CN106275125A - A kind of AGV dolly with obstacle crossing function - Google Patents
A kind of AGV dolly with obstacle crossing function Download PDFInfo
- Publication number
- CN106275125A CN106275125A CN201610805254.XA CN201610805254A CN106275125A CN 106275125 A CN106275125 A CN 106275125A CN 201610805254 A CN201610805254 A CN 201610805254A CN 106275125 A CN106275125 A CN 106275125A
- Authority
- CN
- China
- Prior art keywords
- drivewheel
- agv dolly
- car body
- obstacle crossing
- crossing function
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient 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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/124—Mounting of coil springs
- B60G2204/1244—Mounting of coil springs on a suspension arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/13—Small sized city motor vehicles
Abstract
The invention discloses a kind of AGV dolly with obstacle crossing function, including car body base, drive assembly and at least two universal wheel；Described driving assembly includes driving motor and drivewheel, described driving motor drives drivewheel wheel to rotate, described active driving wheel and driving motor are arranged on car body base, described car body base is provided with two hinged supports, hinged support described in any of which is flexibly connected with drivewheel by rocking arm, is connected by extension spring between the other end of described rocking arm with another hinged support；Universal wheel described at least two is separately mounted to the front and rear of car body base, and described driving wheel supports whole car body with universal wheel.AGV dolly of the present invention is not only simple in structure, low cost, and has good obstacle crossing function.
Description
Technical field
The present invention relates to equipment technology field of transport, particularly to a kind of AGV dolly with obstacle crossing function.
Background technology
The most increasing along with the needs of the fast-developing AGV dolly of logistic industry in the last few years, market has various
The AGV dolly of navigation mode, AGV fork truck etc., forms of motion also has common unidirectional AGV dolly and two-way AGV dolly, Yi Jiquan
To AGV dolly.The field major part of AGV dolly application at present is in industrial environment.
Omni-directional wheel meets the design requirement of AGV dolly very much, can meet directional wheel and moves and rotate, but, omni-directional wheel is taken turns
Son structures shape it can not use in general environment, such as hair, colloid, the dust grains of sand etc. are easy to be stuck, and work as periphery
The direction in the direction taking turns the force vector that is stuck will change thus occur overstepping the limit extremely.Therefore based on omni-directional wheel design
The service type occasions such as AGV dolly is not suitable in office, dining room use.Traditional wheel Application Design can meet conventional service type
The environmental requirement of occasion.It is currently based on traditional wheel design to have and mainly have 4 wheel driven fast pulley, two drive and add a universal wheel, two drive and add
Three kinds of modes of two or more universal wheels:
4 wheel driven fast pulley: owing to the direction of motion of wheel is fixing, dolly chassis is when carrying out spinning, and this takes turns prescription
Formula can produce the biggest side slip, and precision reduces, and rotational efficienty is low.
Two drivings add a universal wheel: if 1. driving wheel axial line is in chassis geometric center, then the weight that dolly is overall
The heart can only be in the range of the half on the chassis of dolly, and the stationarity of dolly is very poor, impracticable；If 2. driving wheel axial line is the end of at
Dish geometric center is in front portion, and universal wheel is at rear portion, then, during dolly spinning, this wheel group structure is the same with 4 wheel driven fast pulley structure can
Producing the biggest sliding, precision reduces.
Two drivings add two universal wheels: driving wheel axial line is in chassis geometric center, and universal wheel does and front and back supports.The least
Car just can run the most smoothly, and dolly spinning is almost without sliding, and rotational efficienty is high.But this structural disadvantages exists
In not crossing bank, it is impossible to go up a slope, it is impossible to obstacle detouring: dolly is 4 to take turns support, when dolly obstacle detouring, front driven wheel and back front driven wheel meeting
Middle driving wheel is departed from ground, dolly thus run out of steam, it is impossible to obstacle detouring.
Summary of the invention
For solving above-mentioned technical problem, the present invention provides a kind of AGV dolly.This AGV dolly is not only simple in structure, cost
Low, and there is good obstacle crossing function.
The technical solution adopted in the present invention is:
A kind of AGV dolly with obstacle crossing function, it is characterised in that: include that car body base, driving assembly and two are universal
Wheel；
Described driving assembly includes driving motor and drivewheel, and described driving motor drives drivewheel to rotate, described active
Wheel and driving motor are arranged on car body base, and described car body base is provided with two hinged supports, hinged described in any of which
Fulcrum is flexibly connected with drivewheel by rocking arm, is connected by extension spring between the other end of described rocking arm with another hinged support
Connect；
Two described universal wheels are separately mounted to the front and rear of car body base, and described drivewheel supports whole with universal wheel
Individual car body.
As preferably, described driving motor drives described drivewheel to rotate by synchronization belt transmission system.
As preferably, described Timing Belt system includes small synchronous pulley, Timing Belt, big synchronous pulley, described driving motor
Being connected with small synchronous pulley by reductor, described Timing Belt drives small synchronous pulley and big synchronous pulley to rotate, big Timing Belt
Wheel drives drivewheel to rotate.
As preferably, described reductor is fixed at the coercive mechanism of rocking arm.
As preferably, described drivewheel is provided with the limit position guiding mechanism for adjusting drivewheel height.
As preferably, the described center of drivewheel axial line overlaps with the geometric center of dolly.
As preferably, two described universal wheels are symmetrically mounted on the middle of car body base front and rear.
As preferably, the height between axial line and the trolley base of described universal wheel is changeless.
The present invention program compared with prior art has the advantages that
1, the present invention is by arrange extension spring on base good in service type occasion using effect, do not worry such as hair,
Colloid, the dust grains of sand etc. block dolly, and the power of spring makes drivewheel can guarantee that the adhesive force with ground in certain limit, works as dolly
Cross bank, or during climbing, drivewheel still is able to provide power drive dolly obstacle detouring, and two-wheel drive simultaneously, power is few, and cost is relative
Low.
2, not having side slip for the 4 wheel driven scheme that the present invention is relatively common, resistance is little, and rotational efficienty and precision are relatively
Height, universal wheel front and back can be with auto-steering, and drivewheel axis and dolly geometric center overlap without cross component force, will not produce side
Sliding.
3, AGV dolly smooth running in the plane of the present invention, universal wheel axis height fixes, and drivewheel is located in the horizontal plane
In upper extreme position, significantly waving before and after will not producing because of the startup of dolly itself and brake.
4, the reductor in the present invention drives assembly is fixed at the coercive mechanism of rocking arm, can provide power to drivewheel,
The most also will not vibrate along with drivewheel vibration, thus improve the working condition of reductor, and then improve reductor use
In the life-span, the power transmission between reductor and drivewheel is to be carried out by Timing Belt simultaneously, and whole actuating device is particularly compact.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of AGV dolly with obstacle crossing function of the present invention；
Fig. 2 is the sectional view of the A-A part of Fig. 1；
Fig. 3 be the present invention a kind of there is obstacle crossing function AGV dolly level walking time structure principle chart；
Fig. 4 is a kind of AGV dolly with obstacle crossing function of present invention structure principle chart when running into pit；
Fig. 5 is a kind of AGV dolly with obstacle crossing function of present invention structure principle chart when going up a slope；
Fig. 6 is the plane figure of a kind of AGV dolly with obstacle crossing function of the present invention.
Shown in figure: 1, car body base, 2, drive motor, 3, reductor, 4, small synchronous pulley, 5, Timing Belt, 6, idle pulley,
7, big synchronous pulley, 8, drivewheel, 9, extension spring, 10, rocking arm, 11, limit position guiding mechanism, 12, universal wheel, 13, hinged support.
Detailed description of the invention
In order to make the purpose of the embodiment of the present invention, technical scheme and advantage clearer, implement below in conjunction with the present invention
Technical scheme in example carries out clear, complete description, it is clear that described embodiment is the section Example of the present invention, and
It is not all of embodiment.Based on embodiments of the invention, those of ordinary skill in the art are not before paying creative work
Put the every other embodiment obtained, broadly fall into protection scope of the present invention.
As shown in figs. 1 to 6, the present embodiment provides a kind of AGV dolly with obstacle crossing function, including car body base 1, drives
Assembly and at least two universal wheel 12, described driving assembly includes driving motor 2 and drivewheel 8, and described driving motor 2 drives main
Driving wheel 8 rotates, described drivewheel 8 and drive motor 2 to be arranged on car body base 1, described car body base 1 be provided with two hinged
Fulcrum 13, hinged support 13 is flexibly connected with drivewheel 1 by rocking arm 10 described in any of which, the other end of described rocking arm 10 and
It is connected by extension spring 9 between another hinged support.Described at least two, universal wheel 12 is separately mounted to the front portion of car body base 1
And rear portion, described drivewheel 8 supports whole car body with universal wheel 12.
As shown in Fig. 1～2, driving motor 2 of the present invention drives described drivewheel 8 to revolve by synchronization belt transmission system
Turn.Described synchronization belt transmission system is connected on chassis by car body base 1, and preferably driving motor in the present embodiment is small-sized watching
Taking motor, provide power by the compound mode of servomotor acceleration and deceleration machine, described reductor 3 is fixed on hinged of rocking arm 10
At point 13, provide power so can to drivewheel 8, the most also will not vibrate along with drivewheel vibration, thus improve and subtract
The working condition of speed machine, and then improve reductor service life, the power transmission between reductor 3 and drivewheel 8 is logical simultaneously
Crossing Timing Belt to carry out, whole actuating device is particularly compact.Described synchronization belt transmission system include small synchronous pulley 4, Timing Belt 5,
Idle pulley 6, big synchronous pulley 7, described small synchronous pulley 4 is connected with driving motor 2 gear by reductor 3, is carried by Timing Belt 5
Dynamic big synchronous pulley 7 rotates, and described idle pulley 6 is used for changing the rotation direction of Timing Belt 5, is allowed to and the rotation direction of drivewheel 8
Identical.By big synchronous pulley 7, power passed to drivewheel wheel 8, a centre bore of rocking arm 10 and the little synchronization of Timing Belt 5
Belt wheel 5 with one heart, fix with hinged support 13, and the other end hauls rocking arm 10 makes wheel have the driving force of swung downward by extension spring 9 one end,
The adhesive force of wheel and ground is i.e. provided；Limit position guiding mechanism 11 adjusts the upper extreme position of drivewheel 8, thus can adjust
Saving all of wheel can be on the most suitably height: all of weight of dolly is provided support by universal wheel 12 as far as possible, adjusts
The height of drivewheel 8 makes can level on dolly left and right directions.
As illustrated in figures 3-6, the wheel group structure of AGV dolly of the present invention use by two drivings add two universal
Wheel composition.The axial line of two drivewheels 8 overlaps, and all by the geometric center of dolly, two symmetrical peaces of described universal wheel 12
It is contained in the middle of car body base 1 front and rear.Height between axial line and the car body base 1 of described universal wheel 12 is solid
Fixed constant.Height between axial line and the car body base 1 of described drivewheel 8 is variable, shown in Fig. 3, drivewheel 8
Axis height is maximum, i.e. spring is in the longest extended state.
During as it is shown on figure 3, AGV dolly is walked on level land, former and later two universal wheels 12 are as main of trolley
Support point, dolly can keep horizontal attitude.Now spring is in the extended state of maximum, it is assumed that a length of L0 of tensile elongation, draws
Spring pulling force is F0, and wheel is under the pulling force effect of swing arm 10 and extension spring 9, and the pressure to ground is FS0.
As shown in Figure 4, AGV dolly is walked on level land, and when suddenly encountering pit, now spring contraction is a bit, now,
The tensile elongation of extension spring is L1, and now, tension spring tension is F1, and ground, under the effect of swing arm 10 and extension spring 9, is still suffered from by wheel
Enough pressure, thus produce enough frictional force, drivewheel 8 remains to drive dolly to advance.
As it is shown in figure 5, AGV dolly is during walking of going up a slope, now extension spring 9 still suffers from pulling force, wheel in swing arm and
Under the effect of extension spring, ground still suffering from enough pressure, thus produces enough frictional force, drivewheel remains to drive Plantago minuta
Enter.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (8)
1. an AGV dolly with obstacle crossing function, it is characterised in that: include car body base, drive assembly and two universal wheels；
Described driving assembly includes driving motor and drivewheel, and described driving motor drives drivewheel to rotate, described drivewheel and
Driving motor to be arranged on car body base, described car body base is provided with two hinged supports, hinged support described in any of which
It is flexibly connected with drivewheel by rocking arm, is connected by extension spring between the other end of described rocking arm with another hinged support；
Two described universal wheels are separately mounted to the front and rear of car body base, and described drivewheel supports whole car with universal wheel
Body.
A kind of AGV dolly with obstacle crossing function the most according to claim 1, it is characterised in that: described driving motor leads to
Crossing synchronization belt transmission system drives described drivewheel to rotate.
A kind of AGV dolly with obstacle crossing function the most according to claim 2, it is characterised in that: described Timing Belt system
Including small synchronous pulley, Timing Belt, big synchronous pulley, described driving motor via reducer is connected with small synchronous pulley, described
Timing Belt drives small synchronous pulley and big synchronous pulley to rotate, and big synchronous pulley drives drivewheel to rotate.
A kind of AGV dolly with obstacle crossing function the most according to claim 3, it is characterised in that: described reductor is fixed
At the coercive mechanism of rocking arm.
A kind of AGV dolly with obstacle crossing function the most according to claim 1, it is characterised in that: set on described drivewheel
There is the limit position guiding mechanism for adjusting drivewheel height.
A kind of AGV dolly with obstacle crossing function the most according to claim 5, it is characterised in that: described drivewheel axle center
The center of line overlaps with the geometric center of dolly.
A kind of AGV dolly with obstacle crossing function the most according to claim 1, it is characterised in that: two described universal wheels
It is symmetrically mounted on the middle of car body base front and rear.
8. according to a kind of AGV dolly with obstacle crossing function described in any one of claim 1 to 7, it is characterised in that: described ten thousand
Height between axial line and the trolley base of wheel is changeless.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610805254.XA CN106275125A (en) | 2016-09-07 | 2016-09-07 | A kind of AGV dolly with obstacle crossing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610805254.XA CN106275125A (en) | 2016-09-07 | 2016-09-07 | A kind of AGV dolly with obstacle crossing function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106275125A true CN106275125A (en) | 2017-01-04 |
Family
ID=57710344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610805254.XA Pending CN106275125A (en) | 2016-09-07 | 2016-09-07 | A kind of AGV dolly with obstacle crossing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106275125A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000478A (en) * | 2017-12-13 | 2018-05-08 | 北京极智嘉科技有限公司 | Flexible bottom and transfer robot |
| CN108016208A (en) * | 2017-12-22 | 2018-05-11 | 深圳市杉川机器人有限公司 | A kind of wheel barrier getting over mechanism and sweeping robot |
| CN108515824A (en) * | 2018-03-05 | 2018-09-11 | 武汉迈辽网络科技有限公司 | A kind of mechanism to be broken the barriers based on automobile shock softening |
| CN109115813A (en) * | 2018-08-31 | 2019-01-01 | 中广核检测技术有限公司 | Nuclear reactor vacuum chamber radiographic inspection system |
| WO2020029505A1 (en) * | 2018-08-07 | 2020-02-13 | 深圳市井智高科机器人有限公司 | Lifting device and agv transport vehicle |
| CN111923680A (en) * | 2020-08-21 | 2020-11-13 | 三一机器人科技有限公司 | Wheel pressure adjusting device, suspension device, wheel assembly and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000478A (en) * | 2017-12-13 | 2018-05-08 | 北京极智嘉科技有限公司 | Flexible bottom and transfer robot |
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| CN108016208A (en) * | 2017-12-22 | 2018-05-11 | 深圳市杉川机器人有限公司 | A kind of wheel barrier getting over mechanism and sweeping robot |
| CN108515824A (en) * | 2018-03-05 | 2018-09-11 | 武汉迈辽网络科技有限公司 | A kind of mechanism to be broken the barriers based on automobile shock softening |
| WO2020029505A1 (en) * | 2018-08-07 | 2020-02-13 | 深圳市井智高科机器人有限公司 | Lifting device and agv transport vehicle |
| CN109115813A (en) * | 2018-08-31 | 2019-01-01 | 中广核检测技术有限公司 | Nuclear reactor vacuum chamber radiographic inspection system |
| CN109115813B (en) * | 2018-08-31 | 2021-03-30 | 中广核检测技术有限公司 | Nuclear reactor vacuum chamber radiographic inspection system |
| CN111923680A (en) * | 2020-08-21 | 2020-11-13 | 三一机器人科技有限公司 | Wheel pressure adjusting device, suspension device, wheel assembly and vehicle |
| CN111923680B (en) * | 2020-08-21 | 2021-12-14 | 三一机器人科技有限公司 | Wheel pressure adjusting device, suspension device, wheel assembly and vehicle |
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Effective date of abandoning: 20190326 |