CN105774457A - Lifting terrain-adaptive AGV trolley chassis - Google Patents

Lifting terrain-adaptive AGV trolley chassis Download PDF

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Publication number
CN105774457A
CN105774457A CN201510738771.5A CN201510738771A CN105774457A CN 105774457 A CN105774457 A CN 105774457A CN 201510738771 A CN201510738771 A CN 201510738771A CN 105774457 A CN105774457 A CN 105774457A
Authority
CN
China
Prior art keywords
driving wheel
driving
vehicle frame
self adaptation
agv dolly
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.)
Pending
Application number
CN201510738771.5A
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Chinese (zh)
Inventor
占锐
余渊
姬卫东
孙迎卿
陈建中
何瑶瑶
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ELECTRIC SCIENTIFIC RESEARCH Co Ltd HUZHOU ELECTRIC DIVISION
Shanghai Electrical Apparatus Research Institute Group Co Ltd
Original Assignee
ELECTRIC SCIENTIFIC RESEARCH Co Ltd HUZHOU ELECTRIC DIVISION
Shanghai Electrical Apparatus Research Institute Group Co Ltd
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 ELECTRIC SCIENTIFIC RESEARCH Co Ltd HUZHOU ELECTRIC DIVISION, Shanghai Electrical Apparatus Research Institute Group Co Ltd filed Critical ELECTRIC SCIENTIFIC RESEARCH Co Ltd HUZHOU ELECTRIC DIVISION
Priority to CN201510738771.5A priority Critical patent/CN105774457A/en
Publication of CN105774457A publication Critical patent/CN105774457A/en
Pending legal-status Critical Current

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Abstract

The invention relates to field of automated transportation devices, in particular to a lifting terrain-adaptive AGV trolley chassis, which is characterized by comprising a frame, driving wheel modules installed on the middle of the bottom of the frame, and driven wheel modules installed at the two ends of the bottom of the frame. The driving wheel modules comprise driving wheel supports used for installing the driving wheel modules on the frame, and driving wheels used for driving a vehicle to run, and the driving wheels are rotationally connected with the driving wheel supports through connectors. The driving wheels are provided with driving components and flexible adjusting components. When the trolley runs on the rugged ground, the connectors and the driving wheels rotationally connected with the driving wheel supports can rotate relative to the tail ends of the driving wheel supports, and meanwhile, the driving wheels are limited in a manner that the flexible adjusting components exert the restoring force on the driving wheels in the opposite direction, so that the connectors swing at a small range, to make the driving wheels to automatically adapt to the changes of the ground.

Description

A kind of liftable self adaptation landform AGV dolly chassis
Technical field
The present invention relates to automatic transportation device field, particularly to a kind of liftable self adaptation landform AGV dolly chassis.
Background technology
Automatic tracking dolly (abbreviation AGV) automatic guided vehicle (being called for short AGV dolly), adopts Automatic Control mode to replace manually, saves manpower and easy to use, have been widely used in logistics transportation industry.Its chassis traveling mechanism has Three-wheel type, four-wheel-type, six wheeled, crawler types or McCrum wheel.Wherein Three-wheel type simple in construction, is absent from occurring the phenomenon skidded because of ground out-of-flatness, but less stable, and bearing capacity is limited.Four-wheel-type is similar to that automobile chassis structures, and simple and stable structure is better, but radius of turn is bigger, it is impossible to realize pivot turn, for the AGV with spin-lift system, it has to be possible to realizes original place below shelf and rotates.Six wheeled constructions are existing most of AGV chassis structures adopted, and wherein the two-wheeled on intermediate coaxial line is driving wheel, adopt driven by servomotor, utilize differential to turn, and additionally four-wheel is universal wheel.Have an advantage in that bearing capacity is high, control simple, it may be achieved pivot turn.But due to ground out-of-flatness, six take turns can not simultaneously and earth surface, and driving wheel is easily maked somebody a mere figurehead, thus causing that driving wheel skids, thus is badly in need of a kind of elasticity chassis.
Summary of the invention
Invention is in order to solve the deficiencies in the prior art, open a kind of liftable self adaptation landform AGV dolly chassis, a kind of liftable self adaptation landform AGV dolly chassis, it is characterised in that: include vehicle frame, be arranged on the driving wheel module of described bottom of frame centre, be arranged on the driven pulley module at described bottom of frame two ends.Described driving wheel module includes for described driving wheel module being arranged on the drive wheel bracket on described vehicle frame and being used for the driving wheel driving vehicle to travel, and described driving wheel is rotationally connected described drive wheel bracket by connector.Described driving wheel arranges driving assembly and flexible adjustment assembly;Described flexible adjustment assembly includes adjustable plate, connects axle and the first elastomeric element;Described adjustable plate has through hole;One end of described connection axle arranges limited block, and the other end of described connection axle connects described vehicle frame through described through hole is fixing;One end of described first elastomeric element is fixing connects described adjustable plate, and the other end of described first elastomeric element is fixing connects described vehicle frame.One end of described drive wheel bracket is fixed on one end of described bottom of frame, the other end of described drive wheel bracket and described connector and is rotationally connected.When running into broken terrain, the driving wheel being rotationally connected with described drive wheel bracket by described connector can be rotated relative to described drive wheel bracket end, to adjust the height of described driving wheel, and dynamically adapting landform.Meanwhile, described driving wheel is applied rightabout restoring force to carry out spacing to described driving wheel by described flexible adjustment assembly.The little scale oscillation making described connector realizes driving wheel and automatically adapts to the change on ground.
As preferably, described driving wheel module has two, and is symmetrically distributed in the left and right sides of described bottom of frame.Servo Control can be realized by adjusting the actuating speed of left and right sidesing driving wheel module.
As preferably, described drive wheel bracket is del support, and the limit at del top is fixing with described vehicle frame to be connected, and the angle bottom del is provided with rotating shaft, one end of described connector is fixing with described driving wheel to be connected, and the other end of described connector is connected with described axis of rotation;The activity space swung for connector is set between angle and the limit at top of the bottom of del.The del structure of described drive wheel bracket is the most stable, it is prevented that compressive deformation in motor process.
As preferably, one end of described connector arranges self lubrication bearing and is rotationally connected with described drive wheel bracket.The swing making described connector is smooth and easy.
As preferably, described driving assembly includes motor, reduction box, diverter;Described motor and described decelerator, by Flange joint, transmit moment of torsion by key;The output shaft of described decelerator is connected by key with the described power shaft taking turns diverter;The output shaft of described diverter is connected by key with the wheel hub of described driving wheel.Described decelerator can make the driving wheel module being distributed in the described bottom of frame left and right sides have different speed by the velocity of rotation of the described driving wheel of adjustment, to control dolly turning.
As preferably, described diverter is bevel gear diverter.Transmission accuracy is high.
As preferably, described decelerator is planetary reduction gear.There is the features such as lightweight, volume is little, gear range is big, efficiency is high, smooth running, the low strong adaptability of noise.
As preferably, described driven pulley module includes universal wheel and the second elastomeric element being arranged between described universal wheel and vehicle frame 1.Change according to landform, the second elastic of described driven pulley module dynamically adjusts the height of described driven pulley, it is prevented that driving wheel is maked somebody a mere figurehead.
As preferably, described vehicle frame includes U-shaped base that steel make, is arranged on described U-shaped base rear and front end, for installing the horizontal steel plate of described driven pulley module.Vehicle frame is formed by rectangle steel and Plate Welding, improves the rigidity of vehicle frame, thus improving the bearing capacity of dolly.
As preferably, the bottom of described U-shaped base is arranged to install the through hole of photographic head.
There is advantages that
1. driving wheel and driven pulley all dynamically can adjust according to landform, automatic adaptation to the ground, overcome six wheeled dolly chassis due to ground out-of-flatness, six take turns can not simultaneously with the shortcoming of earth surface;
2. while realizing dolly straight line moving, pivot turn function, self adaptation landform, it is prevented that driving wheel is maked somebody a mere figurehead skidding;
3. driving wheel and driven pulley are provided with elastomeric element, can play the effect of vibration reduction and cushioning at broken terrain.
Accompanying drawing explanation
Fig. 1 liftable self adaptation landform AGV dolly chassis structural representation;
Fig. 2 body frame structure for automotive schematic diagram;
Fig. 3 driving wheel modular structure schematic diagram;
Fig. 4 driving wheel module sectional view;
Fig. 5 driven pulley modular structure schematic diagram;
Wherein, 1-vehicle frame, 2,3-driving wheel module, 4-driven pulley module, 11-U type base, 12-horizontal steel plate, 21-driving wheel, 22-drive wheel bracket, 23-connector, 41-driven pulley, 42-the second elastomeric element, 221-rotating shaft, 421-bolt, 422-spring, 2121-adjustable plate, 2122-connect axle, 2123-the first elastomeric element, 21211-through hole, 21221-limited block.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention are described in detail.As Figure 1-5, liftable self adaptation landform AGV chassis of the present invention include vehicle frame 1, driving wheel module 2,3, driven pulley module 4.Its concrete structure is as follows:
Vehicle frame 1 is formed by rectangle steel and Plate Welding, and wherein rectangle steel is respectively positioned on same plane, and there is horizontal steel plate 12 front and back in order to install driven pulley module 4.Middle part has U-shaped base 11, and in order to install other mechanisms of AGV, middle part also has through hole for installing photographic head.
Drive module to be divided into left driving module 2 and right driving module 3, be arranged symmetrically with and part is all interchangeable.It is described in detail for left driving module 2.Left driving module includes driving wheel 21 and drive wheel bracket 22, and driving wheel 21 is rotationally connected drive wheel bracket 22 by connector 23.Drive wheel bracket 22 is del support, the limit at del top is connected by bolt is fixing with vehicle frame 1, angle bottom del is provided with rotating shaft 221, one end of connector 23 is fixing with driving wheel 21 to be connected, the other end of connector 23 and self lubrication bearing interference fit, self lubrication bearing is connected with rotating shaft 221.Rotating shaft 221 one end has locating flange, adopts bolt to be connected with drive wheel bracket 22.The activity space swung for connector 23 is set between angle and the limit at top of the bottom of del.
Driving wheel 21 arranges driving assembly and flexible adjustment assembly.Driving assembly includes: motor, decelerator, bevel gear diverter.Motor and decelerator, by Flange joint, transmit moment of torsion by key.Decelerator adopts planetary reduction gear, decelerator and bevel gear diverter pass through Flange joint, reducer output shaft is connected by key with bevel gear diverter power shaft, bevel gear diverter power shaft is hollow and is supported by bearing, bearing is compressed by bearing cap, seals equipped with sealing ring in bearing cap.Bevel gear diverter output shaft is supported by bearing and is positioned by output flange, and is provided with sealing ring and seals.Output flange is connected with connector 23 by bolt, bevel gear diverter output shaft is connected by key with wheel hub one end, and wheel hub is supported by hub bearing, and hub bearing is fixed by driving wheel axle sleeve, driving wheel axle sleeve is fixed with connector 23 by bolt, and the wheel hub other end is connected with driving wheel by flange.Previous key connects all employing holes and is attached with the form coordinated of axle.
Flexible adjustment assembly includes adjustable plate 2121, connects axle 2122 and the first elastomeric element 2123.Having through hole 21211 on adjustable plate 2121, the one end connecting axle 2122 arranges limited block 21221, and the other end connecting axle 2122 fixes connecting vehicle frame 1 through through hole 21211.First elastomeric element 2123 includes spring and alignment pin, and spring 1 is set on the fixing alignment pin connecting adjustable plate 2121 and vehicle frame 1.
When AGV dolly drives to protruding ground, driving wheel 21 is squeezed and moves upward, and band follower link 23 rotates relative to drive wheel bracket 22 with rotating shaft 221 for axle.Driving wheel 21 spring of the first elastomeric element 2123 in process that moves upward receives extruding and produces downward restoring force, to ensure contacting of driving wheel 21 and ground, so that driving wheel also can drive dolly normally to travel after adjusting in position.Driving wheel is in the motor process of vertical direction, and the through hole 21211 of adjustable plate 2121 relatively connects axle 2122 motion in the vertical direction and slides, and connects axle 2122 and adjustable plate is carried out in the horizontal direction spacing in the process of adjustable plate vertical motion.
When AGV dolly drives to pit floor, the restoring force that driving wheel 21 is subject to the first elastomeric element 2123 downward moves downward.Driving wheel is in the motor process of vertical direction, and the through hole 21211 of adjustable plate 2121 relatively connects axle 2122 motion in the vertical direction and slides, and connects axle 2122 and adjustable plate is carried out in the horizontal direction spacing in the process of adjustable plate vertical motion.In driving wheel 21 motor process, band follower link 23 rotates relative to drive wheel bracket 22 with rotating shaft 221 for axle.
Driven pulley module 4 has four groups, is distributed on vehicle frame 1 bottom surface and is distributed about driving wheel module symmetry.The second elastomeric element 42 that driven pulley module 4 includes universal wheel 41, is arranged between vehicle frame 1 and universal wheel 41.Universal wheel 41 end face corner has circular port, and bolt 421 one end is arranged in the circular port of universal wheel 41, and the other end and vehicle frame 1 base plate are fixed.Having spring 422 outside bolt 421, spring 422 is main load parts, forms the second elastomeric element so that universal wheel 41 can vertically fluctuate.
Embodiment described above is only that the preferred embodiment of the present invention is described, and not the spirit and scope of the present invention is defined.Under the premise without departing from design concept of the present invention; various modification that technical scheme is made by this area ordinary person and improvement; protection scope of the present invention all should be dropped into, the technology contents that the present invention is claimed, all record in detail in the claims.

Claims (10)

1. a liftable self adaptation landform AGV dolly chassis, it is characterised in that: include vehicle frame (1), be arranged on the driving wheel module (2) in the middle of described vehicle frame (1) bottom, be arranged on the driven pulley module (4) at two ends, described vehicle frame (1) bottom;
Described driving wheel module includes the drive wheel bracket (22) for described driving wheel module being arranged on described vehicle frame (1) and the driving wheel (21) for driving vehicle to travel, and described driving wheel (21) is rotationally connected described drive wheel bracket (22) by connector (23);
Described driving wheel (21) arranges driving assembly and flexible adjustment assembly;Described flexible adjustment assembly includes adjustable plate (2121), connects axle (2122) and elastomeric element (2123);Described adjustable plate (2121) has through hole (21211);One end of described connection axle (2122) arranges limited block (21221), and the other end of described connection axle (2122) connects described vehicle frame (1) through described through hole (21211) is fixing;One end of described first elastomeric element (2123) is fixing connects described adjustable plate (2121), and the other end of described first elastomeric element (2123) is fixing connects described vehicle frame (1).
2. a kind of liftable self adaptation landform AGV dolly chassis according to claim 1, it is characterised in that: described driving wheel module has two, and is symmetrically distributed in the left and right sides of described vehicle frame (1) bottom.
3. a kind of liftable self adaptation landform AGV dolly chassis according to claim 2, it is characterized in that: described drive wheel bracket (22) is del support, the limit at del top is fixing with described vehicle frame (1) to be connected, angle bottom del is provided with rotating shaft (221), one end of described connector (23) is fixing with described driving wheel (21) to be connected, and the other end of described connector (23) and described rotating shaft (221) are rotationally connected;The activity space swung for connector (23) is set between angle and the limit at top of the bottom of del.
4. a kind of liftable self adaptation landform AGV dolly chassis according to claim 2, it is characterised in that: one end of described connector (23) arranges self lubrication bearing and is rotationally connected with described drive wheel bracket (22).
5. a kind of liftable self adaptation landform AGV dolly chassis according to claim 2, it is characterised in that: described driving assembly includes motor, reduction box, diverter;Described motor and described decelerator are by Flange joint, and transmit moment of torsion by key;The output shaft of described decelerator is connected by key with the described power shaft taking turns diverter;The output shaft of described diverter is connected by key with the wheel hub of described driving wheel (21).
6. a kind of liftable self adaptation landform AGV dolly chassis according to claim 5, it is characterised in that: described diverter is bevel gear diverter.
7. a kind of liftable self adaptation landform AGV dolly chassis according to claim 5, it is characterised in that: described decelerator is planetary reduction gear.
8. a kind of liftable self adaptation landform AGV dolly chassis according to claim 2, it is characterised in that: described driven pulley module (4) includes universal wheel and the second elastomeric element (42) being arranged between described universal wheel and vehicle frame (1) 1.
9. a kind of liftable self adaptation landform AGV dolly chassis according to claim 2, it is characterised in that: described vehicle frame (1) includes U-shaped base that steel make, is arranged on described U-shaped base rear and front end, for installing the horizontal steel plate of described driven pulley module (4).
10. a kind of liftable self adaptation landform AGV dolly chassis according to claim 9, it is characterised in that: the bottom of described U-shaped base is arranged to install the through hole (21211) of photographic head.
CN201510738771.5A 2015-11-04 2015-11-04 Lifting terrain-adaptive AGV trolley chassis Pending CN105774457A (en)

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Application Number Priority Date Filing Date Title
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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106183693A (en) * 2016-08-08 2016-12-07 中国矿业大学 The wheel moving platform of self adaptation landform and there is its fire-fighting sniffing robot
CN106515904A (en) * 2016-12-26 2017-03-22 同方威视技术股份有限公司 Mobile platform
CN106532529A (en) * 2016-11-29 2017-03-22 北京特种机械研究所 Intelligent carrying device of power distribution cabinets
CN107472397A (en) * 2017-08-22 2017-12-15 北京百度网讯科技有限公司 Robot chassis and robot
CN107521579A (en) * 2017-09-06 2017-12-29 天津朗誉科技发展有限公司 A kind of AGV transport vehicles swing-tray
CN107878138A (en) * 2017-10-31 2018-04-06 杭州极木科技有限公司 A kind of heavy haul transport platform
CN108527333A (en) * 2018-06-11 2018-09-14 深圳怡丰机器人科技有限公司 Chassis and mobile robot
CN108749953A (en) * 2018-06-11 2018-11-06 深圳怡丰机器人科技有限公司 Chassis and AGV trolleies
CN108791618A (en) * 2018-07-31 2018-11-13 储海霞 A kind of intelligent carriage driving wheel structure
CN109732254A (en) * 2019-03-01 2019-05-10 航天通用技术(北京)有限公司 One kind can Omni-mobile welding robot
CN110143234A (en) * 2019-04-22 2019-08-20 深兰科技(上海)有限公司 A kind of vehicle chassis and vehicle
WO2019242315A1 (en) * 2018-06-19 2019-12-26 北京京东尚科信息技术有限公司 Agv chassis mechanism and agv provided with same
CN110848302A (en) * 2019-12-17 2020-02-28 浙江欣奕华智能科技有限公司 Multistage shock absorber for heavy-load AGV and heavy-load AGV

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106183693A (en) * 2016-08-08 2016-12-07 中国矿业大学 The wheel moving platform of self adaptation landform and there is its fire-fighting sniffing robot
CN106532529B (en) * 2016-11-29 2018-05-18 北京特种机械研究所 Power distribution cabinet intelligence Handling device
CN106532529A (en) * 2016-11-29 2017-03-22 北京特种机械研究所 Intelligent carrying device of power distribution cabinets
CN106515904A (en) * 2016-12-26 2017-03-22 同方威视技术股份有限公司 Mobile platform
CN107472397A (en) * 2017-08-22 2017-12-15 北京百度网讯科技有限公司 Robot chassis and robot
CN107521579A (en) * 2017-09-06 2017-12-29 天津朗誉科技发展有限公司 A kind of AGV transport vehicles swing-tray
CN107878138A (en) * 2017-10-31 2018-04-06 杭州极木科技有限公司 A kind of heavy haul transport platform
CN108749953A (en) * 2018-06-11 2018-11-06 深圳怡丰机器人科技有限公司 Chassis and AGV trolleies
CN108527333A (en) * 2018-06-11 2018-09-14 深圳怡丰机器人科技有限公司 Chassis and mobile robot
WO2019242315A1 (en) * 2018-06-19 2019-12-26 北京京东尚科信息技术有限公司 Agv chassis mechanism and agv provided with same
CN108791618A (en) * 2018-07-31 2018-11-13 储海霞 A kind of intelligent carriage driving wheel structure
CN109732254A (en) * 2019-03-01 2019-05-10 航天通用技术(北京)有限公司 One kind can Omni-mobile welding robot
CN110143234A (en) * 2019-04-22 2019-08-20 深兰科技(上海)有限公司 A kind of vehicle chassis and vehicle
CN110848302A (en) * 2019-12-17 2020-02-28 浙江欣奕华智能科技有限公司 Multistage shock absorber for heavy-load AGV and heavy-load AGV

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