CN107031322B

CN107031322B - Active driving device

Info

Publication number: CN107031322B
Application number: CN201710167139.9A
Authority: CN
Inventors: 陈铭聪
Original assignee: Dongguan Songshan Lake Techxinstitute Co ltd
Current assignee: Dongguan Songshan Lake Techxinstitute Co ltd
Priority date: 2017-03-20
Filing date: 2017-03-20
Publication date: 2023-06-02
Anticipated expiration: 2037-03-20
Also published as: CN107031322A

Abstract

The active driving device is used for being mounted on a vehicle body and comprises a balancing frame, a mounting frame, two power mechanisms and buffer suspension components, wherein the balancing frame is used for being mounted on the vehicle body, the mounting frame is pivoted with the balancing frame, the two power mechanisms are connected with the mounting frame in an up-down sliding mode, and the buffer suspension components are respectively connected with the mounting frame and the power mechanisms; the mounting frame comprises two parallel guide plates and two side plates connected with the guide plates respectively; each power mechanism comprises a moving plate, a driving wheel, a power element and a transmission assembly, wherein the moving plate is in sliding connection with the corresponding guide plate, the driving wheel and the power element are arranged on the moving plate, and the transmission assembly is connected with the power element and the driving wheel. According to the invention, each power mechanism is connected with the mounting frame through the downward buffer suspension assembly, so that when the driving wheel of each power mechanism of the driving device meets an uneven road surface, the driving wheel can be contacted with the ground under the adjustment of the buffer suspension assembly, and the phenomenon of skidding of each wheel of the AGV trolley can not occur when the driving wheel meets the uneven road surface.

Description

Active driving device

Technical Field

The invention relates to the technical field of AGVs, in particular to an active driving device.

Background

The conventional AGV trolley (Automated Guided Vehicle, abbreviated as AGV), which is also commonly called an unmanned carrier, is a carrier equipped with an automatic guiding device such as electromagnetic or optical, and capable of traveling along a predetermined guiding path, and has safety protection and various transplanting functions, and the carrier is not allowed to be driven by a driver in industrial application, and a rechargeable storage battery is used as a power source. Generally, the traveling route and behavior of the vehicle can be controlled by a computer, or the traveling route can be established by utilizing an electromagnetic track, the electromagnetic track is adhered to the floor, and the unmanned carrier moves and acts by means of information brought by the electromagnetic track.

AGV dolly includes automobile body and the motion of connecting the automobile body, and motion comprises two parts: the automatic vehicle comprises unpowered universal wheels for bearing the self weight and load of a vehicle body and active driving devices for providing power for a trolley, wherein one carrying trolley is generally provided with four universal wheels and two sets of active driving devices.

At present, the driving device of the AGV trolley on the market is of a differential driving structure, and the structure can realize multidirectional movement and adapt to a road surface with a certain degree of unevenness, but has the following defects:

1. the omnidirectional movement cannot be flexibly realized, for example, the structure cannot rapidly perform oblique translation in the forward advancing process, and the speed is relatively low and the flexibility is insufficient under the condition of a complex path;

2. when in actual use, an AGV uses two sets of initiative drive arrangement, and two sets of initiative drive arrangement's quantity of wheel is four altogether, and current AGV always can appear a wheel condition that does not land when meetting uneven road surface for this wheel appears skidding phenomenon, leads to the AGV dolly motion state to become unstable.

Disclosure of Invention

Based on the problems that the conventional active driving device of the AGV trolley cannot flexibly perform omnidirectional movement, and when two sets of active driving devices are applied to the AGV trolley, the phenomenon that one wheel is not grounded and slips is always caused to four wheels, so that the movement state of the AGV trolley becomes unstable is solved.

In order to achieve the purpose of the invention, the invention adopts the following technical scheme:

the active driving device is used for being arranged on the vehicle body and comprises a balancing frame, a mounting frame, two power mechanisms and buffer suspension components, wherein the balancing frame is arranged on the vehicle body, the mounting frame is pivoted with the balancing frame, the two power mechanisms are connected with the mounting frame in an up-down sliding mode, and the buffer suspension components are respectively connected with the mounting frame and the power mechanisms; the mounting frame comprises two parallel guide plates and two side plates connected with the guide plates; each power mechanism comprises a moving plate, a driving wheel, a power element and a transmission assembly, wherein the moving plate is in sliding connection with a corresponding guide plate; the driving wheel is a Mecanum wheel.

According to the active driving device, the driving wheels are arranged to be Mecanum wheels, so that the active driving device can realize the omnibearing moving function more flexibly and conveniently; through setting up each power unit and hanging the subassembly and connect the mounting bracket through a buffering respectively, on the one hand upper and lower buffering hangs the vibrations that the subassembly can reduce uneven ground and bring for the AGV dolly, avoid the AGV dolly to be shaken bad, on the other hand, buffering hangs the subassembly and makes power unit take place up and down movements for the mounting bracket, when the AGV dolly runs into uneven ground, because all power units of initiative drive arrangement all connect the mounting bracket through a buffering respectively and hang the subassembly, so each power unit's of initiative drive arrangement drive wheel can be in contact with ground all the time under the effect of buffering and hanging the subassembly, this makes the automobile body of AGV dolly even install many sets of initiative drive arrangement, all drive wheels all can be with ground contact when running into uneven ground, the unsettled phenomenon of skidding of certain drive wheel can not appear, AGV dolly motion's stability has been guaranteed.

In one embodiment, the power mechanism is arranged in a central symmetry with respect to the mounting frame.

In one embodiment, each buffer suspension assembly comprises a push block connected with the moving plate, a stop block connected with the guide plate, a spring guide rod extending upwards from the top surface of the push block and a buffer spring sleeved on the spring guide rod; the pushing block is arranged below the stop block, the pushing block is arranged in a lower mounting groove arranged at the bottom end of the moving plate, and the stop block is arranged in an upper mounting groove arranged at the top end of the guide plate; and two ends of the buffer spring are respectively abutted against the push block and the stop block.

In one embodiment, the guide plate is provided with a lower limiting block corresponding to the push block, and the lower limiting block is positioned at one side of the buffer spring and between the push block and the stop block; the top of the movable plate is provided with an upper limiting block corresponding to the stop block, and the upper limiting block is positioned above the stop block.

In one embodiment, a limiting protrusion is provided on the side surface of the stop block, which is close to the push block, and the limiting protrusion extends into the cavity surrounded by the buffer spring.

In one embodiment, the stop block is provided with a lower buffer block, and the lower buffer block is located at one side of the stop block, which is close to the upper limiting block.

In one embodiment, a slot is provided on a side surface of the upper limiting block, which is close to the lower buffer block, corresponding to the lower buffer block.

In one embodiment, the transmission assembly comprises a driving sprocket connected with an output shaft of the power element, a driven sprocket connected with an axle of the driving wheel, and a chain respectively connected with the driving sprocket and the driven sprocket in a transmission manner.

In one embodiment, the power mechanism further comprises a chain elasticity adjusting assembly, and the power element is connected with the moving plate through the chain elasticity adjusting assembly.

In one embodiment, the chain tightness adjusting assembly comprises an adjusting plate connected with the power element and the moving plate, a bolt mounting plate arranged at one end of the moving plate close to the power element, a first fastening bolt penetrating through the bolt mounting plate and connected with the adjusting plate, and an adjusting nut in threaded connection with the first fastening bolt, the adjusting plate is connected with the moving plate through at least two second fastening bolts, the adjusting plate is provided with a waist-shaped mounting hole corresponding to each second fastening bolt, through which the second fastening bolt penetrates, and the adjusting nut is positioned at one side of the bolt mounting plate far away from the adjusting plate; the output shaft of the power element penetrates through the adjusting plate and the moving plate and then is connected with the driving sprocket.

Drawings

FIG. 1 is a schematic perspective view of an active driving device according to a preferred embodiment of the present invention;

FIG. 2 is a schematic view of the active drive device shown in FIG. 1 after a partial explosion;

FIG. 3 is a schematic view of the mounting frame of the active drive device shown in FIG. 2;

FIG. 4 is a schematic view of the power mechanism of the active drive device shown in FIG. 2 after being partially exploded;

FIG. 5 is a schematic view of the power mechanism of FIG. 3 with the shroud removed in another orientation;

FIG. 6 is a cross-sectional view of the active drive device shown in FIG. 1;

fig. 7 is a schematic exploded view of the buffer suspension assembly of the active drive device of fig. 6.

In the figure:

10. a mounting frame; 11. a guide plate; 12. an upper mounting groove; 13. a side plate; 14. a guide rail; 15. a lower limiting block; 20. a balancing stand; 21. a fixing plate; 22. a connecting plate; 30. a power mechanism; 31. a moving plate; 32. a lower mounting groove; 33. a driving wheel; 34. a power element; 35. a slide block; 36. an upper limiting block; 37. a slot; 38. an upper buffer block; 39. a shield; 40. a transmission assembly; 41. a drive sprocket; 42. a driven sprocket; 43. a chain; 50. a chain tension adjusting assembly; 51. an adjusting plate; 52. waist-shaped mounting holes; 53. a second fastening bolt; 54. a bolt mounting plate; 55. a first fastening bolt; 56. an adjusting nut; 60. a buffer suspension assembly; 61. a pushing block; 62. a stop block; 621. a limit protrusion; 63. a spring guide rod; 64. a buffer spring; 65. and a lower buffer block.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Referring to fig. 1 to 7, an active driving device according to a preferred embodiment of the present invention is for being mounted on a vehicle body. The active driving device comprises a balancing frame 20 arranged on the vehicle body, a mounting frame 10 pivoted with the balancing frame 20, two power mechanisms 30 connected with the mounting frame 10 in a vertical sliding manner, and buffer suspension assemblies 60 respectively connected with the mounting frame 10 and the power mechanisms 30.

Referring to fig. 2, the balance frame 20 includes a fixing plate 21 for fixing to the vehicle body and connecting plates 22 extending downward from opposite ends of the fixing plate 21.

The mounting frame 10 comprises two upright parallel spaced apart guide plates 11 and two side plates 13 respectively connecting the guide plates 11. The side plates 13 are pivoted with the lower ends of the connecting plates 22 in a one-to-one correspondence.

Referring to fig. 3, each guide plate 11 is provided with a guide rail 14 and a lower limiting block 15, the guide rail 14 extends from the bottom end of the guide plate 11 to the top end of the guide plate 11, the lower limiting block 15 is located at the bottom end of the guide plate 11, and the top end of each guide plate 11 is also provided with an upper mounting groove 12.

The power mechanism 30 is disposed centrally and symmetrically with respect to the mounting frame 10 to increase the aesthetic appearance and stability of movement of the active drive.

Referring to fig. 4, each power mechanism 30 includes a moving plate 31 slidably coupled to a corresponding guide plate 11, a driving wheel 33 and a power element 34 mounted on the moving plate 31, and a transmission assembly 40 connecting the power element 34 and the driving wheel 33. The drive wheel 33 is a Mecanum wheel. The movement of the Mecanum wheel is based on the principle of a central wheel with a plurality of wheel shafts positioned at the periphery of the wheel, and a part of steering force of the wheel is converted to a normal force of the wheel by utilizing the angled peripheral wheel shafts, and a reasonable vector can be finally generated in any required direction by combining the direction and the speed of the respective wheel, so that the platform is ensured to freely move in the direction of the final resultant force vector without changing the direction of the wheel. The Mecanum wheel has compact structure and flexible movement, and is a very successful omnibearing wheel. By arranging the driving wheel 33 to adopt the Mecanum wheel, the active driving device can realize the omnibearing moving function more flexibly and conveniently. The moving plate 31 and the guide plate 11 are further connected by a buffer suspension assembly 60.

Further, the driving wheel 33 is located at a side of the moving plate 31 far from the mounting frame 10, the power element 34 is located at a side of the moving plate 31 near the mounting frame 10, the moving plate 31 and the power element 34 are wrapped around the mounting frame 10, and the size of the whole active driving device can be reduced compared with the conventional driving wheel and the power element which are arranged at the same side.

The movable plate 31 is provided with a sliding block 35 corresponding to the guide rail 14, and the sliding block 35 is in sliding contact with the guide rail 14, so that the movable plate 31 can move up and down relative to the mounting frame 10 without shaking when the driving device encounters a bumpy road surface.

Referring to fig. 5, the transmission assembly 40 includes a driving sprocket 41 connected to an output shaft of the power element 34, a driven sprocket 42 connected to an axle of the driving wheel 33, and a chain 43 respectively driving the driving sprocket 41 and the driven sprocket 42.

The power mechanism 30 further includes a shroud 39 mounted to the moving plate 31, the shroud 39 covering the drive assembly 40.

Referring again to fig. 4, the power mechanism 30 further includes a chain tension adjusting assembly 50, and the power element 34 is connected to the moving plate 31 through the chain tension adjusting assembly 50. The chain tightness adjusting assembly 50 comprises an adjusting plate 51 for connecting the power element 34 and the moving plate 31, a bolt mounting plate 54 arranged at one end of the moving plate 31 close to the power element 34, a first fastening bolt 55 penetrating through the bolt mounting plate 54 and connected with the adjusting plate 51, and an adjusting nut 56 in threaded connection with the first fastening bolt 55, wherein the adjusting plate 51 is connected with the moving plate 31 through at least two second fastening bolts 53, the adjusting plate 51 is provided with waist-shaped mounting holes 52 corresponding to the second fastening bolts 53, through which the second fastening bolts 53 penetrate, and the adjusting nut 56 is positioned at one side of the bolt mounting plate 54 far away from the adjusting plate 51; the output shaft of the power element 34 is connected to the drive sprocket 41 through an adjustment plate 51 and a relief opening (not shown) provided on the moving plate 31. In this embodiment, the power element 34 is an electric motor. By providing the waist-shaped mounting holes 52 corresponding to the respective second fastening bolts 53, the position of the power element 34 on the moving plate 31 can be adjusted by the movement of the adjusting plate 51, because the driving sprocket 41 is connected to the output shaft of the power element 34, the tightness of the chain 43 can be adjusted, and the power element 34 can smoothly transmit power to the driving wheel 33 through the transmission assembly 40. After the tightness of the chain 43 is adjusted, the adjusting plate 51 is fastened to the moving plate 31 by the second fastening bolt 53, and then the adjusting nut 56 is rotated until the adjusting nut 56 is pressed against the bolt mounting plate 54, which can further strengthen the connection between the adjusting plate 51 and the moving plate 31, so that the adjusting plate 51 is not easy to shift under the action force of the transmission assembly 40, and the chain 43 becomes loose.

Referring to fig. 6, each buffer suspension assembly 60 includes a push block 61 connected to the moving plate 31, a stopper 62 connected to the guide plate 11, a spring guide 63 extending upward from a top surface of the push block 61, and a buffer spring 64 sleeved on the spring guide 63; the pushing block 61 is positioned below the moving plate 31, and the pushing block 61 is installed in a lower installation groove 32 formed in the moving plate 31; the stop block 62 is arranged in the upper mounting groove 12 arranged on the guide plate 11; both ends of the buffer spring 64 abut against the push block 61 and the stopper 62, respectively. When the driving device encounters a bumpy road surface, the driving wheels 33 drive the push blocks 61 through the moving plates 31 to compress the buffer springs 64 so as to buffer vibration of the bumpy road surface to the driving device, in addition, the buffer suspension assembly 60 enables the driving wheels 33 to be in contact with the ground when encountering uneven ground, the phenomenon that the driving wheels 33 slip without being in contact with the ground is avoided, and the stability of the movement of the AGV trolley is ensured.

The push block 61 is connected with the movable plate 31 and the guide plate 11 through screws, the push block 61 is arranged below the lower limiting block 15 corresponding to the lower limiting block 15 and is positioned on one side of the buffer spring 64, the stop block 62 is respectively connected with the movable plate 31 and the guide plate 11 through screws, the stop block 62 is arranged below the upper limiting block 36 corresponding to the upper limiting block 36, the travel of the movable plate 31 is limited under the action of the upper limiting block 36 and the lower limiting block 15, and the unrecoverable plastic deformation of the buffer spring 64 caused by excessive compression or extension is avoided.

The lower buffer block 65 is arranged on the stop block 62, and the lower buffer block 65 is positioned on one side of the stop block 62 close to the upper limit block 36 and is used for buffering the force of the stop block 62 striking the upper limit block 36, avoiding the stop block 62 striking the upper limit block 36 and reducing the vibration generated when the stop block 62 strikes the upper limit block 36.

The side surface of the upper limiting block 36, which is close to the lower buffer block 65, is provided with a slot 37 corresponding to the lower buffer block 65, so that the lower buffer block 65 can be inserted. The upper limiting block 36 is too thin and is easy to be collided and deformed by the lower buffer block 65, the size of the whole driving device can be increased due to the fact that the upper limiting block 36 is too thick, and the inserting grooves 37 are formed in the side face, close to the limiting block 62, of the upper limiting block 36, so that the strength of the upper limiting block 36 is guaranteed, the collision and deformation of the limiting block 62 are not easy to occur, and the stroke of the moving plate 31 can be guaranteed under the condition that the size of the whole driving device is reduced.

The upper stopper 36 is provided with an upper buffer block 38, and the upper buffer block 38 is located on a side surface of the upper stopper 36 away from the stopper 62. In the process of moving the moving plate 31 up and down, the upper limiting block 36 can buffer the impact force generated when the upper limiting block 36 collides with the vehicle body, and the vibration generated when the vehicle body is impacted by the upper limiting block 36 is reduced.

Referring to fig. 7, a limiting protrusion 621 is protruded downward from a side surface of the stop block 62 adjacent to the push block 61, and the limiting protrusion 621 extends into a cavity defined by the buffer spring 64 to position one end of the buffer spring adjacent to the stop block 62, so that the buffer spring 64 can be compressed better.

According to the active driving device, the driving wheel 33 is the Mecanum wheel, so that the active driving device can realize the omnibearing moving function more flexibly and conveniently; through setting up each power unit 30 and connecting mounting bracket 10 through a buffering suspension assembly 60 respectively, on the one hand buffering suspension assembly 60 can reduce the vibrations that uneven ground brought for the AGV dolly, avoid the AGV dolly to be shaken bad, on the other hand, buffering suspension assembly 60 makes power unit 30 can take place up-and-down motion for mounting bracket 10, when the AGV dolly runs into uneven ground, because all power units 30 of initiative drive arrangement all connect mounting bracket 10 through a buffering suspension assembly 60 respectively, so the drive wheel 33 of each power unit 30 of initiative drive arrangement can contact with ground all the time under the effect of buffering suspension assembly 60, this makes the automobile body of AGV dolly even install many sets of initiative drive arrangement, all drive wheels 33 all can contact with ground when running into uneven ground, the phenomenon that some drive wheel 33 slipped can not appear in midair, the stability of AGV dolly motion has been guaranteed.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. The active driving device is used for being installed on a vehicle body and is characterized by comprising a balancing frame, a mounting frame, two power mechanisms and buffer suspension components, wherein the balancing frame is installed on the vehicle body, the mounting frame is pivoted with the balancing frame, the two power mechanisms are connected with the mounting frame in an up-down sliding mode, and the buffer suspension components are respectively connected with the mounting frame and the power mechanisms; the mounting frame comprises two parallel guide plates and two side plates connected with the guide plates; each power mechanism comprises a moving plate, a driving wheel, a power element and a transmission assembly, wherein the moving plate is in sliding connection with a corresponding guide plate; the driving wheel is a Mecanum wheel;

the driving wheel is positioned at one side of the moving plate far away from the mounting frame, the power element is positioned at one side of the moving plate close to the mounting frame, and the moving plate and the power element cover the mounting frame; each buffer suspension assembly comprises a push block connected with the moving plate, a stop block connected with the guide plate, a spring guide rod extending upwards from the top surface of the push block and a buffer spring sleeved on the spring guide rod, wherein the stop block is arranged on the guide plate; the top of the movable plate is provided with an upper limiting block corresponding to the stop block, the upper limiting block is positioned above the stop block, and a slot is formed in the side surface, close to the stop block, of the upper limiting block, corresponding to the stop block.

2. The active drive of claim 1, wherein the power mechanism is centrally symmetric about the mounting frame.

3. The active drive device according to claim 1, wherein the push block is located below the stopper, the push block is mounted in a lower mounting groove provided at the bottom end of the moving plate, and the stopper is mounted in an upper mounting groove provided at the top end of the guide plate; and two ends of the buffer spring are respectively abutted against the push block and the stop block.

4. The active driving device according to claim 3, wherein the guide plate is provided with a lower limit block corresponding to the push block, and the lower limit block is located at one side of the buffer spring and between the push block and the stop block.

5. The driving device as defined in claim 4, wherein a limit protrusion is protruded downward from a side surface of the stopper adjacent to the push block, and the limit protrusion extends into a cavity defined by the buffer spring.

6. The active drive device of claim 4, wherein the stop is provided with a lower buffer block, and the lower buffer block is positioned at one side of the stop close to the upper limiting block.

7. The active driving device according to claim 6, wherein the slot is disposed on a side of the upper limit block near the lower buffer block and corresponds to the lower buffer block.

8. The drive of claim 1, wherein the transmission assembly comprises a drive sprocket coupled to an output shaft of the power element, a driven sprocket coupled to an axle of the drive wheel, and a chain drivingly coupled to the drive sprocket and the driven sprocket, respectively.

9. The active drive of claim 8, wherein the power mechanism further comprises a chain slack adjuster assembly, the power element being coupled to the moving plate via the chain slack adjuster assembly.

10. The active drive device according to claim 9, wherein the chain tightness adjusting assembly comprises an adjusting plate connecting the power element and the moving plate, a bolt mounting plate arranged at one end of the moving plate close to the power element, a first fastening bolt penetrating through the bolt mounting plate and connected with the adjusting plate, and an adjusting nut in threaded connection with the first fastening bolt, the adjusting plate is connected with the moving plate through at least two second fastening bolts, the adjusting plate is provided with a waist-shaped mounting hole through which the second fastening bolt penetrates corresponding to each second fastening bolt, and the adjusting nut is arranged at one side of the bolt mounting plate far away from the adjusting plate; the output shaft of the power element penetrates through the adjusting plate and the moving plate and then is connected with the driving sprocket.