked, lifting shaft 20 top is provided with lower end face 26, and lower end face 26 is for having the slope of single radial pit; The 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 the side of lower bearing bracket 24, the output shaft of reducing motor B16 is provided with rotating disk 17, the outer face that rotating disk 17 departs from reducing motor B16 output shaft is provided with capacity eccentric bearing 23, 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 passes through drive sprocket 2, chain 3 and driven sprocket 6 transmission of power on drive wheel.The medial extremity of axle drive shaft is through a S. A. 9, and the two ends of S. A. 9 are respectively isolated by a bearing and bearing seat 11, make drive wheel 5 can realize the damping of vibrations of drive wheel 5 around S. A. 9 has certain slewing area by shock attenuation unit.The principle of work of shock attenuation unit is: slide block 15 and sleeve 10 are by spring 14 bearing fit, when drive wheel 5 is rolled into uneven ground, axle drive shaft 8 rotates around S. A. 9, middle part and the sleeve 10 of axle drive shaft 8 are fixedly linked, band moving sleeve 10 rises, sleeve 10 is in rising just section, 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, slide block 15 relative sleeve 10 moves up, thus drive vibration damping adapter plate 12, drive installation plate 1 move up.In whole vibration damping process, spring 14 plays gantry hysteresis.In lifting process, lifting shaft 20 times end faces have constant slope, lowest part is radial pit, after capacity eccentric bearing 23 and lifting shaft 20 times end faces contact, the peripheral force produced can make lifting shaft 20 rotate towards the pit direction of its lower end face, after capacity eccentric bearing 23 falls into the pit of lifting shaft 20 times end faces, lifting shaft 20 no longer rotates and only promotes, thus 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 thereto.Anyly be familiar with those skilled in the art in the technical scope that the present invention discloses, the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention, therefore 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 the outboard end of two axle drive shafts (8) respectively, the medial end of two axle drive shafts (8) is rotatably mounted on the downside of drive installation plate (1), shock attenuation unit is respectively arranged with between two axle drive shafts (8) and drive installation plate (1), 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 hub drive of drive wheel (5), is connected between drive sprocket (2) with driven sprocket (6) by chain (3) transmission;
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), spring (14) is installed between sleeve (10) and slide block (15), 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), lower bearing bracket (24) is fixed with linear axis bearing (21), linear bearing (22) is installed in linear axis bearing (21), lifting shaft (20) runs through linear axis bearing (21) two ends up and down, 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) and lower bearing bracket (24) are fixedly linked, lifting shaft (20) top is provided with lower end face (26), lower end face (26) is for having the slope of single radial pit, the 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 the side of lower bearing bracket (24)), reducing motor B(16) output shaft on rotating disk (17) is installed, rotating disk (17) departs from reducing motor B(16) outer face of output shaft is provided with capacity eccentric bearing (23), 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), be horizontally installed with S. A. (9) by bearing in bearing seat (11), the radial hole of axle drive shaft (8) medial extremity is passed at the middle part of S. A. (9).
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 the below of shock attenuation unit respectively.
CN201410396844.2A 2014-08-13 2014-08-13 A kind of AGV drives and promotes integrated mechanism CN104118292B (en)

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

Applications Claiming Priority (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

Publications (2)

Publication Number Publication Date
CN104118292A CN104118292A (en) 2014-10-29
CN104118292B true CN104118292B (en) 2016-03-02

Family

ID=51764022

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410396844.2A CN104118292B (en) 2014-08-13 2014-08-13 A kind of AGV drives and promotes integrated mechanism

Country Status (1)

Country Link
CN (1) CN104118292B (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
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)
CN104589983B (en) * 2014-12-09 2019-10-22 深圳市佳顺智能机器人股份有限公司 AGV driving device and AGV
CN104444177B (en) * 2014-12-09 2016-08-24 潍坊路加精工有限公司 The driver element of transport vehicle and transport vehicle
CN105698835B (en) * 2016-03-04 2017-09-19 清远市新中科检测有限公司 A kind of 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
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

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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)
CN103412593A (en) * 2013-08-16 2013-11-27 成都四威高科技产业园有限公司 Submarine AGV movement transferring robot
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

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11208817A (en) * 1998-01-20 1999-08-03 Toyota Autom Loom Works Ltd Load transferring device and stacker crane
KR20130135562A (en) * 2012-06-01 2013-12-11 현대엔지니어링(주) Four-wheel drive automated guided vehicle using chain

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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)
CN103412593A (en) * 2013-08-16 2013-11-27 成都四威高科技产业园有限公司 Submarine AGV movement transferring robot
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

Also Published As

Publication number Publication date
CN104118292A (en) 2014-10-29

Similar Documents

Publication Publication Date Title
US8683927B2 (en) Railroad car wheel truck
CN204641775U (en) A kind of low floor tramway train truck frame
CN103802086B (en) Crusing robot
CN102963454B (en) Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle)
CN203974831U (en) Be used for the wheel of 100% low floor power truck to device
CN107034804A (en) A kind of multistage barrier height adjusting means for lifting deceleration band
CN104590304A (en) Low-floor tramcar bogie
CN204955960U (en) A pressure spring extension spring formula suspension and vehicle and wheeled robot for drive wheel
CN104985985A (en) AGV elastic support driving device with hub motor
CN105774457A (en) Lifting terrain-adaptive AGV trolley chassis
CN104131511B (en) Based on the cable detecting robot of parallelogram independent suspension
CN203698466U (en) Balance vehicle wheel axle driving device of intelligent navigation vehicle
CN201671978U (en) Sliding coupling
CN103466493A (en) Chain block
CN106183681A (en) Omni-directional moving platform with damping device
CN103264625A (en) Towing vehicle capable of being used for both roads and rails
CN103786541B (en) Tray carriage auxiliary wheel damping
CN108609028B (en) Motor car track-distance-variable bogie for railway vehicle
CN204985471U (en) Mechanical damper for vehicle
CN204955959U (en) A compressed spring type suspension and vehicle and wheeled robot for drive wheel
CN203529236U (en) Shuttling vehicle lifting mechanism
CN106795956A (en) Coupling assembly with vibration absorber and with arrangement of clutch
CN106828663A (en) A kind of radio gang formula omnibearing ambulation hoistable platform transport vehicle
CN102555770A (en) Speed-reducing wheel-rim driving system using mass of motor as mass of power vibration absorber
CN102310866A (en) Motive power steering frame for wide-rail motor train unit

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model