CN104444177A - Carrier vehicle and drive unit thereof - Google Patents
Carrier vehicle and drive unit thereof Download PDFInfo
- Publication number
- CN104444177A CN104444177A CN201410748814.3A CN201410748814A CN104444177A CN 104444177 A CN104444177 A CN 104444177A CN 201410748814 A CN201410748814 A CN 201410748814A CN 104444177 A CN104444177 A CN 104444177A
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- drive
- bracket
- driver element
- bending part
- drive wheel
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Abstract
The invention discloses a carrier vehicle and a drive unit thereof. The drive unit comprises a drive upper support and a drive lower support which are connected to the frame of the carrier vehicle. The drive lower support is rotatably connected below the drive upper support. The drive unit further comprises a plurality of elastic devices pre-pressed between the drive upper support and the drive lower support. At least one of the elastic device is distributed on each of the two sides of the rotating axis of the drive lower support. The drive unit further comprises a drive wheel support rotatably connected to the drive lower support. A drive wheel controlled by a motor is disposed on each of the two sides of the drive wheel support. The drive unit has the advantages that the original up-down suspension drive structure is replaced by rigid support, and vehicle loads can directly act on the drive wheels; the drive wheel also serves as the front load-bearing wheel to bear about half of the loads of a vehicle body, the grip of the vehicle is increased greatly, and the climbing and trench crossing abilities of the vehicle are improved greatly under a certain-power motor.
Description
Technical field
The present invention relates to a kind of AGV transport trolley, the invention still further relates to the driver element in a kind of transport trolley.
Background technology
In current AGV (Automated Guided Vehicle) industry, driver element is various informative, but its structure there is no bigger difference, substantially be all by being with the driver element of damping to pull load, its damping is only embodied in above-below direction, with two universal front-wheels, two directed trailing wheels with the use of, this body construction determines its propulsive effort and can not change because of the increase of load, every operational factor during heavy load is deteriorated, causes vehicle controllable to reduce; In addition, dolly zero load needs six to take turns or eight take turns can be recumbently, determine its spring precompressed compression little, drive wheel pressure is also little, and the factory building completed or workshop exist multiple undesirable factor, as slope, trough etc., and dolly is when crossing ditch or climbing, driver element earth-grasping force can decline to a great extent, even unsettled, controllability extreme difference.
Summary of the invention
The present invention, in order to solve problems of the prior art, provides a kind of driver element of transport trolley.
In order to realize above-mentioned object, technical scheme of the present invention is: a kind of driver element of transport trolley,
Comprise the driving upper bracket for connection transportation vehicle carriage, and drive lower bracket, described driving lower bracket is rotatably connected on the below driving upper bracket; Also comprise the multiple springings being pressed in advance and driving between upper bracket, driving lower bracket, in described multiple springing, at least respectively have a springing to be distributed in the both sides driving lower bracket pivot center;
Also comprise the drive wheel bracket being rotatably connected on and driving on lower bracket, the both sides of described drive wheel bracket arrange the drive wheel that is controlled by motor respectively.
Preferably, described driving upper bracket comprises upper substrate, and is positioned at the first bending part of upper substrate both sides; Described driving lower bracket comprises infrabasal plate, and is positioned at the second bending part of infrabasal plate both sides, and described first bending part and the second bending part are linked together by axis of rotation.
Preferably, described rotating shaft one end and the second bending part Flange joint, the other end penetrates in the through hole of the first bending part.
Preferably, the lower end of described infrabasal plate is also provided with supporting disk; Described drive wheel bracket is rotatably connected on the lower end of described supporting disk.
Preferably, the sidewall of described supporting disk is also provided with stop block; Described drive wheel bracket is provided with the lug boss for coordinating with stop block.
Preferably, described drive wheel bracket is rotatably connected to sprocket wheel, described sprocket wheel is directly connected with the mouth of motor; Described sprocket wheel is connected with drive wheel by chain.
Preferably, described springing is spring.
Preferably, described infrabasal plate is provided with the spring guide pillar for being socketed lower spring end; Described upper substrate is provided with adjustment screw, and the lower end of described adjustment screw is fixed with the spring spool penetrated for spring upper end.
Preferably, be provided with multiple triangle and strengthen perpendicular muscle between described infrabasal plate and the second bending part, described triangle is strengthened perpendicular muscle and is extended to infrabasal plate for connecting the position of supporting disk from the second bending part.
Present invention also offers a kind of transport trolley, comprise above-mentioned driver element.
Driver element of the present invention, replaces the drive configuration of former upper low suspension with rigid support, make transport trolley vehicle frame at unloaded and at full load, the phenomenon that height rises and falls can not occur objective table, and dolly load can be applied directly on drive wheel.Under the adjustment of control system, during two drive wheels maintenance constant speed, straight ahead; Turn to during two wheel guide robot.Driver element itself or front BOGEY WHEEL, bearing body is about the load of half, and its earth-grasping force is greatly improved, and under the motor of certain power, the ability of climbing and excessively ditch is also greatly improved.
Accompanying drawing explanation
Fig. 1 shows the structural representation of adaptive mechanism of the present invention.
Fig. 2 shows the section-drawing of Fig. 1.
Fig. 3 shows the structural representation that the present invention drives lower bracket.
Fig. 4 shows the structural representation that the present invention drives upper bracket.
Fig. 5 shows the structural representation of driver element of the present invention.
Fig. 6 shows the structural representation of transport trolley of the present invention.
Wherein: 1-drives upper bracket, 2-drives lower bracket, 3-supporting disk, 4-jam nut, 5-spring spool, 6-spring, 7-stop block, 8-lining, 9-adjusts screw, 10-infrabasal plate, 11-second bending part, 12-strip shape reinforced rib, 13-spring guide pillar, perpendicular muscle strengthened by 14-triangle, 15-upper substrate, 16-first bending part, 17-through hole, 18-transport trolley vehicle frame, 19-driver element, 20-drive wheel bracket, 21-drive wheel, 22-chain, 23-sprocket wheel, 24-lug boss, 25-rotating shaft.
Detailed description of the invention
The technical matters solved to make the present invention, the technical scheme of employing, the technique effect easy to understand obtained, below in conjunction with concrete accompanying drawing, be described further the specific embodiment of the present invention.
With reference to figure 1, the invention provides the adaptive mechanism in a kind of transport trolley driver element, this adaptive mechanism is the connection structure between transport trolley vehicle frame and transport trolley drive wheel, it comprises driving upper bracket 1 and drives lower bracket 2, described driving lower bracket 2 is rotatably connected on the below driving upper bracket 1, constitutes the support housing of adaptive mechanism of the present invention.
Wherein, driving upper bracket 1 for being fixedly connected with transport trolley vehicle frame, driving lower bracket 2 for being fixedly connected with the drive wheel of transport trolley.In the embodiment that the present invention one is concrete, with reference to figure 4, described driving upper bracket 1 comprises the upper substrate 15 for being fixedly connected with transport trolley vehicle frame, and be positioned at the first bending part 16 of upper substrate 15 both sides, this first bending part 16 can be one-body molded with upper substrate 15, such as, can be the downward bending at upper substrate 15 edge; Described driving lower bracket 2 comprises infrabasal plate 10, and is positioned at the second bending part 11 of infrabasal plate 10 both sides, and this second bending part 11 can be one-body molded with infrabasal plate 10, such as, can be the upwards bending at infrabasal plate 10 edge, with reference to figure 3.When installation, described first bending part 16 and the second bending part 11 are rotatably connected by rotating shaft 25, thus achieve driving upper bracket 1 and drive being rotationally connected between lower bracket 2, the two can be relatively rotated along rotating shaft 25, when being in state of equilibrium, infrabasal plate 10 keeping parallelism basic with upper substrate 15.
Mode well-known to those skilled in the art can be adopted first bending part 16, second bending part 11, rotating shaft 25 to be installed, in an embodiment of the present invention, one end of described rotating shaft 25 and the second bending part 11 Flange joint, to avoid the situation of the rear bad welding of quenching, and the right alignment at two ends can be ensured preferably.The other end of rotating shaft 25 penetrates in the through hole 17 of the first bending part 16, with reference to figure 2.For the ease of assembling, the through hole 17 of described first bending part 16 takes the shape of the letter U, the through lower end to the first bending part 16.Install time, first by one end of rotating shaft 25 together with the sidewall Flange joint of the second bending part 11, then the opening part of rotating shaft 25 from through hole 17 is pressed into, and adopts fastener to be fixed.Further preferably, lining 8 is also provided with in the through hole 17 of described first bending part 16, to avoid the wearing and tearing between rotating shaft 25 and through hole 17.
Adaptive mechanism of the present invention, also comprises the multiple springings being pressed in advance and driving between upper bracket 1, driving lower bracket 2, specifically incites somebody to action, be provided with the springing of multiple precompressed between upper substrate 15 and infrabasal plate 10.In the present invention's specific embodiment, springing adopts spring 6, can certainly adopt other springing well-known to those skilled in the art, is now described for two springs 6.
One end of spring 6 connects upper substrate 15, and the other end connects infrabasal plate 10, and is in preloading condition.Wherein, two springs 6 are separately positioned on the both sides of infrabasal plate 10 pivot center, and particularly, two springs 6 can be symmetrical with pivot center, also can be arranged in the diagonal of infrabasal plate 10.When the quantity of spring 6 is more, need ensure at least respectively there is a spring 6 in the both sides of infrabasal plate 10 pivot center, preferably, the total dynamics of precompressed of pivot center both sides spring is consistent, to ensure that infrabasal plate 10 and upper substrate 10 keep balancing when initial condition.
Adaptive mechanism of the present invention, driving the lower end mounting transport vehicle drive wheel of lower bracket 2, through roughness pavement, such as road surface is high on one side, and when road surface is low, infrabasal plate 10 can deflect, the one end turning to road surface low by one end that road surface is high, finally make two drive wheels produce differential seat angle, thus remain wheel and the earth surface of transport trolley, make transport trolley bench board remain horizontality; In the traveling process of transport trolley, remain that four-wheel grabs ground, transport trolley is run more steady, controllability is stronger, and different from traditional non-bearing driver element, can provide larger earth-grasping force and power-handling capability.
Adaptive mechanism of the present invention, the predetermincd tension that spring produces by compression afterwards can bear pressure suffered in rotating shaft 25.That is, the unidirectional large stress that rotating shaft 25 is received becomes two-way little stress, pressure when greatly reducing full-load run suffered by rotating shaft, and two-way little reversed of stress frequency is extremely low, reverse stress can be ignored the destruction of material, thus it is stressed to reduce rotating shaft 25, reduces fret wear and destruction, greatly improve the service life of rotating shaft and lining.
Those skilled in the art can adopt existing structure to carry out mounting spring 6, in the present invention, described infrabasal plate 10 are provided with the spring guide pillar 13 for being socketed spring 6 lower end; Described upper substrate 15 is provided with adjustment screw 9, and this adjustment screw 9 screws in the lower end of upper substrate 15 from the upper end of upper substrate 15, is fixed with the spring spool 5 penetrated for spring 6 upper end at the lower end of described adjustment screw 9.When installing, the lower end of spring 6 is enclosed within spring guide pillar 13, and upper end penetrates in spring spool 5.Can rise or decline by operating spring sleeve 5 by rotating adjustment screw 9, thus reach the effect of regulating spring 6 predetermincd tension, certainly, in order to prevent the play voluntarily adjusting screw 9, adjustment screw 9 also can arrange jam nut 4, and this belongs to existing technology, no longer illustrates at this.
Present invention also offers a kind of driver element 19 of transport trolley, with reference to figure 5, comprise above-mentioned adaptive mechanism, wherein, be rotationally connected a drive wheel bracket 20 in the lower end of described driving lower bracket 2, be provided with the drive wheel 21 being controlled by motor in the both sides of this drive wheel bracket 20.
The installation of drive wheel 21 can adopt mode well-known to those skilled in the art, and such as arrange the anchor shaft that crosses drive wheel bracket 20 two ends, two drive wheels 21 are rotatably connected on the two ends of anchor shaft respectively.Two motors are set in drive wheel bracket 20, drive two drive wheels 21 respectively.In the embodiment that the present invention one is concrete, described drive wheel bracket 20 is rotatably connected to sprocket wheel 23, this sprocket wheel 23 is directly connected with the output shaft of motor, described sprocket wheel 23 is linked together by chain 22 and drive wheel 21, the moment of torsion that motor exports, is passed on drive wheel 21 through sprocket wheel 23, chain 22.
Driver element of the present invention, through roughness pavement, due to the rotation of infrabasal plate, makes two drive wheels produce differential seat angle, thus keeps wheel and the earth surface of transport trolley, make transport trolley bench board remain horizontality; In the traveling process of transport trolley, remain that four-wheel grabs ground, transport trolley is run more steady, controllability is stronger, and different from traditional non-bearing driver element, can provide larger earth-grasping force and power-handling capability.When needs are turned time, two motors export different moments of torsion, such that one of them drive wheel rotating speed is large, a drive wheel rotating speed is little, thus realize the action of turning.
Driver element of the present invention, replaces the drive configuration of former upper low suspension with rigid support, make transport trolley vehicle frame at unloaded and at full load, the phenomenon that height rises and falls can not occur objective table, and dolly load can be applied directly on drive wheel.Under the adjustment of control system, during two drive wheels maintenance constant speed, straight ahead; Turn to during two wheel guide robot.Driver element itself or front BOGEY WHEEL, bearing body is about the load of half, and its earth-grasping force is greatly improved, and under the motor of certain power, the ability of climbing and excessively ditch is also greatly improved.
In the present invention one preferred embodiment, the lower end of described infrabasal plate 10 is also provided with supporting disk 3, this supporting disk 3 has the inner chamber of hollow, drive wheel bracket 20 is rotationally connected by this supporting disk 3, further, the sidewall of described supporting disk 3 is also provided with stop block 7, described drive wheel bracket 20 is provided with the lug boss 24 for coordinating with stop block 7, prevents drive wheel bracket 20 transition from rotating the potential safety hazard brought.
With reference to figure 6, a kind of transport trolley provided by the invention, comprises transport trolley vehicle frame 18, and wherein, adopt above-mentioned driver element 19 in the front end of transport trolley vehicle frame 18, rear end adopts two directional wheels.Adopt the driver element 19 of said structure, considerably simplify the structure of transport trolley, relative to traditional driver element at unloaded and the changeless propulsive effort of at full load, this driver element 19 can provide larger friction force with the increasing of load, and the adaptive structure in this driver element can remain four wheel landings, and can stablize by rough ground interior among a small circle.
For ensureing that this adaptive mechanism can keep higher rigidity and reliability under large load (such as 300kg), improve its safety performance and service life, be provided with multiple triangle between described infrabasal plate 10 and the second bending part 11 and strengthen perpendicular muscle 14, described triangle is strengthened perpendicular muscle 14 and is extended to infrabasal plate 10 for connecting the position of supporting disk 3 from the second bending part 11 always.Certainly, also can arrange strip shape reinforced rib 12 at the edge of infrabasal plate 10, greatly improve rigidity and the safety performance of sheet metal component, service life is greatly improved.
The present invention is by preferred embodiment having carried out detailed explanation.But, by studying carefully above, concerning the change of each embodiment with to increase be apparent for one of ordinary skill in the art.Being intended that these changes all and increasing of applicant has all dropped in scope that the claims in the present invention protect.
Claims (10)
1. a driver element for transport trolley, is characterized in that:
Comprise the driving upper bracket (1) for connection transportation vehicle carriage, and drive lower bracket (2), described driving lower bracket (2) is rotatably connected on the below driving upper bracket (1); Also comprise the multiple springings being pressed in advance and driving between upper bracket (1), driving lower bracket (2), in described multiple springing, at least respectively have a springing to be distributed in the both sides driving lower bracket (2) pivot center;
Also comprise the drive wheel bracket (20) being rotatably connected on and driving on lower bracket (2), the both sides of described drive wheel bracket (20) arrange the drive wheel (21) that is controlled by motor respectively.
2. driver element according to claim 1, is characterized in that: described driving upper bracket (1) comprises upper substrate (15), and is positioned at first bending part (16) of upper substrate (15) both sides; Described driving lower bracket (2) comprises infrabasal plate (10), and being positioned at second bending part (11) of infrabasal plate (10) both sides, described first bending part (16) and the second bending part (11) are rotatably connected by rotating shaft (25).
3. driver element according to claim 2, is characterized in that: described rotating shaft (25) one end and the second bending part (11) Flange joint, the other end penetrates in the through hole (17) of the first bending part (16).
4. driver element according to claim 2, is characterized in that: the lower end of described infrabasal plate (10) is also provided with supporting disk (3); Described drive wheel bracket (20) is rotatably connected on the lower end of described supporting disk (3).
5. driver element according to claim 4, is characterized in that: the sidewall of described supporting disk (3) is also provided with stop block (7); Described drive wheel bracket (20) is provided with the lug boss (24) for coordinating with stop block (7).
6. driver element according to claim 2, is characterized in that: described drive wheel bracket (20) is rotatably connected to sprocket wheel (23), and described sprocket wheel (23) is directly connected with the mouth of motor; Described sprocket wheel (23) is connected with drive wheel (21) by chain (22).
7. driver element according to claim 2, is characterized in that: described springing is spring (6).
8. driver element according to claim 7, is characterized in that: described infrabasal plate (10) is provided with the spring guide pillar (13) for being socketed spring (6) lower end; Described upper substrate (15) is provided with adjustment screw (9), and the lower end of described adjustment screw (9) is fixed with the spring spool (5) penetrated for spring (6) upper end.
9. driver element according to claim 8, it is characterized in that: be provided with multiple triangle between described infrabasal plate (10) and the second bending part (11) and strengthen perpendicular muscle (14), described triangle is strengthened perpendicular muscle (14) and is extended to infrabasal plate (10) for connecting the position of supporting disk (3) from the second bending part (11).
10. a transport trolley, comprises the driver element of the transport trolley as described in any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410748814.3A CN104444177B (en) | 2014-12-09 | 2014-12-09 | The driver element of transport vehicle and transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410748814.3A CN104444177B (en) | 2014-12-09 | 2014-12-09 | The driver element of transport vehicle and transport vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104444177A true CN104444177A (en) | 2015-03-25 |
| CN104444177B CN104444177B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410748814.3A Active CN104444177B (en) | 2014-12-09 | 2014-12-09 | The driver element of transport vehicle and transport vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292971A (en) * | 2015-11-19 | 2016-02-03 | 成都立航科技有限公司 | All-direction AGV wheel train |
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| WO2003066481A1 (en) * | 2002-02-07 | 2003-08-14 | Ocs Overhead Conveyor System Ab | Overhead conveyor system |
| CN202880390U (en) * | 2012-09-17 | 2013-04-17 | 上海宝信软件股份有限公司 | Anti-corrosion device applied to transport vehicle automatically moving on circular rail |
| CN103899729A (en) * | 2014-03-24 | 2014-07-02 | 广州市远能物流自动化设备科技有限公司 | Differential driving device |
| CN203793061U (en) * | 2014-03-18 | 2014-08-27 | 东莞市瑞鹏机器人自动化有限公司 | Shock-absorption mechanism of AGV driving unit |
| CN104118292A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | Integrated AGV driving and lifting mechanism |
| CN204310396U (en) * | 2014-12-09 | 2015-05-06 | 潍坊路加精工有限公司 | The driver element of transport trolley and transport trolley |
-
2014
- 2014-12-09 CN CN201410748814.3A patent/CN104444177B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003066481A1 (en) * | 2002-02-07 | 2003-08-14 | Ocs Overhead Conveyor System Ab | Overhead conveyor system |
| CN202880390U (en) * | 2012-09-17 | 2013-04-17 | 上海宝信软件股份有限公司 | Anti-corrosion device applied to transport vehicle automatically moving on circular rail |
| CN203793061U (en) * | 2014-03-18 | 2014-08-27 | 东莞市瑞鹏机器人自动化有限公司 | Shock-absorption mechanism of AGV driving unit |
| CN103899729A (en) * | 2014-03-24 | 2014-07-02 | 广州市远能物流自动化设备科技有限公司 | Differential driving device |
| CN104118292A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | Integrated AGV driving and lifting mechanism |
| CN204310396U (en) * | 2014-12-09 | 2015-05-06 | 潍坊路加精工有限公司 | The driver element of transport trolley and transport trolley |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292971A (en) * | 2015-11-19 | 2016-02-03 | 成都立航科技有限公司 | All-direction AGV wheel train |
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| Publication number | Publication date |
|---|---|
| CN104444177B (en) | 2016-08-24 |
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