CN104527837B - AGV intelligence charge car travel driving systems - Google Patents
AGV intelligence charge car travel driving systems Download PDFInfo
- Publication number
- CN104527837B CN104527837B CN201410761811.3A CN201410761811A CN104527837B CN 104527837 B CN104527837 B CN 104527837B CN 201410761811 A CN201410761811 A CN 201410761811A CN 104527837 B CN104527837 B CN 104527837B
- Authority
- CN
- China
- Prior art keywords
- plate
- bogie
- bracket
- intelligence charge
- agv intelligence
- Prior art date
- 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.)
- Expired - Fee Related
Links
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 present invention relates to a kind of AGV intelligence charge car travel driving system, including bogie, cohesive frame and bracket, bracket is arranged on the hull bottom plate of AGV intelligence charge cars, bogie is connected by cohesive frame with the bracket, the bogie both sides are respectively equipped with road wheel, and two road wheels are coaxially disposed and connected respectively the drive device being each independently arranged.The connecting rod of the present invention passes through nut check, cohesive frame and bracket are linked together, convenient dismounting, it is easy to maintenance, and connecting rod is provided with thrust bearing, wear small, turn to flexible, realize comprehensive walking, improve the bearing capacity of AGV intelligence charge cars, overcome in the prior art, connecting rod and driving bracket interference fit, integral disassembly, assembly is needed during dismounting, dolly need to be lifted integrally to the problem of worker works under car and connecting rod and driving bracket interference fit, fine setting can not be realized by rotating in running, serious wear, and turn to underaction, the problem of radius of turn is excessive.
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, abbreviation AGV), also commonly referred to as AGV dollies, refer to fill
Have electricity and magnetically or optically wait homing guidance device, can be travelled along defined guide path, there is safeguard protection and various shiftings
Carry the transport vehicle of function.Current AGV dollies are mainly controlled using computer system, and the state during trolley travelling is that computer is same
One management and control.The importing of computer control system, the raising of optimization and efficiency for AGV cart system operation process have
Greatly help.
Existing AGV dollies are turned using differential drive device to realize, differential drive device utilizes the rotating speed of two motors
Speed difference come realize turn.There is following defect in this mechanism at present：First, actuating unit dismounting inconvenience, AGV dolly actuating units
It is generally mounted to AGV dollies bottom, and connecting rod and driving bracket interference fit, needs integral disassembly, assembly during dismounting, need to be whole by dolly
Body lifts worker and worked under car, very inconvenient；Second, connecting rod and driving bracket interference fit, rotating can not in running
Fine setting, serious wear are realized, and turns to underaction, radius of turn is excessive.
The content of the invention
The present invention is in view of the shortcomings of the prior art and defect, there is provided a kind of AGV intelligence charge car travel driving system.
To achieve the above object, the technical solution adopted in the present invention is：A kind of AGV intelligence charge car hoofing part system
System, including bogie, cohesive frame and bracket, the bracket are arranged on the hull bottom plate of AGV intelligence charge cars, the bogie
It is connected by cohesive frame with the bracket, the bogie both sides are respectively equipped with road wheel, and two road wheels are coaxially disposed and connected respectively
Connect the drive device being each independently arranged.
In said structure, described bracket includes tipping upside down on bottom plate sky in the upper and lower supporting plate of " Qian " font, mounting plate
Intracavitary, it is fixed together by fastener in two supporting plate side walls.
In said structure, described fastener is pin and locking pin, is either screw bolt and nut or is axle and axle
Use back-up ring.
In said structure, opened up in the two supporting plates side wall for the mounting hole through fastener, the mounting hole is circle
Hole or slotted hole.
In said structure, be provided with damping device between described upper and lower supporting plate, the damping device by damping spring and
Guide post group is sleeved on the outside of guide rod into, the damping spring, and the damping spring upper end holds out against mounting plate top plate inner surface, its
Lower end holds out against bottom plate plate inner surface, and the guide rod is spirally connected through upper and lower supporting plate and with the second nut.
Preferably, the bracket is also diagonally arranged on pop-up containing at least two Limit screws, two Limit screws
On plate top plate.
In said structure, described cohesive frame is made up of linking skeleton and connecting rod, and the linking skeleton passes through connection
Bar is connected with bracket, and the linking skeleton includes a horizontally disposed engagement plate and is fixed on being vertically arranged for engagement plate both sides
Supporting plate；The connecting rod lower end is fixed on linking skeleton, its upper end through bracket bottom plate and with the first nut check,
Set respectively between the engagement plate upper surface and bottom plate bottom plate lower surface, between bottom plate plate upper surface and the nut
There is thrust bearing, two thrust bearings are sleeved on connecting rod outer wall；The cohesive frame is by being located at the connecting pin of supporting plate middle and lower part
Axle is connected with bogie.
In said structure, described bogie is by a horizontal drive frame top plate and is fixed on the perpendicular of bogie top plate both sides
To gripper shoe groups into provided with a through hole for being used for receiving linking skeleton in the middle part of bogie top plate, the through hole both sides are respectively equipped with
Downward flange, the bogie are connected by two flange and the supporting plate of connection bearing pin and cohesive frame.
In said structure, described drive device includes motor and transmission mechanism, and the motor passes through biography
Motivation structure is connected with traction drive, and the motor is fixed on bogie.
In said structure, described transmission mechanism is Chain conveyer, belt transmission or gear drive.
The beneficial effects of the invention are as follows：
1st, in structure, connecting rod of the invention is linked together cohesive frame and bracket, so as to pacify by nut check
On AGV intelligence charge cars, convenient dismounting is easy to maintenance, and connecting rod is provided with thrust bearing, and abrasion is small, turns to flexibly,
Comprehensive walking is realized, the bearing capacity of AGV intelligence charge cars is improved, overcomes in the prior art, connecting rod and driving
Bracket is interference fitted, and needs integral disassembly, assembly during dismounting, dolly need to integrally be lifted the problem of worker works under car and connecting rod with
Bracket interference fit is driven, fine setting can not be realized by rotating in running, serious wear, and turn to underaction, radius of turn
The problem of excessive；
2nd, in structure, damping device is provided between the upper and lower supporting plate of the present invention, when long AGV intelligence charge car is run to not
During smooth road surface, damping spring plays cushioning buffer effect, extends AGV intelligence charge car service lifes, improves work safety
Property；
3rd, in structure, bracket of the invention is provided with Limit screw, prevents the undue 360 ° of rotations of AGV intelligence charge cars,
Improve job security；
4th, in structure, cohesive frame lower end of the invention is connected by connecting bearing pin with bogie, and cohesive frame can surround
Bearing pin swings back and forth, and AGV intelligence charge car plays a part of buffering when turning, and inclines when preventing AGV intelligence charge car from turning
Tiltedly, and the damage of the invention to connecting rod is reduced, service life is grown；
5th, in summary, the present invention is simple in construction, reasonable in design, safe and reliable, service life length.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of AGV intelligence charge car travel driving system of the present invention；
Fig. 2 is Fig. 1 main structure diagram；
Fig. 3 is Fig. 1 left view structural representation；
Fig. 4 is the exploded perspective view of AGV intelligence charge car travel driving system of the present invention.
The meaning of label is in figure：1st, bracket, 2, cohesive frame, 3, bogie, 4, road wheel, 5, thrust bearing, 6, first
Nut, 7, guide rod, 8, damping spring, 9, mounting plate, 10, bottom plate, 11, pin, 12, engagement plate, 13, bogie it is vertical
Supporting plate, 14, chain, 15, sprocket wheel, 16, mounting hole, 17, connection bearing pin, 18, side wall, 19, the supporting plate of cohesive frame, 20, drive
Moving frame top plate, 21, motor.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail to the present invention：
Embodiment 1：Referring to Fig. 1 to Fig. 4, a kind of AGV intelligence charge car travel driving system, including bogie, cohesive frame
And bracket, the bracket are arranged on the hull bottom plate of AGV intelligence charge cars, the bogie passes through cohesive frame and the bracket
Connection, the bogie both sides are respectively equipped with road wheel, and two road wheels are coaxially disposed and connected respectively the driving being each independently arranged
Device.
In said structure, described bracket includes tipping upside down on bottom plate sky in the upper and lower supporting plate of " Qian " font, mounting plate
Intracavitary, it is fixed together by fastener in two supporting plate side walls.
In said structure, described fastener is pin and locking pin, is either screw bolt and nut or is axle and axle
With back-up ring, preferably pin and locking pin.
In said structure, opened up in the two supporting plates side wall for the mounting hole through fastener, the mounting hole is circle
Hole or slotted hole, preferably slotted hole（As shown in Figure 4）.
In said structure, described cohesive frame is made up of linking skeleton and connecting rod, and the linking skeleton passes through connection
Bar is connected with bracket, and the linking skeleton includes a horizontally disposed engagement plate and is fixed on being vertically arranged for engagement plate both sides
Supporting plate；The connecting rod lower end is fixed on linking skeleton, its upper end through bracket bottom plate and with the first nut check,
Set respectively between the engagement plate upper surface and bottom plate bottom plate lower surface, between bottom plate plate upper surface and the nut
There is thrust bearing, two thrust bearings are sleeved on connecting rod outer wall；The cohesive frame is by being located at the connecting pin of supporting plate middle and lower part
Axle is connected with bogie.
In said structure, described bogie is by a horizontal drive frame top plate and is fixed on the perpendicular of bogie top plate both sides
To gripper shoe groups into provided with a through hole for being used for receiving linking skeleton in the middle part of bogie top plate, the through hole both sides are respectively equipped with
Downward flange, the bogie are connected by two flange and the supporting plate of connection bearing pin and cohesive frame.
In said structure, described drive device includes motor and transmission mechanism, and the motor passes through biography
Motivation structure is connected with traction drive, and the motor is fixed on bogie.
In said structure, described transmission mechanism is Chain conveyer, belt transmission or gear drive, preferably Chain conveyer,
Drive sprocket is arranged on motor main shaft, and the driven wheel sprocket being arranged on by chain and road wheel on same axis connects
Connect.The road wheel of the present invention is driven by respective motor respectively, is easy to AGV intelligence charge car to be carried out according to routing information
Turn.
Embodiment 2：Referring to Fig. 1 and Fig. 4, embodiment 2 and the structure of embodiment 1 are essentially identical, and something in common does not repeat, different
Be：In order to improve the bearing capacity of AGV intelligence charge cars, omnibearing ambulation is realized, is provided with and subtracts between described upper and lower supporting plate
Device is shaken, the damping device is by damping spring with guide post group into the damping spring is sleeved on the outside of guide rod, the damping
Spring upper end holds out against mounting plate top plate inner surface, and its lower end holds out against bottom plate plate inner surface, and the guide rod passes through upper and lower support
Plate is simultaneously spirally connected with the second nut.
Embodiment 3：Figure is to draw, and embodiment 3 and the structure of embodiment 1 are essentially identical, and something in common does not repeat, different
It is：In order to prevent the undue 360 ° of rotations of AGV intelligence charge cars, job security is improved, the bracket is also containing at least two limits
Position screw rod, two Limit screws are diagonally arranged on mounting plate top plate.
Claims (8)
1. a kind of AGV intelligence charge car travel driving system, including bogie, cohesive frame and bracket, it is characterised in that：The support
Frame is arranged on the hull bottom plate of AGV intelligence charge cars, and the bogie is connected by cohesive frame with the bracket, the bogie
Both sides are respectively equipped with road wheel, and two road wheels are coaxially disposed and connected respectively the drive device being each independently arranged；The linking
Frame is made up of linking skeleton and connecting rod, and the linking skeleton is connected by connecting rod with bracket, and the linking skeleton includes one
Horizontally disposed engagement plate and the supporting plate being vertically arranged for being fixed on engagement plate both sides；It is in " Qian " font that described bracket, which includes,
Upper and lower supporting plate, mounting plate tips upside down in bottom plate cavity, is fixed together in two supporting plate side walls by fastener；The company
Extension bar lower end is fixed on linking skeleton, its upper end through bracket bottom plate and with the first nut check, in the engagement plate
Thrust bearing is respectively equipped between upper surface and bottom plate bottom plate lower surface, between bottom plate plate upper surface and the nut,
Two thrust bearings are sleeved on connecting rod outer wall；The cohesive frame is connected by being located at the connection bearing pin of supporting plate middle and lower part with bogie
Connect.
2. AGV intelligence charge car travel driving system according to claim 1, it is characterised in that：Described fastener is
Pin and locking pin, are either screw bolt and nut or are axle and shaft block ring.
3. AGV intelligence charge car travel driving system according to claim 1, it is characterised in that：The two supporting plates side wall
On open up for the mounting hole through fastener, the mounting hole is circular hole or slotted hole.
4. AGV intelligence charge car travel driving system according to claim 1, it is characterised in that：Described upper and lower supporting plate
Between be provided with damping device, the damping device is by damping spring with guide post group into the damping spring is sleeved on guide rod
Outside, the damping spring upper end hold out against mounting plate top plate inner surface, and its lower end holds out against bottom plate plate inner surface, the guide rod
It is spirally connected through upper and lower supporting plate and with the second nut.
5. AGV intelligence charge car travel driving system according to claim 1, it is characterised in that：The bracket also contains
At least two Limit screws, two Limit screws are diagonally arranged on mounting plate top plate.
6. AGV intelligence charge car travel driving system according to claim 1, it is characterised in that：Described bogie by
One horizontal drive frame top plate and the vertical supporting plate composition for being fixed on bogie top plate both sides, bogie top plate middle part are provided with one and used
In the through hole for accommodating linking skeleton, the through hole both sides are respectively equipped with downward flange, and the bogie passes through two flange and connection
The supporting plate of bearing pin and cohesive frame connects.
7. AGV intelligence charge car travel driving system according to claim 1, it is characterised in that：Described drive device
Including motor and transmission mechanism, the motor is connected by transmission mechanism with traction drive, and the motor is consolidated
It is scheduled on bogie.
8. AGV intelligence charge car travel driving system according to claim 7, it is characterised in that：Described transmission mechanism
For Chain conveyer, belt transmission or gear drive.
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 CN104527837A (en) | 2015-04-22 |
| CN104527837B true CN104527837B (en) | 2018-01-02 |
Family
ID=52843548
Family Applications (1)
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104527837B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494257B (en) * | 2015-09-07 | 2019-01-04 | 广州市井源机电设备有限公司 | A kind of the driving suspension arrangement and automatic navigation vehicle of 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 |
| CN107963475B (en) * | 2017-11-14 | 2020-04-24 | 东莞市开胜电子有限公司 | High-speed automatic material flow throwing and unloading robot |
| 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 |
| CN108773713B (en) * | 2018-06-14 | 2019-07-26 | 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 kind of submarine AGV trolley |
| 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 |
| 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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203480309U (en) * | 2013-08-16 | 2014-03-12 | 广东益翔自动化科技有限公司 | Driving device of bidirectional automated guided vehicle |
| 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 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2897767Y (en) * | 2006-03-03 | 2007-05-09 | 吉林大学 | Driving/steering mechanism for automatic guider |
| JP5252693B2 (en) * | 2008-05-16 | 2013-07-31 | Ｕｄトラックス株式会社 | Work moving 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 |
| 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 |
-
2014
- 2014-12-13 CN CN201410761811.3A patent/CN104527837B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203480309U (en) * | 2013-08-16 | 2014-03-12 | 广东益翔自动化科技有限公司 | Driving device of bidirectional automated guided vehicle |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104527837A (en) | 2015-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104527837B (en) | AGV intelligence charge car travel driving systems | |
| CN102431561B (en) | Suspension type monorail trolley and suspension type monorail traffic system | |
| CN206336987U (en) | AGV dollies | |
| CN105417434A (en) | Carrying trolley with lifting device | |
| CN204383627U (en) | AGV intelligence charge car travel driving system | |
| CN108749827B (en) | Self-driven large-gradient rail transport locomotive | |
| CN106114114A (en) | The four-wheel independent suspension device of a kind of combined tractor and AC Driving System | |
| CN105292969A (en) | Intelligent AGV trolley and system thereof | |
| CN205087500U (en) | Intelligence AGV dolly and system thereof | |
| CN109130822B (en) | Combined AGV | |
| CN210176325U (en) | Traveling crane for cargo transfer | |
| CN104571105B (en) | AGV intelligence charge cars | |
| CN201457383U (en) | Heavy-grade friction boosting self-propelling trolley | |
| CN211494216U (en) | AGV laser self-conductance dolly turns to structure | |
| CN105752840B (en) | Heavy walking trolley of monorail crane | |
| CN104973124A (en) | Chassis structure of suspension frame electric vehicle | |
| CN204390038U (en) | AGV intelligence charge car | |
| CN210084252U (en) | High-load monorail hanging conveying system | |
| CN201890589U (en) | Automatic climbing conveyer with single trolley | |
| CN113562613B (en) | Coal mine single-rail hoisting conveying robot with complex geological conditions | |
| CN107264304B (en) | Can collaborative formula floor truck | |
| CN211811878U (en) | Intelligent AGV (automatic guided vehicle) carrying trolley and spring floating type mechanism thereof | |
| CN211809957U (en) | Independent suspension structure of AGV dolly | |
| CN110356489B (en) | Transport vehicle and travelling mechanism thereof | |
| CN105752841B (en) | Travelling wheel guiding device of monorail crane trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180102 Termination date: 20191213 |