CN104527837A - Traveling driver system of AGV (Automatic Guided Vehicle) intelligent distributing device - Google Patents
Traveling driver system of AGV (Automatic Guided Vehicle) intelligent distributing device Download PDFInfo
- Publication number
- CN104527837A CN104527837A CN201410761811.3A CN201410761811A CN104527837A CN 104527837 A CN104527837 A CN 104527837A CN 201410761811 A CN201410761811 A CN 201410761811A CN 104527837 A CN104527837 A CN 104527837A
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- China
- Prior art keywords
- plate
- agv
- bogie
- charge car
- driving system
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000013016 damping Methods 0.000 claims description 12
- 238000010521 absorption reaction Methods 0.000 claims description 7
- 230000035939 shock Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 5
- 238000005299 abrasion Methods 0.000 abstract 1
- 230000003139 buffering effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a traveling driver system of an AGV (Automatic Guided Vehicle) intelligent distributing device. The traveling driver system comprises a driving frame, a connecting frame and a support frame, wherein the support frame is installed on a car body base-plate of the AGV intelligent distributing device, the driving frame is connected with the support frame through the connecting frame, the two sides of the driving frame are respectively provided with a travelling wheel and the two travelling wheels are coaxially arranged and are respectively connected with driving devices which are independently and respectively arranged. According to the travelling driver system provided by the invention, the connecting frame and the support frame are connected to be convenient to dismount and maintain by locking connecting rods through nuts; furthermore, thrust bearings are arranged on the connecting rods, therefore, the abrasion is low, the steering is flexible, the omnibearing travelling can be realized, and the bearing capacity of the AGV intelligent distributing device can be improved; in addition, in the prior art, the problems that the AGV intelligent distributing device needs to be dismounted and installed integrally while the AGV intelligent distributing device is dismounted and installed and a car needs to be lifted up integrally so as to be convenient for a worker to work under the car because the connecting rods and the driving frame are subjected to interference fit can be solved, and the problems of being incapable of realizing fine tuning, being severe to wear, insufficiently flexible to steer and oversize in steering semidiameter in the process of rotationally operating can be solved.
Description
Technical field
The present invention relates to a kind of automatic guided vehicle, particularly a kind of AGV intelligence charge car travel driving system.
Background technology
Automatic guided vehicle (Automated Guided Vehicle; be called for short AGV), usually also referred to as AGV dolly, refer to and be equipped with the homing guidance such as electromagnetism or optics device; can travel along the guide path of regulation, there is the transport trolley of safety guard-safeguard and various transfer function.Current AGV dolly mainly uses computer system to control, and the state in trolley travelling process is the same management of computer and control.The importing of computer control system, has great help for the optimization of AGV cart system operation process and the raising of efficiency.
Existing AGV dolly adopts differential drive device to realize turning, and differential drive device utilizes the velocity contrast of the rotating speed of two motors to realize turning.There is following defect in this mechanism at present: one is actuating unit dismounting inconvenience, AGV dolly actuating unit is generally installed on AGV dolly bottom, and pipe link and driven bracket interference fit, need integral disassembly, assembly during dismounting, dolly entirety need be lifted workman to work under car, very inconvenient; Two is pipe link and driven bracket interference fit, and rotate in operational process and cannot realize fine setting, serious wear, and turn to underaction, turn radius is excessive.
Summary of the invention
The present invention is directed to deficiency and the defect of prior art existence, a kind of AGV intelligence charge car travel driving system is provided.
For achieving the above object, the technical solution adopted in the present invention is: a kind of AGV intelligence charge car travel driving system, comprise bogie, cohesive frame and bracket, described bracket is arranged on the hull bottom plate of AGV intelligence charge car, described bogie is connected with described bracket by cohesive frame, these bogie both sides are respectively equipped with road wheel, and two road wheels coaxially arrange and connect the independent actuating device arranged separately respectively.
In said structure, described bracket comprises the upper and lower supporting plate in " Qian " font, and mounting plate tips upside down in bottom plate cavity, and two supporting plate sidewalls are fixed together by fastener.
In said structure, described fastener is pin and locking pin, or is screw bolt and nut, or is axle and shaft block ring.
In said structure, described two supporting plate sidewalls are offered for the mounting hole through fastener, this mounting hole is circular hole or slotted hole.
In said structure, shock absorption device is provided with between described upper and lower supporting plate, described shock absorption device is made up of damping spring and pilot bar, described damping spring is sleeved on outside pilot bar, this damping spring upper end holds out against mounting plate top board inside face, its lower end holds out against bottom plate plate inner surface, and described pilot bar passes upper and lower supporting plate and is spirally connected with nut.
Preferably, described bracket is also containing at least two Limit screws, and two Limit screw diagonal angles are arranged on mounting plate top board.
In said structure, described cohesive frame is by being connected skeleton and pipe link forms, and described linking skeleton is connected with bracket by pipe link, and described linking skeleton comprises a horizontally disposed engagement plate and is fixed on the stay bearing plate of vertical setting of engagement plate both sides; Described pipe link lower end is fixed on and is connected on skeleton, nut locking is also used through the bottom plate of bracket in its upper end, between described engagement plate upper surface and bottom plate base plate lower surface, be respectively equipped with thrust baring between bottom plate plate upper surface and described nut, two thrust barings are sleeved on pipe link outer wall; This cohesive frame is connected with bogie by the connection bearing pin being located at stay bearing plate middle and lower part.
In said structure, described bogie is made up of a horizontal drive frame top board and the vertical supporting plate being fixed on bogie top board both sides, one is provided with for holding the through hole being connected skeleton in the middle part of bogie top board, described through hole both sides are respectively equipped with downward flange, this bogie by two flange be connected bearing pin and be connected with the stay bearing plate of cohesive frame.
In said structure, described actuating device comprises drive motor and transmission device, and described drive motor is connected with traction drive by transmission device, and this drive motor is fixed on bogie.
In said structure, described transmission device is Chain conveyer, belt-driving or gear transmission.
The invention has the beneficial effects as follows:
1, structurally, pipe link of the present invention passes through nut locking, cohesive frame and bracket are linked together, thus be arranged on AGV intelligence charge car, for convenience detach, easy to maintenance, and pipe link is provided with thrust baring, wear and tear little, turn to flexibly, achieve omnibearing walking, improve the load-carrying capacity of AGV intelligence charge car, overcome in prior art, pipe link and driven bracket interference fit, integral disassembly, assembly is needed during dismounting, dolly entirety need be lifted problem and pipe link and driven bracket interference fit that workman works under car, rotate in operational process and cannot realize fine setting, serious wear, and turn to underaction, the problem that turn radius is excessive,
2, structurally, be provided with shock absorption device between the upper and lower supporting plate of the present invention, when long AGV intelligence charge car runs to irregular road surface, damping spring plays damping, buffering effect, extends AGV intelligence charge car service life, improves job security;
3, structurally, bracket of the present invention is provided with Limit screw, prevents the undue 360 ° of rotations of AGV intelligence charge car, improves job security;
4, structurally, cohesive frame lower end of the present invention is connected with bogie by connecting bearing pin, cohesive frame can swing back and forth around bearing pin, AGV intelligence charge car plays the effect of buffering when turning, run-off the straight when preventing AGV intelligence charge car from turning, and the damage of the present invention reduced pipe link, long service life;
5, in sum, structure of the present invention is simple, reasonable in design, safe and reliable, long service life.
Accompanying drawing explanation
Fig. 1 is the perspective view of AGV of the present invention intelligence charge car travel driving system;
Fig. 2 is the main TV structure schematic diagram of Fig. 1;
Fig. 3 is the left TV structure schematic diagram of Fig. 1;
Fig. 4 is the exploded perspective view of AGV of the present invention intelligence charge car travel driving system.
The meaning of number in the figure is: 1, bracket, 2, cohesive frame, 3, bogie, 4, road wheel, 5, thrust baring, 6, nut, 7, pilot bar, 8, damping spring, 9, mounting plate, 10, bottom plate, 11, pin, 12, engagement plate, 13, the vertical supporting plate of bogie, 14, chain, 15, sprocket wheel, 16, mounting hole, 17, connect bearing pin, 18, sidewall, 19, the stay bearing plate of cohesive frame, 20, bogie top board, 21, drive motor.
Detailed description of the invention
Below in conjunction with the drawings and the specific embodiments, the present invention is described in further detail:
Embodiment 1: see Fig. 1 to Fig. 4, a kind of AGV intelligence charge car travel driving system, comprise bogie, cohesive frame and bracket, described bracket is arranged on the hull bottom plate of AGV intelligence charge car, described bogie is connected with described bracket by cohesive frame, these bogie both sides are respectively equipped with road wheel, and two road wheels coaxially arrange and connect the independent actuating device arranged separately respectively.
In said structure, described bracket comprises the upper and lower supporting plate in " Qian " font, and mounting plate tips upside down in bottom plate cavity, and two supporting plate sidewalls are fixed together by fastener.
In said structure, described fastener is pin and locking pin, or is screw bolt and nut, or is axle and shaft block ring, is preferably pin and locking pin.
In said structure, described two supporting plate sidewalls are offered for the mounting hole through fastener, this mounting hole is circular hole or slotted hole, is preferably slotted hole (as shown in Figure 4).
In said structure, described cohesive frame is by being connected skeleton and pipe link forms, and described linking skeleton is connected with bracket by pipe link, and described linking skeleton comprises a horizontally disposed engagement plate and is fixed on the stay bearing plate of vertical setting of engagement plate both sides; Described pipe link lower end is fixed on and is connected on skeleton, nut locking is also used through the bottom plate of bracket in its upper end, between described engagement plate upper surface and bottom plate base plate lower surface, be respectively equipped with thrust baring between bottom plate plate upper surface and described nut, two thrust barings are sleeved on pipe link outer wall; This cohesive frame is connected with bogie by the connection bearing pin being located at stay bearing plate middle and lower part.
In said structure, described bogie is made up of a horizontal drive frame top board and the vertical supporting plate being fixed on bogie top board both sides, one is provided with for holding the through hole being connected skeleton in the middle part of bogie top board, described through hole both sides are respectively equipped with downward flange, this bogie by two flange be connected bearing pin and be connected with the stay bearing plate of cohesive frame.
In said structure, described actuating device comprises drive motor and transmission device, and described drive motor is connected with traction drive by transmission device, and this drive motor is fixed on bogie.
In said structure, described transmission device is Chain conveyer, belt-driving or gear transmission, and be preferably Chain conveyer, drive sprocket is arranged on drive motor main shaft, and the flower wheel sprocket wheel be arranged on same axis by chain and road wheel is connected.Road wheel of the present invention drives respectively by respective drive motor, is convenient to AGV intelligence charge car and turns according to routing information.
Embodiment 2: see Fig. 1 and Fig. 4, embodiment 2 is substantially identical with embodiment 1 structure, something in common does not repeat, unlike: in order to improve the load-carrying capacity of AGV intelligence charge car, realize omnibearing ambulation, shock absorption device is provided with between described upper and lower supporting plate, described shock absorption device is made up of damping spring and pilot bar, described damping spring is sleeved on outside pilot bar, this damping spring upper end holds out against mounting plate top board inside face, its lower end holds out against bottom plate plate inner surface, and described pilot bar passes upper and lower supporting plate and is spirally connected with nut.
Embodiment 3: figure is for drawing, embodiment 3 is substantially identical with embodiment 1 structure, something in common does not repeat, unlike: in order to prevent the undue 360 ° of rotations of AGV intelligence charge car, improve job security, described bracket is also containing at least two Limit screws, and two Limit screw diagonal angles are arranged on mounting plate top board.
Claims (10)
1. an AGV intelligence charge car travel driving system, comprise bogie, cohesive frame and bracket, it is characterized in that: described bracket is arranged on the hull bottom plate of AGV intelligence charge car, described bogie is connected with described bracket by cohesive frame, these bogie both sides are respectively equipped with road wheel, and two road wheels coaxially arrange and connect the independent actuating device arranged separately respectively.
2. AGV intelligence charge car travel driving system according to claim 1, is characterized in that: described bracket comprises the upper and lower supporting plate in " Qian " font, and mounting plate tips upside down in bottom plate cavity, and two supporting plate sidewalls are fixed together by fastener.
3. AGV intelligence charge car travel driving system according to claim 2, is characterized in that: described fastener is pin and locking pin, or is screw bolt and nut, or be axle and shaft block ring.
4. AGV intelligence charge car travel driving system according to claim 2, is characterized in that: described two supporting plate sidewalls are offered for the mounting hole through fastener, this mounting hole is circular hole or slotted hole.
5. AGV intelligence charge car travel driving system according to claim 2, it is characterized in that: between described upper and lower supporting plate, be provided with shock absorption device, described shock absorption device is made up of damping spring and pilot bar, described damping spring is sleeved on outside pilot bar, this damping spring upper end holds out against mounting plate top board inside face, its lower end holds out against bottom plate plate inner surface, and described pilot bar passes upper and lower supporting plate and is spirally connected with nut.
6. AGV intelligence charge car travel driving system according to claim 1 and 2, is characterized in that: described bracket is also containing at least two Limit screws, and two Limit screw diagonal angles are arranged on mounting plate top board.
7. AGV intelligence charge car travel driving system according to claim 1, it is characterized in that: described cohesive frame is by being connected skeleton and pipe link forms, described linking skeleton is connected with bracket by pipe link, and described linking skeleton comprises a horizontally disposed engagement plate and is fixed on the stay bearing plate of vertical setting of engagement plate both sides; Described pipe link lower end is fixed on and is connected on skeleton, nut locking is also used through the bottom plate of bracket in its upper end, between described engagement plate upper surface and bottom plate base plate lower surface, be respectively equipped with thrust baring between bottom plate plate upper surface and described nut, two thrust barings are sleeved on pipe link outer wall; This cohesive frame is connected with bogie by the connection bearing pin being located at stay bearing plate middle and lower part.
8. AGV intelligence charge car travel driving system according to claim 1, it is characterized in that: described bogie is made up of a horizontal drive frame top board and the vertical supporting plate being fixed on bogie top board both sides, one is provided with for holding the through hole being connected skeleton in the middle part of bogie top board, described through hole both sides are respectively equipped with downward flange, this bogie by two flange be connected bearing pin and be connected with the stay bearing plate of cohesive frame.
9. AGV intelligence charge car travel driving system according to claim 1, it is characterized in that: described actuating device comprises drive motor and transmission device, described drive motor is connected with traction drive by transmission device, and this drive motor is fixed on bogie.
10. AGV intelligence charge car travel driving system according to claim 9, is characterized in that: described transmission device is Chain conveyer, belt-driving or gear transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410761811.3A CN104527837B (en) | 2014-12-13 | 2014-12-13 | AGV intelligence charge car travel driving systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410761811.3A CN104527837B (en) | 2014-12-13 | 2014-12-13 | AGV intelligence charge car travel driving systems |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104527837A true CN104527837A (en) | 2015-04-22 |
| CN104527837B CN104527837B (en) | 2018-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410761811.3A Expired - Fee Related CN104527837B (en) | 2014-12-13 | 2014-12-13 | AGV intelligence charge car travel driving systems |
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| CN (1) | CN104527837B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494257A (en) * | 2015-09-07 | 2017-03-15 | 广州市井源机电设备有限公司 | A kind of driving suspension arrangement of automatic navigation vehicle and automatic navigation vehicle |
| CN107284552A (en) * | 2017-08-07 | 2017-10-24 | 浙江国自机器人技术有限公司 | A kind of automatical pilot transportation vehicle and its driving steering mechanism |
| CN107963475A (en) * | 2017-11-14 | 2018-04-27 | 东莞市开胜电子有限公司 | Merchandising machine people is unloaded in a kind of High-Speed Automatic throwing |
| 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 |
| CN108773713A (en) * | 2018-06-14 | 2018-11-09 | 武汉纺织大学 | A kind of automatic overloading cropping trolley of single side type |
| CN109305253A (en) * | 2018-12-11 | 2019-02-05 | 无锡百禾工业机器人有限公司 | A latent AGV car |
| CN109484513A (en) * | 2018-12-29 | 2019-03-19 | 歌尔股份有限公司 | AGV driving device and AGV |
| CN110525313A (en) * | 2019-08-23 | 2019-12-03 | 王坚 | A kind of plant area's electronic watch means of transport |
| CN114348146A (en) * | 2021-12-02 | 2022-04-15 | 中国汽车工业工程有限公司 | Heavy-load compact AGV damping driving unit |
| CN116039806A (en) * | 2022-12-12 | 2023-05-02 | 格力电器（武汉）有限公司 | Self-buffering AGV dolly |
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| CN204383627U (en) * | 2014-12-13 | 2015-06-10 | 河南勃达微波设备有限责任公司 | AGV intelligence charge car travel driving system |
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2014
- 2014-12-13 CN CN201410761811.3A patent/CN104527837B/en not_active Expired - Fee Related
Patent Citations (6)
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| CN2897767Y (en) * | 2006-03-03 | 2007-05-09 | 吉林大学 | Drive/steering mechanism for automated guided vehicles |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494257A (en) * | 2015-09-07 | 2017-03-15 | 广州市井源机电设备有限公司 | A kind of driving suspension arrangement of automatic navigation vehicle and automatic navigation vehicle |
| CN107284552A (en) * | 2017-08-07 | 2017-10-24 | 浙江国自机器人技术有限公司 | A kind of automatical pilot transportation vehicle and its driving steering mechanism |
| CN107963475A (en) * | 2017-11-14 | 2018-04-27 | 东莞市开胜电子有限公司 | Merchandising machine people is unloaded in a kind of High-Speed Automatic throwing |
| 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 |
| CN107985448B (en) * | 2017-12-04 | 2024-10-18 | 苏州艾吉威机器人有限公司 | AGV drive lifting mechanism and AGV dolly |
| CN108773713A (en) * | 2018-06-14 | 2018-11-09 | 武汉纺织大学 | A kind of automatic overloading cropping trolley of single side type |
| CN109305253A (en) * | 2018-12-11 | 2019-02-05 | 无锡百禾工业机器人有限公司 | A latent AGV car |
| CN109484513A (en) * | 2018-12-29 | 2019-03-19 | 歌尔股份有限公司 | AGV driving device and AGV |
| CN110525313A (en) * | 2019-08-23 | 2019-12-03 | 王坚 | A kind of plant area's electronic watch means of transport |
| CN114348146A (en) * | 2021-12-02 | 2022-04-15 | 中国汽车工业工程有限公司 | Heavy-load compact AGV damping driving unit |
| CN114348146B (en) * | 2021-12-02 | 2023-05-26 | 中国汽车工业工程有限公司 | Heavy-load compact AGV damping driving unit |
| CN116039806A (en) * | 2022-12-12 | 2023-05-02 | 格力电器（武汉）有限公司 | Self-buffering AGV dolly |
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Granted publication date: 20180102 Termination date: 20191213 |