CN108482518A - A kind of AGV car carryings robot - Google Patents
A kind of AGV car carryings robot Download PDFInfo
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- CN108482518A CN108482518A CN201810284333.XA CN201810284333A CN108482518A CN 108482518 A CN108482518 A CN 108482518A CN 201810284333 A CN201810284333 A CN 201810284333A CN 108482518 A CN108482518 A CN 108482518A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000012545 processing Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/07—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying road vehicles
- B60P3/073—Vehicle retainers
- B60P3/075—Vehicle retainers for wheels, hubs, or axle shafts
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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
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Manipulator (AREA)
Abstract
A kind of AGV car carryings robot belongs to stereo garage technical field, including the first AGV car bodies and the 2nd AGV car bodies；The first AGV car bodies and the 2nd AGV car bodies include walking mechanism, steering mechanism and clamping device；The walking mechanism sets traveling wheel and input shaft of walking walks wheel group in including；The steering mechanism includes the steering transmission gear for being fixedly installed in away wheel assembly housing；The walking input shaft and steering transmission gear coaxial arrangement.Robot is simple and reliable for structure, largely uses conventional hardware design, is easy to implement autonomous processing, reduce purchase cost, simplify set mechanism, reduces the dependence for buying.
Description
Technical field
The invention belongs to stereo garage technical fields, and in particular to be a kind of AGV car carryings robot.
Background technology
The vehicle carrier in stereo garage must realize that vehicle space is carried along trapped orbit mostly at present, elevator
Mechanism is complicated, and garage overall cost is high.And AGV car carryings robot can in floor level autonomous and be not necessarily to laid rail
Road, elevator only need along longitudinal direction track do vertical displacement movement, greatly simplify elevator structure, reduce garage overall cost.
Traditional AGV (Automatic Guided Vehicle, automatic guided vehicle) car carrying robot, it is traditional
AGV car carryings robot is walked wheel system and is often removed by the way of a whole set of steering wheel group or Mecanum wheel to realize
Transport omnidirectional's operation of robot.Cause equipment integral manufacturing cost very high, it is excessive according to lazyness to buying.And in heavier load
Under lotus, the mounting height of steering wheel is relatively high, causes car body whole height higher, influences the stability of operation.And Mecanum wheel
Its difficulty of processing is big, manufacturing cost is high, generally cannot achieve autonomous processing, and easy to wear so that the maintenance of post facility at
The whole degree requirement of ground finish peace of this height, operation is also relatively high, is difficult to promote the use of in general park field.
Therefore, it is necessary to carry out structure optimization to AGV car carryings robot, drawbacks described above has been overcome.
Invention content
It is an object of the invention to overcome defect and deficiency mentioned above, and provide a kind of AGV car carryings robot.
The present invention realizes that the technical solution that its purpose uses is as follows.
A kind of AGV car carryings robot, including the first AGV car bodies and the 2nd AGV car bodies；The first AGV car bodies and
2nd AGV car bodies include walking mechanism, steering mechanism and clamping device；The walking mechanism sets traveling wheel and walking in including
Input shaft walks wheel group；The steering mechanism includes the steering transmission gear for being fixedly installed in away wheel assembly housing；The walking is defeated
Enter axis and turns to transmission gear coaxial arrangement.
The walking mechanism includes travel driving motor, movable motor driving gear, walking linkage gear group, walking transmission
Gear walks wheel group；The travel driving motor is fixedly installed in trolley frame；The movable motor driving gear is installed on walking and drives
The output end of dynamic motor, and engaged with walking linkage gear group；The walking transmission gear is installed on away the input terminal of wheel group, and
It is engaged with walking linkage gear group.
The walking linkage gear group, including the first walking linkage gear, the second walking linkage gear, third walking linkage
Gear；The third walking linkage gear is engaged with movable motor driving gear；The second walking linkage gear and the third line
Walk linkage gear engagement；The first walking linkage gear is engaged with the second walking linkage gear, and the first walking linkage gear
It is engaged with walking transmission gear.
It is described walk wheel group include upper end cover, walking input shaft, second bevel gear, bottom end cover, first bevel gear, walk wheel support
Axis, walks wheel seat at traveling wheel；The walking input shaft is arranged in walking transmission gear and second bevel gear, and input shaft of walking is perpendicular
It erects and sets；The walking transmission gear with walking input shaft be fixedly connected, the upper end cover push down walking transmission gear and with row
Input shaft is walked to be fixedly connected；The second bevel gear is fixedly connected with walking input shaft；The bottom end cover pushes down second bevel gear
And it is fixedly connected with walking input shaft；The first bevel gear is engaged with second bevel gear；It is described to walk to take turns support shaft and be arranged in
One bevel gear, and it is horizontally disposed to walk to take turns support shaft；The first bevel gear is fixedly connected with walking to take turns support shaft；The walking input
It axis and walks to take turns support shaft and is rotatablely installed in walking wheel seat.
The steering mechanism includes rotary drive motor, rotary drive motor seat, rotary drive gear, rotary drive gear
Group turns to transmission gear；The rotary drive motor is fixedly installed in rotary drive motor seat；The rotary drive motor seat is solid
Dingan County is loaded on trolley frame；The rotary drive gear is installed on the output end of rotary drive motor；The rotary drive gear group
Input terminal is engaged with rotary drive gear, and output end is engaged with transmission gear is turned to；The steering transmission gear is fixedly installed in
That walks wheel group walks wheel seat；The walking input shaft rotational installation is in trolley frame.
The rotary drive gear group, including the first rotation gear and the second rotation gear；It is described first rotation gear with
Rotary drive gear engages；The second rotation gear side is engaged with the first rotation gear, the other side and steering transmission gear
Engagement.
The clamping device includes clamping driving motor, clamping driving motor seat, grasp drive shaft, the first clamping driving cog
Wheel, the second clamping transmission gear, ball-screw, feed screw nut, rack mounting plate, rack, center clamping gear, upside clamping tooth
Wheel group, downside clamping gear set, clamping limb；The clamping driving motor is fixedly installed in clamping driving motor seat；The clamping
Driving motor seat is fixedly installed in trolley frame；Described grasp drive shaft one end is connect with clamping driving motor, the other end and first
Transmission gear connection is clamped；The first clamping transmission gear is engaged with the second clamping transmission gear；The second clamping transmission
Gear is coaxial with ball-screw and is fixedly connected；The feed screw nut is threadedly coupled with ball-screw；The rack mounting plate is solid
Dingan County is loaded on feed screw nut；The rack is fixedly installed in rack mounting plate both sides；The center clamping tooth wheel rotation is installed on
Trolley frame, side are engaged with rack, and gear set is clamped with upside for the other side and downside clamping gear set engages；The upside clamping
Meshed gears forms in trolley frame and successively by several rotational installations for gear set and downside clamping gear set；The clamping
Arm is fixedly installed in upside clamping gearset output and downside clamping gearset output.
A gear is differed between the upside clamping gear set and downside clamping gear set.
This car carrying robot has the following advantages：
1. using the design of the split structure of the first AGV car bodies and the 2nd AGV car bodies, former and later two trolleies are completely independent.
2. it is simple and reliable for structure, conventional hardware design is largely used, autonomous processing is easy to implement, reduces purchase cost,
Simplify set mechanism, reduces the dependence for buying.
3. walking wheel group is integrated with turning function, realizes walking and turn to twofold motion.
4. robot largely uses horizontally disposed gear so that power is transmitted in horizontal plane, and integration degree is high,
The mounting height for reducing wheel group, to effectively reduce the whole height of transfer robot.
5. robot uses four independent drive wheel groups, kinetic characteristic is more preferable, flexible operation, accurate positioning.
6. transfer robot realizes the holding action of automobile tire using a motor driving, the transmission of clamping device
Using one group of roller screw drive rack, rack pushes both sides gear set to realize the opening and closing movement of clamping limb, ensure that clamping limb
The synchronism of clamping.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of walking mechanism；
Fig. 3 is the structural schematic diagram for walking wheel group；
Fig. 4 is the structural schematic diagram of steering mechanism；
Fig. 5 is the structural schematic diagram of clamping device；
In figure：First AGV car bodies A, the 2nd AGV car bodies B, trolley frame C,
Walking mechanism 100, travel driving motor 101, movable motor driving gear 102, walking linkage gear group 103, the first row
It walks linkage gear 103a, the second walking linkage gear 103b, third walking linkage gear 103c, walking transmission gear 104, walk wheel
Group 105, walking input shaft 105b, second bevel gear 105c, bottom end cover 105d, first bevel gear 105e, walks wheel at upper end cover 105a
Support shaft 105f, traveling wheel 105g, walk wheel seat 105h,
Steering mechanism 200, rotary drive motor 201, rotary drive motor seat 202, rotary drive gear 203, rotation sliding tooth
Wheel group 204, first rotate gear 204a, the second rotation gear 204b, turn to transmission gear 205,
Clamping device 300, clamping driving motor 301, clamping driving motor seat 302, the clamping transmission of grasp drive shaft 303, first
Gear 304, second be clamped transmission gear 305, ball-screw 306, feed screw nut 307, rack mounting plate 308, rack 309, in
Centre clamping gear 310, upside clamping gear set 311, downside clamping gear set 312, clamping limb 313.
Specific implementation mode
Below in conjunction with the accompanying drawings, invention is further described in detail.
A kind of AGV car carryings robot, including the first AGV car bodies A and the 2nd AGV car bodies B.As shown in Figure 1, quilt in figure
The vehicle of carrying is with 4 tires instead of the first AGV car bodies A and the 2nd AGV car bodies B can go to below vehicle chassis and go
Carrying vehicle.
The first AGV car bodies A and the 2nd AGV car bodies B includes walking mechanism 100, steering mechanism 200 and clamping device
300。
The walking mechanism 100 includes travel driving motor 101, movable motor driving gear 102, walking linkage gear group
103, walk transmission gear 104, walk wheel group 105.
The travel driving motor 101 is fixedly installed in trolley frame C, for providing walking power to walk wheel group.Trolley frame C
For the frame body of the first AGV car bodies A and the 2nd AGV car bodies B.
Movable motor driving gear 102 is installed on the output end of travel driving motor 101, and with walking linkage gear
103 engagement of group.Travel driving motor 101 drives movable motor driving gear 102 to rotate, to drive walking linkage gear group
103 rotations.
Preferably, the walking linkage gear group 103, including the first walking linkage gear 103a, the second walking linkage
Gear 103b, third walking linkage gear 103c；The third walking linkage gear 103c is nibbled with movable motor driving gear 102
It closes；The second walking linkage gear 103b is engaged with third walking linkage gear 103c；The first walking linkage gear
103a is engaged with the second walking linkage gear 103b, and the first walking linkage gear 103a is engaged with walking transmission gear 104.Row
Walk motor-driven gear 102 drives walking transmission gear 104 to rotate by linkage gear group 103 of walking.
The walking transmission gear 104 is installed on away the input terminal of wheel group 105；It is described walk wheel group 105 include upper end cover
105a, walking input shaft 105b, second bevel gear 105c, bottom end cover 105d, first bevel gear 105e, walk to take turns support shaft 105f,
Traveling wheel 105g, wheel seat 105h is walked.
The walking input shaft 105b is arranged in walking transmission gear 104 and second bevel gear 105c, and input shaft of walking
105b erects setting；The walking transmission gear 104 is fixedly connected with walking input shaft 105b using spline, the upper end cover
105a pushes down walking transmission gear 104 and is fixedly connected with walking input shaft 105b；The second bevel gear 105c and walking are defeated
Enter axis 105b to be fixedly connected using flat key；The bottom end cover 105d pushes down second bevel gear 105c and consolidates with walking input shaft 105b
Fixed connection；The first bevel gear 105e is engaged with second bevel gear 105c；It is described to walk to take turns support shaft 105f and be arranged in the first cone
Gear 105e, and it is horizontally disposed to walk to take turns support shaft 105f；The first bevel gear 105e uses flat key with walking to take turns support shaft 105f
It is fixedly connected；It the walking input shaft 105b and walks to take turns support shaft 105f and is rotatablely installed in walking wheel seat 105h.
When walking mechanism 100 works, travel driving motor 101 drives movable motor driving gear 102 to rotate, movable motor
Gear 102 is driven to drive walking transmission gear 104 to rotate by linkage gear group 103 of walking.
Movable motor drives gear 102, walking linkage gear group 103 and walking transmission gear 104 horizontally disposed, gear
Axis erect setting so that power horizontal plane transmit, be conducive to reduce mechanism thickness.
Transmission gear 104 of walking drives the 105b rotations of walking input shaft, walking input shaft 105b to pass through second bevel gear
105c and first bevel gear 105e, which drives, walks to take turns support shaft 105f rotations, to drive traveling wheel 105g to rotate.
The setting of second bevel gear 105c and first bevel gear 105e so that power transmission is walked to take turns support to horizontally disposed
Axis 105f, to drive traveling wheel 105g to rotate.
The steering mechanism 200 include rotary drive motor 201, rotary drive motor seat 202, rotary drive gear 203,
Rotary drive gear group 204 turns to transmission gear 205.
The rotary drive motor 201 is fixedly installed in rotary drive motor seat 202；The rotary drive motor seat 202
It is fixedly installed in trolley frame C；The rotary drive gear 203 is installed on the output end of rotary drive motor 201；The rotation is driven
204 input terminal of moving gear group is engaged with rotary drive gear 203, and output end is engaged with transmission gear 205 is turned to；The steering passes
What moving gear 205 was fixedly installed in away wheel group 105 walks wheel seat 105h；The walking input shaft 105b rotational installations are in trolley frame C.
The rotary drive gear group 204, including the first rotation gear 204a and the second rotation gear 204b；Described first
Rotation gear 204a is engaged with rotary drive gear 203；The second rotation sides gear 204b and the first rotation gear 204a
Engagement, the other side are engaged with transmission gear 205 is turned to.
Rotary drive motor 201 drives rotary drive gear 203 to rotate, and rotary drive gear 203 is by rotating sliding tooth
Wheel group 204, which drives, turns to the rotation of transmission gear 205.It is fixed with the wheel seat 105h that walks for walking wheel group 105 due to turning to transmission gear 205
Connection, to drive the traveling wheel 105g of wheel group 105 to turn to.
The clamping device 300 includes clamping driving motor 301, clamping driving motor seat 302, grasp drive shaft 303, the
One clamping transmission gear 304, second be clamped transmission gear 305, ball-screw 306, feed screw nut 307, rack mounting plate 308,
Rack 309, center clamping gear 310, upside clamping gear set 311, downside clamping gear set 312, clamping limb 313.
The clamping driving motor 301 is fixedly installed in clamping driving motor seat 302；The clamping driving motor seat 302
It is fixedly installed in trolley frame C；303 one end of the grasp drive shaft is connect with clamping driving motor 301, the other end and the first clamping
Transmission gear 304 connects；The first clamping transmission gear 304 is engaged with the second clamping transmission gear 305；Second clamping
Transmission gear 305 is coaxial with ball-screw 306 and is fixedly connected；The feed screw nut 307 is threadedly coupled with ball-screw 306；
The rack mounting plate 308 is fixedly installed in feed screw nut 307；The rack 309 is fixedly installed in 308 liang of rack mounting plate
Side；The center clamping rotational installation of gear 310 is in trolley frame C, and side is engaged with rack 309, the other side and upside clamping tooth
Wheel group 311 and downside clamping gear set 312 engage；If upside clamping gear set 311 and downside clamping gear set 312 be by
Meshed gears forms in trolley frame C and successively for dry rotational installation；The clamping limb 313 is fixedly installed in upside and gear is clamped
312 output end of gear set is clamped in 311 output ends of group and downside.Further, clamping limb 313 is fixedly installed in upside and gear is clamped
312 end gear of gear set is clamped in 311 end gears of group and downside.Gear is clamped in the upside clamping gear set 311 and downside
A gear is differed between group 312, to ensure 312 end of upside clamping 311 end gear of gear set and downside clamping gear set
The steering of end tooth wheel is reversed.
Driving motor 301, which is clamped, drives grasp drive shaft 303 to rotate, to drive the first clamping transmission gear 304 to rotate.
First clamping transmission gear 304 drives the second clamping transmission gear 305 to rotate, 306 synchronous rotary of ball-screw.Ball-screw
When 306 rotation, feed screw nut 307 is along about 306 linearly operating of ball-screw, to about 309 linearly operating of carry-over bar.
Rack 309 drives center clamping gear 310 to rotate, and gear set 311 then is clamped by upside respectively, gear set is clamped in downside
Two clamping limbs 313 of 312 drive homonymies open or close up.
The present invention is illustrated according to embodiment, under the premise of not departing from present principles, if the present apparatus can also make
Dry modification and improvement.It should be pointed out that all technical solutions obtained using modes such as equivalent substitution or equivalent transformations, all fall within this
In the protection domain of invention.
Claims (8)
1. a kind of AGV car carryings robot, which is characterized in that including the first AGV car bodies（A）With the 2nd AGV car bodies（B）；Institute
State the first AGV car bodies（A）With the 2nd AGV car bodies（B）It include walking mechanism（100）, steering mechanism（200）And clamping device
（300）；The walking mechanism（100）Traveling wheel is set including interior（105g）With walking input shaft（105b）Walk wheel group（105）；Institute
State steering mechanism（200）Including being fixedly installed in away wheel group（105）The steering transmission gear of shell（205）；The walking input
Axis（105b）With steering transmission gear（205）Coaxial arrangement.
2. a kind of AGV car carryings robot as described in claim 1, which is characterized in that the walking mechanism（100）Including
Travel driving motor（101）, movable motor drive gear（102）, walking linkage gear group（103）, walking transmission gear
（104）, walk wheel group（105）；The travel driving motor（101）It is fixedly installed in trolley frame（C）；The movable motor sliding tooth
Wheel（102）It is installed on travel driving motor（101）Output end, and with walking linkage gear group（103）Engagement；The walking passes
Moving gear（104）It is installed on away wheel group（105）Input terminal, and with walking linkage gear group（103）Engagement.
3. a kind of AGV car carryings robot as claimed in claim 2, which is characterized in that the walking linkage gear group
（103）, including the first walking linkage gear（103a）, second walking linkage gear（103b）, third walk linkage gear
（103c）；The third walking linkage gear（103c）Gear is driven with movable motor（102）Engagement；The second walking linkage
Gear（103b）With third walking linkage gear（103c）Engagement；The first walking linkage gear（103a）Join with the second walking
Moving gear（103b）Engagement, and the first walking linkage gear（103a）With walking transmission gear（104）Engagement.
4. a kind of AGV car carryings robot as claimed in claim 2, which is characterized in that it is described walk wheel group（105）Including upper
End cap（105a）, walking input shaft（105b）, second bevel gear（105c）, bottom end cover（105d）, first bevel gear（105e）, walk
Take turns support shaft（105f）, traveling wheel（105g）, walk wheel seat（105h）；The walking input shaft（105b）It is arranged in walking driving cog
Wheel（104）And second bevel gear（105c）, and input shaft of walking（105b）Erect setting；The walking transmission gear（104）With
Walking input shaft（105b）It is fixedly connected, the upper end cover（105a）Push down walking transmission gear（104）And with walking input shaft
（105b）It is fixedly connected；The second bevel gear（105c）With walking input shaft（105b）It is fixedly connected；The bottom end cover
（105d）Push down second bevel gear（105c）And with walking input shaft（105b）It is fixedly connected；The first bevel gear（105e）With
Second bevel gear（105c）Engagement；It is described to walk to take turns support shaft（105f）It is arranged in first bevel gear（105e）, and walk to take turns support shaft
（105f）It is horizontally disposed；The first bevel gear（105e）With walk to take turns support shaft（105f）It is fixedly connected；The walking input shaft
（105b）With walk to take turns support shaft（105f）It is rotatablely installed in walking wheel seat（105h）.
5. a kind of AGV car carryings robot as described in claim 1, which is characterized in that the steering mechanism（200）Including
Rotary drive motor（201）, rotary drive motor seat（202）, rotary drive gear（203）, rotary drive gear group（204）、
Turn to transmission gear（205）；The rotary drive motor（201）It is fixedly installed in rotary drive motor seat（202）；The rotation
Driving motor seat（202）It is fixedly installed in trolley frame（C）；The rotary drive gear（203）It is installed on rotary drive motor
（201）Output end；The rotary drive gear group（204）Input terminal and rotary drive gear（203）Engagement, output end with turn
To transmission gear（205）Engagement；The steering transmission gear（205）It is fixedly installed in away wheel group（105）Walk wheel seat（105h）；
The walking input shaft（105b）It is rotatablely installed in trolley frame（C）.
6. a kind of AGV car carryings robot as claimed in claim 5, which is characterized in that the rotary drive gear group
（204）, including the first rotation gear（204a）With the second rotation gear（204b）；The first rotation gear（204a）With rotation
Drive gear（203）Engagement；The second rotation gear（204b）Side and the first rotation gear（204a）Engagement, the other side with
Turn to transmission gear（205）Engagement.
7. a kind of AGV car carryings robot as described in claim 1, which is characterized in that the clamping device（300）Including
Driving motor is clamped（301）, clamping driving motor seat（302）, grasp drive shaft（303）, first clamping transmission gear（304）、
Second clamping transmission gear（305）, ball-screw（306）, feed screw nut（307）, rack mounting plate（308）, rack（309）、
Center clamping gear（310）, upside be clamped gear set（311）, downside be clamped gear set（312）, clamping limb（313）；The folder
Hold driving motor（301）It is fixedly installed in clamping driving motor seat（302）；The clamping driving motor seat（302）It is fixedly mounted
In trolley frame（C）；The grasp drive shaft（303）One end and clamping driving motor（301）Connection, the other end and the first clamping pass
Moving gear（304）Connection；The first clamping transmission gear（304）With the second clamping transmission gear（305）Engagement；Described second
Transmission gear is clamped（305）With ball-screw（306）Coaxially and it is fixedly connected；The feed screw nut（307）With ball-screw
（306）It is threadedly coupled；The rack mounting plate（308）It is fixedly installed in feed screw nut（307）；The rack（309）Fixed peace
Loaded on rack mounting plate（308）Both sides；The center clamping gear（310）It is rotatablely installed in trolley frame（C）, side and rack
（309）Gear set is clamped with upside in engagement, the other side（311）Gear set is clamped with downside（312）Engagement；The upside clamping tooth
Wheel group（311）Gear set is clamped with downside（312）It is to be rotatablely installed in trolley frame by several（C）And meshed gears group successively
At；The clamping limb（313）It is fixedly installed in upside and gear set is clamped（311）Gear set is clamped in output end and downside（312）It is defeated
Outlet.
8. a kind of AGV car carryings robot as claimed in claim 7, which is characterized in that gear set is clamped in the upside
（311）Gear set is clamped with downside（312）Between differ a gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810284333.XA CN108482518A (en) | 2018-04-02 | 2018-04-02 | A kind of AGV car carryings robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810284333.XA CN108482518A (en) | 2018-04-02 | 2018-04-02 | A kind of AGV car carryings robot |
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| CN108482518A true CN108482518A (en) | 2018-09-04 |
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| CN201810284333.XA Pending CN108482518A (en) | 2018-04-02 | 2018-04-02 | A kind of AGV car carryings robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901790A (en) * | 2019-12-23 | 2020-03-24 | 龙岩烟草工业有限责任公司 | Commodity circulation car handling device |
| CN113859890A (en) * | 2021-09-29 | 2021-12-31 | 许昌学院 | Adjustable multi-direction intelligent logistics device |
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|---|---|---|---|---|
| JPS63149221A (en) * | 1986-12-10 | 1988-06-22 | Nippon Yusoki Co Ltd | Driving wheel in vehicle movable in every direction |
| JPH01282029A (en) * | 1988-05-07 | 1989-11-13 | Kaoru Nakano | Running gear and robot |
| JP2004231043A (en) * | 2003-01-30 | 2004-08-19 | Yaskawa Electric Corp | Omnidirectional moving vehicle |
| CN101672121A (en) * | 2009-09-18 | 2010-03-17 | 山东建筑大学 | Clamping tire type automobile carrier of three-dimensional garage |
| CN104746915A (en) * | 2015-04-13 | 2015-07-01 | 浙江巨人控股有限公司 | Clamp wheel type automobile carrier |
| CN104875176A (en) * | 2015-05-19 | 2015-09-02 | 东北大学 | Omnidirectional wheel system and vacuum leak detection robot |
| CN205875834U (en) * | 2016-06-23 | 2017-01-11 | 南京湛泸科技有限公司 | Gear centre gripping formula transfer robot that can be used to stereo garage |
| CN208149481U (en) * | 2018-04-02 | 2018-11-27 | 浙江巨人停车设备有限公司 | A kind of walking steering system of AGV car carrying robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901790A (en) * | 2019-12-23 | 2020-03-24 | 龙岩烟草工业有限责任公司 | Commodity circulation car handling device |
| CN113859890A (en) * | 2021-09-29 | 2021-12-31 | 许昌学院 | Adjustable multi-direction intelligent logistics device |
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Application publication date: 20180904 |