CN106043496B - A kind of all-around mobile carrying AGV trolleies of band lifting broach - Google Patents
A kind of all-around mobile carrying AGV trolleies of band lifting broach Download PDFInfo
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- CN106043496B CN106043496B CN201610622538.5A CN201610622538A CN106043496B CN 106043496 B CN106043496 B CN 106043496B CN 201610622538 A CN201610622538 A CN 201610622538A CN 106043496 B CN106043496 B CN 106043496B
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Classifications
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- 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
Abstract
The all-around mobile that broach is lifted the invention discloses a kind of band carries AGV trolleies, the servo-actuated rack of at least three universal wheel is provided with including lower section, the upper plane of the servo-actuated rack is provided with multiple lifting support frames, broach loading plate has been bolted in the lifting support frame upper end, and the universal drive disk in center is provided at the servo-actuated rack geometric center.The present invention cleverly uses the universal driving dish structure in center, it is carried out using body center as the steering of center of rotation by 2 driving motors and 2 driving wheels that are disposed on the universal drive disk in center, realize the comprehensive steering of trolley and movement, and the elevating movement of loading plate is realized using elevating mechanism, improve movement flexibility ratio and working efficiency.The present invention has design science, and clever structure is reasonable, easily manufactured, advantage at low cost.
Description
Technical field
The invention belongs to AGV carrier loader manufacturing field of equipment, and in particular to a kind of all-around mobile of band lifting broach
Carry AGV trolleies.
Background technology
Modern intelligent warehouse management system and intelligent parking garage demand are increasingly sharpened, and vehicle carrying AGV trolleies are also fast
Speed development, AGV carrier loaders become the important realization method of modern intelligent parking garage, to modern intelligent warehouse management system
It has a decisive role.Current intelligent storage and intelligent parking garage both domestic and external still fail extensive use, and there are many
The technological difficulties not yet captured.The kinematic dexterity of AGV trolleies still has the larger rising space, therefore improves its kinematic dexterity
And motion credibility, for the most important important directions for being also development, studying of its working efficiency.
Current existing AGV trolleies mostly use motor turning motion, and stability is good but its flexibility deficiency, efficiency compared with
It is low, space limited place efficient in requirements such as storage, garages.On the other hand, 3 universal wheels of use and 2 couples of Mikes receive
The AGV trolleies of nurse wheel, it is of high cost, in the case of not being suitable for heavy duty, vehicle carrying can not be suitable for, and be difficult to be selected
Property body rotation whether in the case of precisely transverse and longitudinal movement, which has limited its applications in vehicle carrying field.
Invention content
The purpose of the invention is to overcome defect existing for above-mentioned vehicle carrying AGV trolleies, a kind of band lifting is provided
The all-around mobile of broach carries AGV trolleies.
The present invention cleverly uses the universal driving dish structure in center, by a pair of of the driving disposed on the universal drive disk in center
Motor and driving wheel carry out, using body center as the steering of center of rotation, being suitable for freely turning to for the narrow channel of environment.One
Aspect can carry out the adjustment in transporting cars direction as needed by differential, improve delivery stability and versatility；Separately
On the one hand, this structure can carry out Omni-mobile in the case where transporting cars direction is constant, and improve its load capacity.
In order to achieve the above object, technical solution is used by the present invention realizes purpose：
A kind of all-around mobile carrying AGV trolleies of band lifting broach, including lower section are provided at least three universal wheel 4-2
Servo-actuated rack 4, the upper plane of the servo-actuated rack 4 is provided with multiple lifting support frames 3, and 3 upper end of the lifting support frame is logical
It crosses and has been bolted broach loading plate 1, central universal drive disk 2 is provided at 4 geometric center of servo-actuated rack.
Further, lifting support frame 3 described above is made of the electric pushrod that 6 strokes are 100~200mm, wherein 4
Electric pushrod is installed on the four corners of the servo-actuated rack 4, and 2 electric pushrods are installed on the geometric center of the servo-actuated rack 4
By the fixed beam at place, it is fixed in servo-actuated rack 4 in 6 holes for fixing bottom plate 4-3.
Further, servo-actuated rack 4 described above includes supporting rack 4-1,4 universal wheel 4-2, fixed bottom plate 4-3 and locking
Nut 4-4, wherein support frame as described above 4-1 are that grilled frame structure is set in frame, and 6 electric pushrods are equipped with above frame,
Lower section connects the fixed bottom plate 4-3, offers centre bore at the geometric center of the fixed bottom plate 4-3, following four corners passes through
The stop nut 4-4 connections universal wheel 4-2.
Further, above-mentioned supporting rack 4-1 can be combined to rectangular as the support frame of AGV trolleies its shape, rectangle with
And the outer profiles such as circle, herein by taking rectangle as an example, supporting rack in transverse direction and longitudinal direction be cross-linked improve its structural stability and
Intensity.Servo-actuated rack 4 assembles body by 3030 aluminium alloy extrusions, and surrounding is overally supported by universal wheel 4-2.
Further, the universal drive disk 2 in center described above, by the left 2-1 of the first driving motor, the right 2-2 of the second driving motor,
Motor support frame 2-3, M3 synchronous toothed belt 2-4,2 driving wheel 2-5, steering motor 2-6, tuning driving pinion 2-7, tuning
Driven gear wheel 2-8, fixed baffle ring 2-9,2 driven M3 synchronous toothed belt pulleys 2-10,3 bearing blocks 2-11,2 drive shaft 2-
12,4 connecting pole 2-13,2 active M3 synchronous toothed belt pulley 2-14, bolt 2-15, nut 2-16 compositions,
Wherein, the output shaft of the steering motor 2-6 passes through the fixation bottom plate 4-3 in the servo-actuated rack 4 to fix vertically
On the right sides fixed bottom plate 4-3, the tuning driving pinion 2-7 is placed in below the fixed bottom plate 4-3
It is connected with the output shaft of the steering motor 2-6；
The driven gear wheel 2-8 of tuning be upper surface at tooth root circumferentially be equipped with scantling flange, from center to
It is left with symmetrically offer synchronous belt square hole 2-8-2 to the right, driving wheel fixes square hole 2-8-1, and center line is crossed between square hole and square hole
Respectively symmetrically offer bearing block mounting hole 2-8-4, from center forward with backward and left and right is opposite staggeredly symmetrically offers 8 electricity
Machine support mounting hole 2-8-3, from center, circumferentially equalization offers several fixation baffle ring mounting holes 2- at flange outward
The connecting pole 2-13 is installed in 8-5, the fixed baffle ring mounting hole 2-8-5；The fixed baffle ring 2-9 corresponds to institute for lower face
State the ring bodies that the scantling flange that the upper surfaces tuning driven gear wheel 2-8 are equipped with is equipped with narrow thickness flange；The fixed baffle ring
2-9 fixes the connecting pole 2-13 being equipped in baffle ring mounting hole 2-8-5 with the driven gear wheel 2-8 of the tuning by bolt and is connected
It connects, so that external cylindrical surface between the two is formed a ring slot, can be rotated about axis by annular groove and be sleeved on the fixed bottom plate 4-3
Geometric center on the wooden partition of centre bore that offers, the driven gear wheel 2-8 of tuning is located under the fixed bottom plate 4-3
It is square to be meshed with the tuning driving pinion 2-7.
The left 2-1 and right 2-2 of the second driving motor of first driving motor passes through the electric machine support 2-3 and spiral shell respectively
Bolt is staggered installation of 8 electric machine supports being equipped in the upper surfaces the tuning driven gear wheel 2-8 and fixes in opposite directions by all around
In the 2-8-3 of hole.
It is bolted peace in the bearing block mounting hole 2-8-4 that the lower faces the tuning driven gear wheel 2-8 offer
Equipped with 3 bearing block 2-11 for isolating coaxial line；On 2 drive shaft 2-12 driving is coated with successively to inner end from outer end
2-5 is taken turns, bearing, driven M3 synchronous toothed belt pulleys 2-10, bearing, opposite installation, which is set, to be connected by bearing with bearing block 2-11,
The wherein described driving wheel stretches out the driving wheel and fixes square hole 2-8-1.
The left 2-1 of first driving motor and the right 2-2 of the second driving motor actives by being connected on output shaft respectively
M3 synchronous toothed belt pulley 2-14 are each passed through the synchronous belt square hole 2-8-2 and the drive using the M3 synchronous toothed belts 2-4
Driven M3 synchronous toothed belt pulleys 2-10 on moving axis 2-12 is sequentially connected, and then realizes and respectively drive two driving wheel 2-5.
The all-around mobile of the band lifting broach of the present invention carries the working method of AGV trolleies, and the trolley passes through 4 ten thousand
It is supported to wheel 4-2, is driven using central universal drive disk 2, realize all-direction rotation and movement, specifically include：It is horizontal
Advance and retreat in direction；Longitudinal direction advances and retreats；Oblique line directions are advanced and are retreated；It turns when traveling or so；Along curvilinear path
Traveling and original place adjust direction of travel.
The present invention is mainly compared with feature possessed by the prior art and advantageous effect：
1, the present invention cleverly uses the universal driving dish structure in center, by 2 drives disposed on the universal drive disk in center
Dynamic motor and 2 driving wheels carry out, using body center as the steering of center of rotation, being suitable for freely turning for the narrow channel of environment
To, realize trolley no-radius revolution.
2, the present invention can carry out the adjustment in transporting cars direction as needed by differential, improve delivery stability and lead to
The property used；Omni-mobile can be carried out in the case of constant in terms of transporting cars, and improves its load capacity.
3, the present invention not only realizes the comprehensive steering of trolley and all-around mobile, but also is realized using elevating mechanism
The elevating movement of loading plate and the omnibearing movable of trolley, working range is big, and kinematic dexterity is good and work efficiency is high.
4, the present invention has design science, and clever structure is reasonable, easily manufactured, the advantages of reducing cost, save resource.
Description of the drawings
Fig. 1 is the all-around mobile carrying AGV trolley assembling schematic diagrams that a kind of band of the present invention lifts broach.
Fig. 2 is the all-around mobile carrying AGV trolley explosive views that a kind of band of the present invention lifts broach.
Fig. 3 is the universal drive disk assembling schematic diagram in center.
Fig. 4 is the universal drive disk vertical view in center.
Fig. 5 is the universal drive disk sectional view in center.
Fig. 6 is the all-around mobile carrying AGV trolley vertical views that a kind of band of the present invention lifts broach.
Fig. 7 is the B-B sectional views of Fig. 6.
Fig. 8 is that the universal drive disk in center positions partial sectional view.
Fig. 9 is servo-actuated frame plan.
Figure 10 is the C-C sectional views of Fig. 9.
Figure 11 is the driven gear wheel vertical view of tuning.
Figure 12 is movement definition graph.
Figure 13 is trolley direction movement schematic diagram.
In figure：1, broach loading plate；2, the universal drive disk in center；3, lifting support frame；4, it is servo-actuated rack.2-1, driving electricity
Machine is left；2-2, driving motor are right；2-3, motor support frame；2-4, M3 synchronous toothed belt；2-5, driving wheel；2-6, steering motor；
2-7, tuning driving pinion；The driven gear wheel of 2-8, tuning；2-9, fixed baffle ring；2-10, driven M3 synchronous toothed belt pulleys；2-
11, bearing block；2-12, drive shaft；2-13, connecting pole；2-14, active M3 synchronous toothed belt pulleys；2-15, bolt；2-16, spiral shell
It is female；4-1, supporting rack；4-2, universal wheel；4-3, fixed bottom plate；4-4, stop nut；2-8-1, driving wheel fix square hole；2-8-
2, synchronous belt square hole；2-8-3, electric machine support mounting hole；2-8-4, bearing block mounting hole；2-8-5, fixed baffle ring mounting hole.
Specific implementation mode
With reference to the accompanying drawings and detailed description, invention is further described in detail, but the scope of the present invention
Following embodiments are not limited to, all technical solutions obtained using equivalent substitution or equivalent transformation form protect model in the present invention
Within enclosing.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms for being used in the present invention (including skill
Art term and scientific terminology) there is meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.
When the meaning of heretofore described " inside and outside " refers to reader's face attached drawing, it is directed toward the direction of car interior
To be interior, otherwise it is outer, rather than the specific restriction to trolley of the invention.
When the meaning of heretofore described " upper and lower " refers to reader's face attached drawing, "upper" refer to position aloft
, i.e. top opposite with "lower"；"lower" refers to position in lower, opposite with "upper", i.e. lower layer.Rather than to the small of the present invention
The specific restriction of vehicle.
When the meaning of heretofore described " left and right " refers to reader's face attached drawing, the left side of reader is a left side,
The right of reader is the right side, rather than the specific restriction to trolley of the invention.
When the meaning of heretofore described " forward and backward " refers to reader's face attached drawing, before close from reader is,
After remote from reader is, rather than the specific restriction to the device of the invention.
All-around mobile carrying AGV such as attached drawing 1 to a kind of band lifting broach for shown in Figure 12, being the embodiment of the present invention is small
Vehicle, including lower section are provided with the servo-actuated rack 4 of at least three universal wheel 4-2, and the upper plane of the servo-actuated rack 4 is provided with multiple
Lifting support frame 3,3 upper end of the lifting support frame have been bolted broach loading plate 1, in 4 geometry of servo-actuated rack
Central universal drive disk 2 is provided at the heart.
The lifting support frame 3 is made of the electric pushrod that 6 strokes are 100~200mm, wherein 4 electric pushrod peaces
Four corners loaded on the servo-actuated rack 4,2 electric pushrods are installed on the fixed beam at the geometric center of the servo-actuated rack 4
Side is fixed in servo-actuated rack 4 in 6 holes for fixing bottom plate 4-3.
The servo-actuated rack 4 includes supporting rack 4-1, universal wheel 4-2, fixed bottom plate 4-3 and stop nut 4-4, wherein institute
It is that grilled frame structure is set in frame to state supporting rack 4-1, and 6 electric pushrods are equipped with above frame, and lower section connection is described solid
Determine to fix described in bottom plate 4-3 and offer centre bore at the geometric center of bottom plate 4-3, following four corners is connected by stop nut 4-4
The universal wheel 4-2.As the support frame of AGV trolleies, its shape can be combined to rectangular, rectangle and circle to supporting rack 4-1
Equal outer profiles, herein by taking rectangle as an example, supporting rack is cross-linked in transverse direction and longitudinal direction and improves its structural stability and intensity.With
Motivation frame 4 assembles body by 3030 aluminium alloy extrusions, and surrounding is overally supported by universal wheel 4-2.
The universal drive disk 2 in center, by the left 2-1 of the first driving motor, the right 2-2 of the second driving motor, motor support frame
2-3, M3 synchronous toothed belt 2-4,2 driving wheel 2-5, steering motor 2-6, tuning driving pinion 2-7, the driven gear wheel of tuning
2-8, fixed baffle ring 2-9,2 driven M3 synchronous toothed belt pulleys 2-10,3 bearing block 2-11,2 drive shaft 2-12,4 connect
Column 2-13,2 active M3 synchronous toothed belt pulley 2-14, bolt 2-15,2-16 nut 2-15 compositions,
Wherein, the output shaft of the steering motor 2-6 passes through the fixation bottom plate 4-3 in the servo-actuated rack 4 to fix vertically
On the right sides fixed bottom plate 4-3, the tuning driving pinion 2-7 is placed in below the fixed bottom plate 4-3
It is connected with the output shaft of the steering motor 2-6；
The driven gear wheel 2-8 of tuning be upper surface at tooth root circumferentially be equipped with scantling flange, from center to
It is left with symmetrically offer synchronous belt square hole 2-8-2 to the right, driving wheel fixes square hole 2-8-1, and center line is crossed between square hole and square hole
Respectively symmetrically offer bearing block mounting hole 2-8-4, from center forward with backward and left and right is opposite staggeredly symmetrically offers 8 electricity
Machine support mounting hole 2-8-3, from center, circumferentially equalization offers several fixation baffle ring mounting holes 2- at flange outward
The connecting pole 2-13 is installed in 8-5, the fixed baffle ring mounting hole 2-8-5；The fixed baffle ring 2-9 corresponds to institute for lower face
State the ring bodies that the scantling flange that the upper surfaces tuning driven gear wheel 2-8 are equipped with is equipped with narrow thickness flange；The fixed baffle ring
2-9 fixes the connecting pole 2-13 being equipped in baffle ring mounting hole 2-8-5 with the driven gear wheel 2-8 of the tuning by bolt and is connected
It connects, so that external cylindrical surface between the two is formed a ring slot, can be rotated about axis by annular groove and be sleeved on the fixed bottom plate 4-3
Geometric center on the wooden partition of centre bore that offers, the driven gear wheel 2-8 of tuning is located under the fixed bottom plate 4-3
It is square to be meshed with the tuning driving pinion 2-7.
The left 2-1 and right 2-2 of the second driving motor of first driving motor passes through the electric machine support 2-3 and spiral shell respectively
Bolt is staggered installation of 8 electric machine supports being equipped in the upper surfaces the tuning driven gear wheel 2-8 and fixes in opposite directions by all around
In the 2-8-3 of hole.
It is bolted peace in the bearing block mounting hole 2-8-4 that the lower faces the tuning driven gear wheel 2-8 offer
Equipped with 3 bearing block 2-11 for isolating coaxial line；On 2 drive shaft 2-12 driving is coated with successively to inner end from outer end
2-5 is taken turns, bearing, driven M3 synchronous toothed belt pulleys 2-10, bearing, alike installation, which is set, to be connected by bearing with bearing block 2-11,
The wherein described driving wheel stretches out the driving wheel and fixes square hole 2-8-1.
The left 2-1 of first driving motor and the right 2-2 of the second driving motor actives by being connected on output shaft respectively
M3 synchronous toothed belt pulleys 2-14 is each passed through the synchronous belt square hole 2-8-2 and the drive using the M3 synchronous toothed belts 2-4
Driven M3 synchronous toothed belt pulleys 2-10 on moving axis 2-12 is sequentially connected, and then realizes and respectively drive two driving wheel 2-5.
The all-around mobile of the band lifting broach of the present invention carries the working method of AGV trolleies, and the trolley passes through 4 ten thousand
It is supported to wheel 4-2, is driven using central universal drive disk 2, realize all-around mobile, specifically include：Before transverse direction
Into with retrogressing；Longitudinal direction advances and retreats；Oblique line directions are advanced and are retreated；It turns when traveling or so；Along curvilinear path traveling and
Original place adjusts direction of travel.
1, transverse direction (X-direction) advances and retreats：It is rotated using steering motor 2-6 driving tuning driving pinions 2-7, band
The dynamic driven gear wheel 2-8 rotations of tuning, that is, adjust two driving wheel 2-5 axis and be parallel to Y-direction.Control the left 2-1 of driving motor
With the right 2-2 of driving motor, keep its gait of march consistent, and its gait of march is detected by Hall element, is adjusted in real time, when
Direction of travel deviates X-direction, i.e., when deviateing to Y-axis negative direction, is then carried out to just using following three kinds of methods.
Method one：It is adjusted by two driving motor differentials, i.e. the left 2-1 rotating speeds of driving motor reduce, the right 2-2 of driving motor
Rotating speed remains unchanged or the left 2-1 rotating speeds of driving motor are constant, and the right 2-2 rotating speeds of driving motor improve, when trolley return to it is original
When X-direction travel track, the left 2-1 of driving motor keeps rotating speed consistent with the right 2-2 of driving motor.
Method two：It is adjusted into line direction by the driven gear wheel 2-8 of tuning, that is, controls steering motor 2-6, make it clockwise
Rotation, tuning driving pinion 2-7 are rotated clockwise, and the driven gear wheel 2-8 of tuning is driven to rotate counterclockwise, at this time two drivings
Wheel 2-5 axis are parallel to Y-direction by the axis of script, become rotating counterclockwise certain angle.The left 2-1 of driving motor and drive at this time
Synchronized rotation controls steering motor 2-6, makes it dynamic right 2-2 of motor when trolley returns to original X-direction travel track simultaneously
It rotates counterclockwise, two driving wheel 2-5 axis is kept parallel with Y-direction, the left 2-1 of driving motor and the right 2-2 of driving motor are protected
It is consistent to hold rotating speed.
Method three：For method one and method two, cooperation control.That is it is controlled while two driving motor differential tunings
The driven gear wheel 2-8 rotations of tuning carry out directional trim, are reacted rapidly.
2, longitudinal direction (Y-direction) advances and retreats：It is rotated using steering motor 2-6 driving tuning driving pinions 2-7, band
The dynamic driven gear wheel 2-8 rotations of tuning, that is, adjust two driving wheel 2-5 axis and be parallel to X-direction.Control the left 2-1 of driving motor
With the right 2-2 of driving motor, keep its gait of march consistent, and its gait of march is detected by Hall element, is adjusted in real time, when
Direction of travel deviates Y-direction, i.e., when deviateing to X-axis positive direction, is then carried out to just using following three kinds of methods.
Method one：It is adjusted by two driving motor differentials, i.e. the left 2-1 rotating speeds of driving motor reduce, the right 2-2 of driving motor
Rotating speed remains unchanged or the left 2-1 rotating speeds of driving motor are constant, and the right 2-2 rotating speeds of driving motor improve, when trolley return to it is original
When Y-direction travel track, the left 2-1 of driving motor keeps rotating speed consistent with the right 2-2 of driving motor.
Method two：It is adjusted into line direction by the driven gear wheel 2-8 of tuning, that is, controls steering motor 2-6, make it clockwise
Rotation, tuning driving pinion 2-7 are rotated clockwise, and the driven gear wheel 2-8 of tuning is driven to rotate counterclockwise, at this time two drivings
Wheel 2-5 axis are parallel to X-direction by the axis of script, become rotating counterclockwise certain angle.Driving motor or so is simultaneously at this time
Synchronized rotation controls steering motor 2-6, so that it is rotated counterclockwise, by two when trolley returns to original Y-direction travel track
A driving wheel 2-5 axis keep parallel with X-direction, and the left 2-1 of driving motor keeps rotating speed consistent with the right 2-2 of driving motor.
Method three：For method one and method two, cooperation control.That is it is controlled while two driving motor differential tunings
The driven gear wheel 2-8 rotations of tuning carry out directional trim, are reacted rapidly.
3, oblique line directions (Z-direction) are advanced and are retreated：It is rotated using steering motor 2-6 driving tuning driving pinions 2-7,
The driven gear wheel 2-8 rotations of tuning are driven, that is, adjust two driving wheel 2-5 axis perpendicular to Z-direction.Control the left 2- of driving motor
The 1 and right 2-2 of driving motor, keeps its gait of march consistent, and detect its gait of march by Hall element, is adjusted in real time,
When direction of travel deviation Z-direction, i.e., when deviateing to X-axis positive direction, then carried out to just using following three kinds of methods.
Method one：It is adjusted by two driving motor differentials, i.e. the left 2-1 rotating speeds of driving motor reduce, the right 2-2 of driving motor
Rotating speed remains unchanged or the left 2-1 rotating speeds of driving motor are constant, and the right 2-2 rotating speeds of driving motor improve, when trolley return to it is original
When Z-direction travel track, the left 2-1 of driving motor keeps rotating speed consistent with the right 2-2 of driving motor.
Method two：It is adjusted into line direction by the driven gear wheel 2-8 of tuning, that is, controls steering motor 2-6, make it clockwise
Rotation, tuning driving pinion 2-7 are rotated clockwise, and the driven gear wheel 2-8 of tuning is driven to rotate counterclockwise, at this time two drivings
2-5 axis are taken turns by the axis of script perpendicular to Z-direction, become rotating counterclockwise certain angle.Driving motor or so is simultaneously at this time
Synchronized rotation controls steering motor 2-6, so that it is rotated counterclockwise, by two when trolley returns to original Z-direction travel track
A driving wheel 2-5 axis keep vertical with Z-direction, and the left 2-1 of driving motor keeps rotating speed consistent with the right 2-2 of driving motor.
Method three：For method one and method two, cooperation control.That is it is controlled while two driving motor differential tunings
The driven gear wheel 2-8 rotations of tuning carry out directional trim, are reacted rapidly.
Turning when 4, advancing or so：When trolley is advanced along X positive directions, driving wheel 2-5 axis directions are parallel to the side Y
To being turned to using following three kinds of modes.
Method one：By steering motor 2-6 self-lockings, the left 2-1 rotating speeds of driving motor reduce or stop operating, and driving motor is right
2-2 rotating speeds improve, advance by this method, when driving wheel 2-5 axis directions are parallel to X-direction, keep the left 2-1 of driving motor and
The right 2-2 rotating speeds of driving motor are the same, advance into Y positive directions.
Method two：It is rotated using steering motor 2-6 driving tuning driving pinions 2-7, drives the driven gear wheel 2-8 of tuning
Rotation when being adjusted to two driving wheel 2-5 axis directions and being parallel to X-direction, keeps the left 2-1 and right 2- of driving motor of driving motor
2 rotating speeds are the same, advance into Y positive directions.
Method three：For method one and method two, cooperation control.That is it is controlled while two driving motor differential tunings
The driven gear wheel 2-8 rotations of tuning carry out directional trim, are reacted rapidly.
5, it is travelled along curvilinear path：Such as trolley is travelled along arc track into another channel.Trolley turns to electricity in A points
Fine tuning coordinates machine 2-6 with the left 2-1 of driving motor and the right 2-2 of driving motor counterclockwise.The left 2-1 rotating speeds of driving motor are slightly slow, drive
The right 2-2 rotating speeds of dynamic motor are slightly quicker, and C points are reached eventually by B points.Improve mobile efficiency.
6, original place adjusts direction of travel：It is rotated using steering motor 2-6 driving tuning driving pinions 2-7, drives tuning
Driven gear wheel 2-8 rotation, the direction of the driven gear wheel 2-8 of adjustment tuning, i.e. driving wheel 2-5 axis perpendicular to direction of travel,
After being adjusted to proper orientation, steering motor 2-6 powers on latching, keeps the driven gear wheel 2-8 of tuning motionless, the left 2-1 of driving motor
With the right 2-2 of driving motor synchronized rotations simultaneously.
7, adjustment 1 direction of top broach loading plate in trolley original place keeps its center not change simultaneously：As shown in figure 13,
Steering motor 2-6 is lockked, that is, keeps the driven gear wheel 2-8 of tuning motionless, the left 2-1 of driving motor keeps direction rotation, drives
The dynamic right 2-2 holdings of motor rotate backward, the servo-actuated supports of surrounding universal wheel 4-2.It is arbitrarily square that AGV trolleies original place may be implemented in this mode
To angular adjustment.After completion direction is adjusted, the left 2-1 of driving motor keeps in the same direction with the right 2-2 of driving motor, you can advance is with after
It moves back, and can be by differential into the fine tuning of line direction.
The foregoing is intended to be a preferred embodiment of the present invention.Certainly, the present invention can also have other a variety of implementations
Example, without departing substantially from the principle of the invention and its essence, any one skilled in the art, when can according to this
Various corresponding equivalent change and distortions are made in invention, should all belong to the protection domain of appended claims of the invention.
Claims (4)
1. a kind of all-around mobile of band lifting broach carries AGV trolleies, including lower section is provided at least three universal wheel (4-2)
Servo-actuated rack (4), it is characterised in that：The upper plane of the servo-actuated rack (4) is provided with multiple lifting support frames (3), described
Broach loading plate (1) has been bolted in lifting support frame (3) upper end, is mounted at servo-actuated rack (4) geometric center
The universal drive disk (2) in center；
The lifting support frame (3) is made of 6 electric pushrods, wherein 4 electric pushrods are installed on the servo-actuated rack (4)
Four corners, 2 electric pushrods are installed on by the fixed beam at the geometric center of the servo-actuated rack (4), 6 electric pushrod difference
It is fixed in servo-actuated rack (4) in 6 holes for fixing bottom plate (4-3)；
The servo-actuated rack (4) includes supporting rack (4-1), 4 universal wheels (4-2), fixed bottom plate (4-3) and stop nut (4-
4), 6 electric pushrods are wherein installed, lower section connects the fixed bottom plate (4-3), described above support frame as described above (4-1)
Centre bore is offered at the geometric center of fixed bottom plate (4-3), following four corners connects the universal wheel by stop nut (4-4)
(4-2)；
The universal drive disk in center (2), the second driving motor right side (2-2) left (2-1) by the first driving motor, motor support
Frame (2-3), M3 synchronous toothed belts (2-4), 2 driving wheels (2-5), steering motor (2-6), tuning driving pinion (2-7) are adjusted
To driven gear wheel (2-8), fixed baffle ring (2-9), 2 driven M3 synchronous toothed belt pulleys (2-10), 3 bearing blocks (2-11), 2
Root drive shaft (2-12), 4 connecting poles (2-13), 2 active M3 synchronous toothed belt pulleys (2-14), bolt (2-15) and nut
(2-16) is formed；Wherein,
The output shaft of the steering motor (2-6) passes through the fixation bottom plate (4-3) on the servo-actuated rack (4) to be fixedly mounted vertically
On fixed bottom plate (4-3) right side, the tuning driving pinion (2-7) is placed under the fixed bottom plate (4-3)
The square output shaft with the steering motor (2-6) is connected；
The driven gear wheel of tuning (2-8) is that upper surface is circumferentially equipped with scantling flange at tooth root, to the left from center
With symmetrically offer synchronous belt square hole (2-8-2) to the right, driving wheel fixes square hole (2-8-1), synchronous belt square hole (2-8-2) with drive
Center line is crossed between driving wheel fixation square hole (2-8-1), between synchronous belt square hole (2-8-2) and synchronous belt square hole (2-8-2) to divide equally
Do not offer bearing block mounting hole (2-8-4) symmetrically, from center forward with backward and left and right is opposite staggeredly symmetrically offers 4 electricity
Machine support mounting hole (2-8-3), from center, circumferentially equalization offers several fixation baffle ring mounting holes at flange outward
(2-8-5), the middle installation connecting pole (2-13) of the fixed baffle ring mounting hole (2-8-5)；Under the fixed baffle ring (2-9) is
End face corresponds to the ring bodies that the scantling flange that the upper surface the driven gear wheel of the tuning (2-8) is equipped with is equipped with narrow thickness flange；
The fixed baffle ring (2-9) passes through installation in bolt and the fixed baffle ring mounting hole (2-8-5) of the driven gear wheel of the tuning (2-8)
Some connecting poles (2-13) are connected, and external cylindrical surface between the two is made to form a ring slot, the fixed baffle ring (2-9) and institute
Stating the driven gear wheel of tuning (2-8) can be rotated about axis by annular groove at the geometric center for being sleeved on the fixed bottom plate (4-3)
On the wooden partition of the centre bore offered, the driven gear wheel of tuning (2-8) be located at below the fixed bottom plate (4-3) with it is described
Tuning driving pinion (2-7) is meshed；
First driving motor left (2-1) and the second driving motor right side (2-2) respectively by electric machine support (2-3) and bolt,
In the electric machine support mounting hole (2-8-3) that the upper surface the driven gear wheel of the tuning (2-8) is equipped with；
It is bolted peace in the bearing block mounting hole (2-8-4) that the driven gear wheel of tuning (2-8) lower face offers
Equipped with 3 bearing blocks (2-11) for isolating coaxial line；From outer end to inner end, i.e., one on 2 drive shafts (2-12)
From left to right, another is coated with driving wheel (2-5) to root successively from right to left, bearing, driven M3 synchronous toothed belt pulleys (2-10),
Bearing is mounted on bearing block (2-11) by bearing, in opposite directions wherein the driving wheel (2-5) stretches out the driving wheel fixation side
Hole (2-8-1)；
First driving motor left (2-1) and right (2-2) active by being connected on output shaft respectively of the second driving motor
M3 synchronous toothed belt pulleys (2-14), using the M3 synchronous toothed belts (2-4) be each passed through the synchronous belt square hole (2-8-2) with
Driven M3 synchronous toothed belt pulleys (2-10) on the drive shaft (2-12) are sequentially connected, and then realize and respectively drive two drivings
It takes turns (2-5).
2. a kind of all-around mobile of band lifting broach according to claim 1 carries AGV trolleies, it is characterised in that：Institute
The stroke for stating electric pushrod is 100~200mm.
3. a kind of all-around mobile of band lifting broach according to claim 1 carries AGV trolleies, it is characterised in that：Institute
The support frame that supporting rack (4-1) is AGV trolleies is stated, shape is rectangular or round, is staggeredly connected in transverse direction and longitudinal direction in
The checker board construction connect.
4. a kind of all-around mobile of band lifting broach according to any one of claims 1 to 3 carries the work side of AGV trolleies
Method, it is characterised in that：The trolley is supported by 4 universal wheels (4-2), is driven using the universal drive disk (2) in center
It is dynamic, it realizes comprehensive steering and movement, specifically includes：Transverse direction advances and retreats；Longitudinal direction advances and retreats；Before oblique line directions
Into with retrogressing；It turns when traveling or so；Direction of travel is adjusted along curvilinear path traveling and original place.
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| CN107054464B (en) * | 2017-05-10 | 2023-09-12 | 北京蓝卡科技股份有限公司 | Three-wheel differential steering mechanism and vehicle |
| CN107608356A (en) * | 2017-09-25 | 2018-01-19 | 芜湖智久机器人有限公司 | A kind of AGV dollies Vehicle Controller control system |
| CN107804805A (en) * | 2017-11-30 | 2018-03-16 | 长安大学 | A kind of transport vehicle |
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| CN108100941B (en) * | 2018-02-13 | 2023-12-05 | 青岛威巴克生物技术有限公司 | Trolley capable of walking and carrying workpieces by itself |
| CN108454728B (en) * | 2018-03-13 | 2021-07-20 | 覃盛安 | Universal vehicle |
| JP7070869B2 (en) * | 2018-03-30 | 2022-05-18 | 日本電産シンポ株式会社 | Automated guided vehicle |
| CN111137373B (en) * | 2018-11-02 | 2023-11-21 | 杭州海康机器人股份有限公司 | Unmanned guided vehicle and chassis thereof |
| CN109466653A (en) * | 2018-12-19 | 2019-03-15 | 厦门大学嘉庚学院 | A kind of sugar refinery carry AGV trolley and its working method |
| CN110125750B (en) * | 2019-05-17 | 2021-03-26 | 巢湖学院 | Semi-automatic wall grinding device |
| CN110329146B (en) * | 2019-07-10 | 2022-09-13 | 哈尔滨理工大学 | Remove warning sign device |
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Effective date of registration: 20191224 Address after: Room 207, main office building, No.118 Longxing Road, Haining Economic Development Zone, Haining City, Jiaxing City, Zhejiang Province Patentee after: Haining Economic Development Industrial Park Development and Construction Co.,Ltd. Address before: 234000 incubation center of shoe city management committee at the intersection of Qingyun South Road and shoe city third road, Suzhou City, Anhui Province Patentee before: ANHUI PHETOM INTELLIGENT TRAFFIC TECHNOLOGY Co.,Ltd. Effective date of registration: 20191224 Address after: 234000 incubation center of shoe city management committee at the intersection of Qingyun South Road and shoe city third road, Suzhou City, Anhui Province Patentee after: ANHUI PHETOM INTELLIGENT TRAFFIC TECHNOLOGY Co.,Ltd. Address before: Meng Xi Road 212003 Zhenjiang city of Jiangsu province Jingkou District No. 2 Patentee before: Jiangsu University of Science and Technology |
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Denomination of invention: An all-around mobile AGV cart with lifting comb teeth Effective date of registration: 20231226 Granted publication date: 20181012 Pledgee: Zhejiang Haining rural commercial bank Limited by Share Ltd. North Branch Pledgor: Haining Economic Development Industrial Park Development and Construction Co.,Ltd. Registration number: Y2023980073401 |
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