CN106005101B - A kind of pressure adjustable AGV driving mechanisms - Google Patents

A kind of pressure adjustable AGV driving mechanisms Download PDF

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Publication number
CN106005101B
CN106005101B CN201610373238.8A CN201610373238A CN106005101B CN 106005101 B CN106005101 B CN 106005101B CN 201610373238 A CN201610373238 A CN 201610373238A CN 106005101 B CN106005101 B CN 106005101B
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CN
China
Prior art keywords
spring
pressure
wheel
driving
axle
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
Application number
CN201610373238.8A
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Chinese (zh)
Other versions
CN106005101A (en
Inventor
张龙
黄建亨
成岑
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.)
Wuhu Zhijiu Robot Co Ltd
Original Assignee
Wuhu Zhijiu Robot 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 Wuhu Zhijiu Robot Co Ltd filed Critical Wuhu Zhijiu Robot Co Ltd
Priority to CN201610373238.8A priority Critical patent/CN106005101B/en
Publication of CN106005101A publication Critical patent/CN106005101A/en
Application granted granted Critical
Publication of CN106005101B publication Critical patent/CN106005101B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00Resilient suspensions characterised by arrangement, location or kind of springs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT 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
    • B60K1/00Arrangement or mounting of electrical propulsion units
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT 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
    • B60K1/00Arrangement or mounting of electrical propulsion units
    • B60K1/02Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT 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
    • B60K17/00Arrangement or mounting of transmissions in vehicles
    • B60K17/04Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • B60K17/08Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Springs (AREA)

Abstract

The invention belongs to AGV technical fields, relate to a kind of pressure adjustable driving mechanism suitable for AGV, including pressure-regulating device and driving device, and the pressure-regulating device includes linear bearing, cylinder bar, clamp spring column, bolt, nut and support plate framework;Axle sleeve is set on the linear bearing, and axle sleeve is fixed below support plate framework;It is socketed spring on the clamp spring column and spring cushion block is set in its bottom;Described bolt one end connect with spring adjusting pressing plate and screws holddown spring one end with nut anti-looseness, the other end and two nuts, sets spring deformation amount;The cylinder bar screws the other end for making spring cushion block fix spring with two round nuts;The cylinder bar is affixed by clamp spring column and the support base in braced frame.The present invention is installed can make AGV trolleies that trolley carrying limit can be changed by adjusting pressure with AGV trolleies, expand trolley load-bearing range, reduce cost.

Description

A kind of pressure adjustable AGV driving mechanisms
Technical field
The present invention relates to AGV technical fields, more particularly to a kind of pressure adjustable AGV driving mechanisms.
Background technology
AGV has had more than 50 years history from invention so far, and with the extension of application field, type and form become more Kind is various.Spring shock absorption is all generally installed above AGV trolley driving mechanisms at present, however its spring deformation is fixed, if AGV Only there are one driving unit on trolley, this design is effective;If installing two driving units on AGV trolleies, center of gravity of goods is not several In what center, then the damping effect of spring may fail, and wheel is likely to occur skidding, idle running.
Meanwhile the deformation quantity setting of spring is related with bearing goods weight, when spring deformation amount is fixed, can only carry certain The cargo of one limit value, bearing goods are overweight, then need replacing spring, in some instances it may even be possible to need replacing another set of driving unit, cost Increase.
Invention content
Technical problem to be solved by the invention is to provide a kind of pressure adjustable AGV driving mechanisms, reasonable design turns to spirit Living and performance is stablized, to solve the above-mentioned many defects caused by the prior art.
To achieve the above object, the present invention provides technical solution below:A kind of pressure adjustable AGV driving mechanisms, it is described Pressure adjustable AGV driving mechanisms include pressure-regulating device and driving device, the pressure-regulating device include linear bearing, Cylinder bar, clamp spring column, bolt, nut and support plate framework;Axle sleeve is set on the linear bearing, and axle sleeve is fixed on support plate framework Lower section;It is socketed spring on the clamp spring column and spring cushion block is set in its bottom;Described bolt one end adjusts pressing plate with spring and connects It connects and screws holddown spring one end with nut anti-looseness, the other end and two nuts, set spring deformation amount;The cylinder bar with two Round nut screws the other end for making spring cushion block fix spring;The cylinder bar passes through the support in clamp spring column and braced frame Pedestal is affixed.
Preferably, the support plate framework includes support plate, spring adjusts block and spring adjusts pressing plate, and spring is adjusted Block is perpendicularly fixedly arranged in support plate, and the spring adjusts pressing plate level and is packed on spring adjusting block.
Preferably, the driving device includes braced frame, motor, transmission mechanism, wheel bearing and driving wheel;It is described Braced frame include fixed seat, limiting plate, support base and axle, wherein fixed seat is in the both sides of support base, limiting plate It is packed in above support base;The axle is symmetrically welded at support base both sides, and the motor is symmetrically packed in fixed seat; Sprocket wheel is installed in one end of motor, is linked together by transmission mechanism and the sprocket wheel that driving wheel is fixedly mounted with;The driving wheel passes through Wheel bearing is mounted on axle.
Preferably, the transmission mechanism includes driving chain and two sprocket wheels, and one of sprocket wheel is bolted On the drive wheel.
Preferably, there are larger gaps between the pressure-regulating device outermost end axle sleeve and braced frame.
Preferably, the axle is vertically welded in support base and ensures concentricity.
It is using the advantageous effect of above technical scheme:The pressure adjustable AGV driving mechanisms of structure of the invention so that trolley It is being slightly slanted, can still carry weight smooth-ride on uneven ground, ensureing that wheel will not original place skidding;When two-way When AGV trolleies use two driving units, using the present invention, it is better able to that trolley smooth-ride is effectively ensured, wheel is non-slip. Trolley, which can be changed, by adjusting pressure carries limit simultaneously, expands trolley load-bearing range, avoids the replacement of driving unit, reduce at This, standardizes, producing in serial form convenient for driving mechanism.
Description of the drawings
Fig. 1 is the structural diagram of the present invention;
Fig. 2 is the structural schematic diagram of the present invention;
Fig. 3 is the front view of the present invention;
Fig. 4 is the semi-cutaway of the left view of the present invention;
Wherein, 1-- motors, 2-- fixed seats, 3-- head sprockets, 4-- support plates, 5-- controllers, 6-- springs adjust block, 7-- springs adjust pressing plate, 9-- support bases, 10-- accessary sprocket wheels, 11-- cylinder bars, 12-- driving wheels, 13-- clamp springs column, 14-- vehicles Axis, 15-- wheel bearings, 16-- springs cushion block, 17-- springs, 18-- linear bearings, 19-- axle sleeves, 20-- nuts, 21-- angles Sensor, 22-- bolts, 23-- nuts, 24-- round nuts, 25-- limiting plates.
Specific implementation mode
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Fig. 1 shows the specific implementation mode of the present invention:A kind of pressure adjustable AGV driving mechanisms, including pressure-regulating device And driving device, the pressure-regulating device include axle sleeve 19, linear bearing 18, cylinder bar 11, clamp spring column 13, spring cushion block 16, spring 17, nut, bolt 22 and support plate framework, bottom bracket axle 19 are fixed on 4 lower section of support plate, and cylinder bar 11 passes through clamp spring Column 13 links together with the support base 9 in braced frame, and the support plate framework includes support plate 4, spring adjusting gear Block 6 adjusts pressing plate 7 with spring;The driving device includes braced frame, two motors, two sets of transmission mechanism, two pairs of wheels Bearing, two driving wheels, the braced frame include fixed seat 2, limiting plate 25, support base 9 and axle 14, wherein fixed For seat 2 on the both sides of support base 9, limiting plate 25 is packed in 9 top of support base, and axle 14 is symmetrically welded at 9 liang of support base Side, the motor 1 are symmetrically packed in fixed seat 2, and sprocket wheel is installed in one end of motor 1, is fixedly mounted with by transmission mechanism and same wheel Sprocket wheel 10 link together, described two driving wheels 12 by two pairs of wheel bearings 15 be mounted on axle 14 on.
The spring adjusts block 6 and is perpendicularly fixedly arranged in support plate 4, and the spring adjusts 7 level of pressing plate and is packed in Spring is adjusted on block 6.There are larger gaps between the pressure-regulating device outermost end axle sleeve 19 and braced frame;Bolt 22 one end adjust pressing plate 7 with spring and connect, and locking with nut 23, and the other end and two nuts 20 screw holddown spring 17 1 End sets spring deformation amount, and cylinder bar 11 and two round nuts 24 screw the other end for making spring cushion block 16 fix spring 17. Axle 14 in the braced frame is vertically welded in support base 9 and ensures concentricity.The transmission mechanism transmission Chain and two sprocket wheels, one of sprocket wheel 10 are bolted on the drive wheel.
The AGV carriers that the present invention is constituted can be slightly slanted, still can carry the steady row of weight on uneven ground It sails.When encountering broken terrain in trolley traveling, since the braced frame is packed on vehicle body, driving device and vehicle Body is linked together by pressure-regulating device, is non-rigid connection, and the damping effect of spring, which enables, to be floated downward in driving device It moves to adapt to ground, smooth-ride.
With the AGV carriers that the present invention is constituted, the support plate is packed on vehicle body, then its pressure controlled work is former Reason is:Pressure-regulating device and driving device are solidly installed by clamp spring column 13, clamp spring column 13 fixes spring cushion block 16, The other end of 16 pressing spring of spring cushion block, 17 one end, spring 17 is compressed by the nut 20 screwed with bolt 22, and bolt 22 Be packed in again support plate framework be hit by a bullet spring adjustment pressing plate on and it is locking with nut 23.When bearing goods kick the beam or are overweight, design When the primary standard deformation quantity that sets it is undesirable, then can change spring deformation amount by rotating bolt, ensure that wheel has foot Enough earth-grasping forces, will not skid or spring not will produce permanent deformation.It avoids the need for replacing driving unit, reduces cost, make drive The manufacturing of moving cell standardizes.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is used, or without changing Other occasions are directly applied to by the design of the present invention and technical solution, within protection scope of the present invention.

Claims (1)

1. a kind of pressure adjustable AGV driving mechanisms, it is characterised in that:The pressure adjustable AGV driving mechanisms include that pressure is adjusted Device and driving device, the pressure-regulating device include linear bearing, cylinder bar, clamp spring column, bolt, nut and support sheet frame Frame;Axle sleeve is set on the linear bearing, and axle sleeve is fixed below support plate framework;Spring is socketed on the clamp spring column and at it Spring cushion block is arranged in bottom;Described bolt one end and spring adjust pressing plate and connect and with nut anti-looseness, the other end and two nuts Holddown spring one end is screwed, spring deformation amount is set;The cylinder bar is screwed with two round nuts makes spring cushion block fix bullet The other end of spring;The cylinder bar is affixed by clamp spring column and the support base in braced frame;The support plate framework includes Support plate, spring adjust block and spring adjusts pressing plate, and spring adjusts block and is perpendicularly fixedly arranged in support plate, the spring tune Section pressing plate level is packed in spring and adjusts on block;The driving device includes braced frame, motor, transmission mechanism, wheel Bearing and driving wheel;The braced frame includes fixed seat, limiting plate, support base and axle, and wherein fixed seat is supporting The both sides of pedestal, limiting plate are packed in above support base;The axle is symmetrically welded at support base both sides, the motor pair Title is packed in fixed seat;Sprocket wheel is installed in one end of motor, and one is connected to by transmission mechanism and with the sprocket wheel that driving wheel is fixedly mounted with It rises;The driving wheel is mounted on by wheel bearing on axle;The transmission mechanism includes driving chain and two sprocket wheels, One of sprocket wheel is bolted on the drive wheel;Between the pressure-regulating device outermost end axle sleeve and braced frame There are larger gaps;The axle is vertically welded in support base and ensures concentricity.
CN201610373238.8A 2016-05-31 2016-05-31 A kind of pressure adjustable AGV driving mechanisms Expired - Fee Related CN106005101B (en)

Priority Applications (1)

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CN201610373238.8A CN106005101B (en) 2016-05-31 2016-05-31 A kind of pressure adjustable AGV driving mechanisms

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Application Number Priority Date Filing Date Title
CN201610373238.8A CN106005101B (en) 2016-05-31 2016-05-31 A kind of pressure adjustable AGV driving mechanisms

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CN106005101B true CN106005101B (en) 2018-11-09

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Families Citing this family (7)

* Cited by examiner, † Cited by third party
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
CN106080086A (en) * 2016-06-02 2016-11-09 芜湖智久机器人有限公司 A kind of pressure-regulating device of AGV
CN108790668B (en) * 2018-07-23 2023-12-08 浙江大学滨海产业技术研究院 AGV trolley anti-skid system and anti-skid adjusting method
CN109986500A (en) * 2019-04-04 2019-07-09 湖南电气职业技术学院 The assembly of large-tonnage dumper supports tooling to automatic telescopic with any
CN110254561B (en) * 2019-06-04 2023-12-19 内蒙古鸿信电力股份有限公司 Self-ranging flexible docking trolley and docking position measuring method
US11059671B1 (en) 2020-03-20 2021-07-13 Toyota Motor Engineering & Manufacturing North America, Inc. Cassette stopping mechanism
CN114633815B (en) * 2022-05-07 2022-08-16 北京深度奇点科技有限公司 Balanced self-interacting transmission of unmanned transport vechicle

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Publication number Priority date Publication date Assignee Title
CN203698466U (en) * 2014-02-17 2014-07-09 无锡恺韵来智能装备有限公司 Balance vehicle wheel axle driving device of intelligent navigation vehicle
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
CN204472482U (en) * 2015-02-13 2015-07-15 浙江弘道科技有限公司 A kind of AGV driving part structure
CN205113439U (en) * 2015-08-25 2016-03-30 福建省鲤东精密机械有限公司 A drive steering mechanism for AGV
CN205239050U (en) * 2015-11-10 2016-05-18 深圳优旺特科技有限公司 Two -way automatic guide car drive arrangement and automatic guide car

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4079619B2 (en) * 2001-10-15 2008-04-23 松下電器産業株式会社 Automated guided vehicle and traveling control method thereof
JP4353956B2 (en) * 2006-04-19 2009-10-28 株式会社Kks Suspension device for automatic guided vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203698466U (en) * 2014-02-17 2014-07-09 无锡恺韵来智能装备有限公司 Balance vehicle wheel axle driving device of intelligent navigation vehicle
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
CN204472482U (en) * 2015-02-13 2015-07-15 浙江弘道科技有限公司 A kind of AGV driving part structure
CN205113439U (en) * 2015-08-25 2016-03-30 福建省鲤东精密机械有限公司 A drive steering mechanism for AGV
CN205239050U (en) * 2015-11-10 2016-05-18 深圳优旺特科技有限公司 Two -way automatic guide car drive arrangement and automatic guide car

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Granted publication date: 20181109

Termination date: 20200531