CN106005001A - AGV turning mechanism - Google Patents
AGV turning mechanism Download PDFInfo
- Publication number
- CN106005001A CN106005001A CN201610383044.6A CN201610383044A CN106005001A CN 106005001 A CN106005001 A CN 106005001A CN 201610383044 A CN201610383044 A CN 201610383044A CN 106005001 A CN106005001 A CN 106005001A
- Authority
- CN
- China
- Prior art keywords
- gripper shoe
- drive mechanism
- controller
- framework
- shoe framework
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
Abstract
The invention discloses an AGV turning mechanism which comprises a supporting board frame, a drive mechanism and a rotating device. The drive mechanism is arranged at the bottom of the supporting board frame and rotationally connected relative to the supporting board frame. The rotating device is arranged at the top of the supporting board frame, penetrates the supporting board frame and is connected with the drive mechanism. The drive mechanism is connected with the supporting board frame through a pressure adjusting device. An angle controller is arranged in the rotating device. A controller is arranged on the supporting board frame and connected with the angle controller and a motor. The controller controls turning, and the turning radius is small.
Description
Technical field
The present invention relates to control dolly field, particularly to a kind of AGV dolly turning mechanism.
Background technology
Automatic guided vehicle (AutomatedGuidedVehicle, be called for short AGV), refer to be equipped with electromagnetism or
The homing guidance devices such as optics, it is possible to the guide path along regulation travels, have safeguard protection and each
Plant the transport vehicle of transfer function, commercial Application is not required to driver and provides for it with chargeable storage
Power resources.The general computer that can pass through controls its course and behavior, or utilizes electromagnetic path
Setting up its course, electromagnetic path sticks on floor, and automatic guided vehicle then follows electromagnetic path
The information brought moves and action.
AGV dolly relative to walking, creep or other non-wheeled mobile robot have action quick,
The advantages such as work efficiency height, simple in construction, controllability are strong, safety is good.Commonly use in carrying with material
Other equipment compare, the zone of action of AGV dolly without laying the fixing device such as track, support saddle frame,
Do not limited by place, road and space.The most common AGV dolly all has two motors and drives
Its motion, is controlled its X-coordinate in the plane and Y coordinate by two motors, and has two universal wheels
One of them or two regulate its stability, arrive after website by artificial handling goods.But it is existing
Technology uses Dual Drive form in the round technology used of turning, and there is dolly overall dimensions huge；Make
Needing big passage with the passage of unit, reduce the usable floor area in workshop, radius of turn increases；Dolly is made
Valency cost is high；Energy waste is big, the problem such as not environmentally.
Summary of the invention
The technical problem to be solved is to provide a kind of AGV dolly turning mechanism, has controller
Controlling to turn, radius of turn is little, to solve the above-mentioned multinomial defect caused in prior art.
For achieving the above object, the present invention provides following technical scheme: a kind of AGV dolly turning machine
Structure, including gripper shoe framework, drive mechanism and rotary apparatus, described drive mechanism is arranged on gripper shoe
Base of frame, drive mechanism is rotatably connected relative to gripper shoe framework, and described rotary apparatus is located at and props up
The top of fagging framework, described rotary apparatus is connected through gripper shoe framework with drive mechanism, drives
Mechanism is connected with gripper shoe framework by pressure-regulating device, is provided with Angle ambiguity in rotary apparatus
Device, gripper shoe framework is provided with controller, and controller is connected with angle controller and motor respectively.
Preferably, described drive mechanism include supporting base, two fixing seats, two driving wheels, two
Sets of transmission mechanism and two driving motors, drive mechanism includes head sprocket, from sprocket wheel and transmission head sprocket
With the chain from sprocket wheel, fixing seat is arranged on the both sides supporting base, drives motor to be fixed on fixing seat
On, drive the output shaft of motor to connect head sprocket, the most same axis in both sides supporting base is provided with
Axletree, axletree is through fixing seat, and driving wheel is arranged on the end of axletree.
Preferably, described rotary apparatus includes that gear lever and connecting rod, gripper shoe framework are provided with arc
Groove, gear lever fixes through arcuate groove with supporting base, and connecting rod is arranged on the end of gear lever,
Described gripper shoe framework is provided with interlayer, and described angle controller device is arranged in interlayer, connecting rod with
Angular transducer is connected.
Above technical scheme is used to provide the benefit that: the AGV dolly turning mechanism of present configuration,
Its controller accepts signal, sends signal to angle controller, and angle controller starts to rotate correspondence
Angle, by connecting rod and the bar linkage structure of gear lever, the drive mechanism bottom drive rotates, and drives
Two sets of mechanism drive structure, and during turning, speed is different, coordinate drive mechanism to carry out
Rotate.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation bottom the present invention.
Wherein, 1--motor, 2--fix seat, 3--head sprocket, 4--gripper shoe framework, 5--control
Device, 6--gear lever, 7--connecting rod, 9--support base, 10--from sprocket wheel, 11--interlayer, 12--
Angle controller, 13--driving wheel.
Detailed description of the invention
Describe the preferred embodiment of the present invention below in conjunction with the accompanying drawings in detail.
Fig. 1 and Fig. 2 shows the detailed description of the invention of the present invention: a kind of AGV dolly turning mechanism, bag
Including gripper shoe framework 4, drive mechanism and rotary apparatus, described drive mechanism is arranged on gripper shoe framework
Bottom 4, drive mechanism is rotatably connected relative to gripper shoe framework 4, and described rotary apparatus is located at and props up
The top of fagging framework 4, described rotary apparatus is connected through gripper shoe framework 4 with drive mechanism,
Drive mechanism is connected with gripper shoe framework 4 by pressure-regulating device, is provided with angle in rotary apparatus
Controller 12, gripper shoe framework 4 is provided with controller 5, controller 5 respectively with angle controller 12
It is connected with motor 1.
Drive mechanism includes that supporting 2, two driving wheels 13, two of the fixing seat of base 9, two overlaps transmission
Mechanism and two driving motors 1, drive mechanism includes head sprocket 3, from sprocket wheel 10 and transmission head sprocket
3 and chain from sprocket wheel 10, fixing seat 2 is arranged on the both sides supporting base 9, drives motor 1 solid
It is scheduled on fixing seat 2, drives the output shaft of motor 1 to connect head sprocket 3, support the both sides of base 9
The most same axis is provided with axletree, and axletree is through fixing seat 2, and driving wheel 13 is arranged on the end of axletree
Portion.
Rotary apparatus includes gear lever 6 and connecting rod 7, and gripper shoe framework 4 is provided with arcuate groove, shelves
Position bar 6 fixes through arcuate groove with supporting base 9, and connecting rod 7 is arranged on the end of gear lever 6,
Described gripper shoe framework 4 is provided with interlayer 11, and described angle controller 12 device is arranged in interlayer 11,
Connecting rod 7 is connected with angular transducer.
The AGV dolly turning mechanism of present configuration, its controller accepts signal, to angle controller
Sending signal, angle controller starts to rotate corresponding angle, by connecting rod and the connecting rod of gear lever
Structure, the drive mechanism bottom drive rotates, and two sets of drive mechanism drive structure, in the mistake turned
Cheng Zhong, speed is different, coordinates drive mechanism to rotate.
Above-described is only the preferred embodiment of the present invention, it is noted that general for this area
For logical technical staff, without departing from the concept of the premise of the invention, it is also possible to make some changes
Shape and improvement, these broadly fall into protection scope of the present invention.
Claims (3)
1. an AGV dolly turning mechanism, it is characterised in that include gripper shoe framework, drive mechanism and rotation
Rotary device, described drive mechanism is arranged on gripper shoe base of frame, and drive mechanism can relative to gripper shoe framework
Being rotationally connected, described rotary apparatus is located at the top of gripper shoe framework, and described rotary apparatus is through supporting sheet frame
Frame is connected with drive mechanism, and drive mechanism is connected with gripper shoe framework by pressure-regulating device, rotates
Being provided with angle controller in device, gripper shoe framework is provided with controller, controller respectively with angle controller
It is connected with motor.
AGV dolly turning mechanism the most according to claim 1, it is characterised in that described drive mechanism
Including supporting base, two fixing seats, two driving wheels, two sets of transmission mechanism and two driving motors, pass
Motivation structure includes head sprocket, from sprocket wheel and transmission head sprocket and the chain from sprocket wheel, fixing seat is arranged on support
The both sides of base, drive motor to be fixed on fixing seat, drive the output shaft of motor to connect head sprocket, support
The most same axis in both sides of base is provided with axletree, and axletree is through fixing seat, and driving wheel is arranged on axletree
End.
AGV dolly turning mechanism the most according to claim 1, it is characterised in that described rotary apparatus
Including gear lever and connecting rod, gripper shoe framework is provided with arcuate groove, and gear lever is through arcuate groove and the support end
Seat fixes, and connecting rod is arranged on the end of gear lever, and described gripper shoe framework is provided with interlayer, described angle
Degree controller device is arranged in interlayer, and connecting rod is connected with angular transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610383044.6A CN106005001A (en) | 2016-06-02 | 2016-06-02 | AGV turning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610383044.6A CN106005001A (en) | 2016-06-02 | 2016-06-02 | AGV turning mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106005001A true CN106005001A (en) | 2016-10-12 |
Family
ID=57092255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610383044.6A Pending CN106005001A (en) | 2016-06-02 | 2016-06-02 | AGV turning mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106005001A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106042876A (en) * | 2016-06-02 | 2016-10-26 | 芜湖智久机器人有限公司 | Driving device of AGV |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202954601U (en) * | 2011-12-22 | 2013-05-29 | 帕克普拉斯公司 | Wheel set structure |
| CN203358312U (en) * | 2013-05-27 | 2013-12-25 | 深圳市昂科电子设备有限公司 | Double-drive automated guided vehicle |
| CN203480310U (en) * | 2013-08-16 | 2014-03-12 | 广东益翔自动化科技有限公司 | Closed-loop controlled automated guided vehicle driving device |
| CN103909994A (en) * | 2014-03-06 | 2014-07-09 | 无锡普智联科高新技术有限公司 | AGV (automatic guided vehicle) for dense storage area |
| CN105480299A (en) * | 2015-12-01 | 2016-04-13 | 南京航空航天大学 | Automated guided railless carrying train with flexibly configured kinds of carrying trains and operation control method |
| CN205177274U (en) * | 2015-11-23 | 2016-04-20 | 北京中实展业科技发展有限责任公司 | Magnetism guiding mechanism with 12 individual degree of freedom dolly model |
-
2016
- 2016-06-02 CN CN201610383044.6A patent/CN106005001A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202954601U (en) * | 2011-12-22 | 2013-05-29 | 帕克普拉斯公司 | Wheel set structure |
| CN203358312U (en) * | 2013-05-27 | 2013-12-25 | 深圳市昂科电子设备有限公司 | Double-drive automated guided vehicle |
| CN203480310U (en) * | 2013-08-16 | 2014-03-12 | 广东益翔自动化科技有限公司 | Closed-loop controlled automated guided vehicle driving device |
| CN103909994A (en) * | 2014-03-06 | 2014-07-09 | 无锡普智联科高新技术有限公司 | AGV (automatic guided vehicle) for dense storage area |
| CN205177274U (en) * | 2015-11-23 | 2016-04-20 | 北京中实展业科技发展有限责任公司 | Magnetism guiding mechanism with 12 individual degree of freedom dolly model |
| CN105480299A (en) * | 2015-12-01 | 2016-04-13 | 南京航空航天大学 | Automated guided railless carrying train with flexibly configured kinds of carrying trains and operation control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106042876A (en) * | 2016-06-02 | 2016-10-26 | 芜湖智久机器人有限公司 | Driving device of AGV |
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