CN108501688A - It is single to drive two-way AGV driving devices, AGV and AGV system - Google Patents
It is single to drive two-way AGV driving devices, AGV and AGV system Download PDFInfo
- Publication number
- CN108501688A CN108501688A CN201810099886.8A CN201810099886A CN108501688A CN 108501688 A CN108501688 A CN 108501688A CN 201810099886 A CN201810099886 A CN 201810099886A CN 108501688 A CN108501688 A CN 108501688A
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- CN
- China
- Prior art keywords
- agv
- driving
- drive
- driving wheel
- way
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of lists to drive two-way AGV driving devices, AGV and AGV system, and it includes a drive installation plate that this, which singly drives two-way AGV driving devices, is set on AGV vehicle frames；One motor mounting plate is set to below drive installation plate；One driving wheel, is set on motor mounting plate, and on the outside of motor mounting plate；One suspended rack assembly, is set between drive installation plate and motor mounting plate so that driving wheel floats up and down when passing through uneven road surface, mitigates the impact that the AGV vehicle frames are transmitted to by uneven road surface.The configuration of the present invention is simple is reliable, highly practical.
Description
Technical field
The present invention relates to the fields AGV, more particularly to a kind of list drives two-way AGV driving devices, AGV and AGV system.
Background technology
AGV trolleies can be divided into unidirectional walking, bidirectional walking, omnidirectional's walking generally according to walking manner.Conventional ADS driving mode
Bidirectional walking is all made of dual-driving-mode, i.e. four driving motors, is two-by-two one group of composition, one rotatable driving unit, right
Some light materials and require bidirectional walking constantly in conveying, using double drive, not only complete vehicle structure is complicated, it is bulky and
And the cost that can be doubled, requirements at the higher level also proposed for the algorithm of commissioning staff, for some intensive factory floors,
It is required that AGV body dimensions reduce as far as possible and driving path is as easy as possible, double drive AGV vehicle bodies are longer and turning radius compared with
Greatly, 90 ° of original place flipper turn is cannot achieve, no matter is existed in terms of space utilization or in terms of cost control unnecessary
Waste.
Invention content
In view of this, the purpose of the present invention is to provide a kind of lists to drive two-way AGV driving devices, AGV and AGV system,
It is simple and reliable for structure, it is highly practical.
In order to achieve the goal above, the present invention is achieved by the following technical solutions：
A kind of single two-way AGV driving devices of drive, are applied to AGV, including：
One drive installation plate is set on AGV vehicle frames；
One motor mounting plate is set to below drive installation plate；
One driving wheel, is set on motor mounting plate, and on the outside of motor mounting plate；
One suspended rack assembly, is set between drive installation plate and motor mounting plate so that the driving wheel is by uneven
It floats up and down when road surface, mitigates the impact for being transmitted to the AGV vehicle frames by uneven road surface.
Preferably, the suspended rack assembly includes：Damping spring, support base and shaft；
The damping spring is set between the drive installation plate and motor mounting plate and at drive wheel position；
The support base is set to drive installation plate lower surface, and described motor mounting plate one end is connected by shaft activity
It is connected to support base so that the driving wheel floats up and down around the shaft when passing through uneven road surface.
Preferably, the suspended rack assembly further includes a guide holder, and the guide holder is set to drive installation plate lower surface,
The motor mounting plate other end stretches into guide holder so that the driving motor when driving wheel passes through uneven road surface
Mounting plate is swung up and down in guide holder.
Preferably, an oil-free bushing is equipped between the shaft and support base.
Preferably, the list of the embodiment of the present invention drives two-way AGV driving devices, further includes a drive component, and output end connects
It is connected to driving wheel, for exporting power to driving wheel.
Preferably, the drive component includes：Driving motor, gear reducer, driving wheel and driven wheel；The speed reducer
Input terminal connects driving motor output shaft, and output end is connected to driving wheel；The driven wheel is connected to driving wheel, and with it is described
Driving wheel Synchronous Transmission.
Preferably, it is driven by chain syn-chro-step between the driving wheel and driven wheel.
Preferably, the list of the embodiment of the present invention drives two-way AGV driving devices, further includes a strainer, for being tensioned
The chain stated.
According to further embodiment of this invention, a kind of AGV is provided, including at least a pair of above-mentioned list drives two-way AGV drivings
Device.
Preferably, the list drives two-way AGV driving devices and is equipped with a driving wheel；
Single driving wheel forward or reverse driving for driving two-way AGV driving devices AGV is moved forward or back；Or,
The rotation of two driving wheels is controlled to generate speed discrepancy, the AGV is driven to turn.
According to further embodiment of this invention, a kind of AGV system, including scheduling system, external control system and at least one
Above-mentioned AGV；
The scheduling system communicates to connect respectively with the control system of the AGV, external control system；
The control system of the AGV is used to receive and execute the control instruction that the scheduling system is sent.
In conclusion list of the present invention drives two-way AGV driving devices, AGV and AGV system, compared with prior art,
It has the following advantages：
The AGV of the present invention is formed using two groups of drivings, and simple and reliable for structure and highly practical, two driving wheels pass through positive and negative
Turn and speed difference realizes that the action of entire AGV, control are simple.
On the other hand, the damping is operated upon by above driving wheel, and device oil-free bushing, ensures at any time inside shaft
The earth-grasping force of driving wheel substantially reduces the requirement for ground, improves the stationarity of AGV travelings.Single bi-directional drive of driving fills
Set using intermediate fixed method, front and back symmetric configuration is reasonable, when necessary can direct 90 ° of turnings, greatly reduce channel occupy it is empty
Between.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is single shaft side figure for driving two-way AGV driving devices provided in an embodiment of the present invention；
Fig. 2 is single front view for driving two-way AGV driving devices provided in an embodiment of the present invention；
Fig. 3 is single side view for driving two-way AGV driving devices provided in an embodiment of the present invention
Fig. 4 is the front view of AGV provided in an embodiment of the present invention；
Fig. 5 is the upward view of AGV provided in an embodiment of the present invention；
Fig. 6 is AGV system structure chart provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Below in conjunction with Fig. 1~Fig. 5, technical scheme of the present invention is described in detail with specifically embodiment.Below this
Several specific embodiments can be combined with each other, may be no longer superfluous in some embodiments for same or analogous concept or process
It states.
Fig. 1 shows a kind of single shaft side figure for driving two-way AGV driving devices of the present invention, as shown in Figure 1, single drive is double
Include to AGV driving devices：Drive installation plate 10, motor mounting plate 20, driving wheel 30 and suspended rack assembly.
Above-mentioned drive installation plate 10 is set on AGV vehicle frames；Motor mounting plate 20 is set to 10 lower section of drive installation plate；
Driving wheel 30 is set on motor mounting plate 20, and positioned at 20 outside of motor mounting plate；Suspended rack assembly is set to drive installation plate
Between 10 and motor mounting plate 20 so that by floating up and down when uneven road surface, mitigation is passed the driving wheel 30 by uneven road surface
To the impact of the AGV vehicle frames.
In the present embodiment, the suspended rack assembly includes：Damping spring 401, support base 402 and shaft 403.Please refer to figure
2, Fig. 2 shows the front views that two-way AGV driving devices are singly driven in the present embodiment.
As described in Figure 2, the damping spring 401 be set between the drive installation plate 10 and motor mounting plate 20 and
At 30 position of driving wheel；The support base 402 is set to 10 lower surface of drive installation plate, the motor mounting plate 20
One end is movably connected on support base 402 by shaft 403 so that the driving wheel 30 by uneven road surface when around the shaft on float downward
It is dynamic.
With continued reference to Fig. 2, described 401 one end of damping spring can act on the electricity by spring lead 404
On machine mounting plate 20, the damping spring 401 is at the position right over driving wheel 30.
It should be noted that in order to ensureing grabbing for driving wheel, the requirement less than ground, the shaft are substantially reduced
An oil-free bushing is equipped between 403 and support base 402.
Specifically, in the present embodiment, the suspended rack assembly further includes：One guide holder 405, the guide holder 405 are set
It is placed in 10 lower surface of drive installation plate, 20 other end of motor mounting plate stretches into guide holder 405 so that the driving wheel
30 405 swing up and down by the motor mounting plate 30 of driving when uneven road surface in guide holder.
Fig. 3 shows single side view for driving two-way AGV driving devices, also includes a drive as shown in figure 3, in the present embodiment
Dynamic component, output end is connected to driving wheel 30, for exporting power to driving wheel 30；
The drive component includes：Driving motor 501, speed reducer 502, driving wheel and driven wheel 504；The deceleration
502 input terminal of machine connects 501 output shaft of driving motor, and output end is connected to driving wheel；The driven wheel 504 is connected to driving
Wheel 30, and with the driving wheel Synchronous Transmission.
Specifically, in the present embodiment, the driving wheel and driven wheel 504 are sprocket wheel, further, the master
It is driven by chain syn-chro-step between driving wheel and driven wheel 504.In a particular application, can according to actual demand select driving wheel with from
504 power transmission of driving wheel, such as synchronous belt can be selected, the present invention is without limitation.
Continue cooperation referring to Fig. 2 and combine Fig. 3, includes also a strainer 60 in the present embodiment, pass through strainer 60
Ensure above-mentioned chain tension, which is the prior art, and details are not described herein.
In other embodiments, other type of drive can also be used to realize the rotation of driving wheel, the present invention is to this
Also it is not limited.
Single two-way AGV driving devices of drive according to the ... of the embodiment of the present invention are described above in association with attached drawing 1~3.Further,
Present invention can also apply to AGV.
Fig. 4 is the front view of AGV provided in an embodiment of the present invention, as shown in figure 4, the AGV of the embodiment of the present invention includes：On
The list for stating embodiment drives two-way AGV driving devices 100, can need to drive two-way AGV driving devices 100 to single by specific works
It is reasonably laid out on AGV car bodies.
Fig. 5 is the upward view of AGV provided in an embodiment of the present invention, as shown in figure 5, in the present embodiment, a whole set of AGV uses two
The single two-way AGV driving devices 100 of drive of group are rigidly connected with AGV car bodies, simple and reliable for structure, highly practical.
When need to advance to AGV, back operation when, control the driving motor forward or reverse, successively via
Speed reducer, driving wheel, and so that driven wheel is rotated by chain, it is last to drive driving since driven wheel is connected with driving wheel
Forward or reverse, complete AGV move forward or back operation.
When needing to AGV cornering operations, is rotated by two driving wheel of above-mentioned control, make to generate rotating speed between two driving wheels
Difference completes AGV turning operations.
It should be noted that above-mentioned list drives the foundation that two-way AGV driving devices 100 are AGV, AGV can also include：
Electric power storage and charging unit, it is power that 24V and 48V direct-flow storage batteries, which may be used, and storage battery power supply should generally keep continuous work 8
Hour or more needs；Controller on vehicle receives the instruction of control centre and executes corresponding operation, while by the state of itself
(such as position, speed) is timely feedbacked to control centre；Communication device realizes AGV and ground control station pole surface-monitoring equipment
Between information exchange；Safety guard includes the protection to AGV itself, the protection etc. to people or other equipment；Letter
Breath transmission and processing unit, are monitored AGV, monitor the state of ground residing for AGV, and carry out letter in real time with ground control station
Breath transmits.
AGV according to the ... of the embodiment of the present invention is described above in association with attached drawing 4~5.Further, the present invention can also apply
In AGV system.
Fig. 6 shows the structural schematic diagram of AGV system, as shown in fig. 6, the AGV system includes scheduling system 200, outside
The AGV that control system 300 and at least one above-described embodiment provide.
Specifically, the control system of above-mentioned AGV communicates to connect respectively with scheduling system, external control system；The control of AGV
System is used to receive and execute the control instruction of scheduling system transmission.
Scheduling system refers to the fixed equipment of AGV system, is mainly responsible for task distribution, vehicle scheduling, and path (line) management is handed over
Siphunculus is managed, the functions such as automatic charging；The vehicle control syetem of AGV is responsible for the navigation meter of AGV after receiving the instruction of Upper system
It calculates, guiding is realized, vehicle to run, the functions such as charge and discharge operations；External system with scheduling system communication connect, control it with
Information exchange.
Above-mentioned AGV system can also include navigation system, and the navigation system is either the avoidance sensing installed on AGV
Device, the avoidance sensor can play the role of navigation sensor under the control of the control device of AGV；It can also be independent peace
The navigation sensor of dress, the embodiment of the present invention are without limitation.
AGV system provided in an embodiment of the present invention, the AGV technical characteristics having the same provided with above-described embodiment, institute
Can also solve identical technical problem, reach identical technique effect.
It should be noted that herein, the relational terms (if present) such as " first ", " second ", " third " is only
Only it is used for distinguishing one entity or operation from another entity or operation, without necessarily requiring or implying these realities
There are any actual relationship or orders between body or operation.It should be appreciated that the term used in this way is in the appropriate case
Can be interchanged, so as to the embodiment of the present invention described herein, such as can in addition to those of illustrate or describe herein with
Outer sequence is implemented.In addition, the terms "include", "comprise", " having " or its any other variant are intended to nonexcludability
Include so that including a series of elements process, method, article or terminal device not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or terminal device institute
Intrinsic element.In the absence of more restrictions, the element limited by sentence " including ... " or " including ... ", not
There is also other elements in process, method, article or the terminal device including the element for exclusion.In addition, herein
In, " being more than ", " being less than ", " being more than " etc. are interpreted as not including this number；" more than ", " following ", " within " etc. be interpreted as including this
Number.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (11)
1. a kind of single two-way AGV driving devices of drive, are applied to AGV, which is characterized in that including：
One drive installation plate is set on AGV vehicle frames；
One motor mounting plate is set to below drive installation plate；
One driving wheel, is set on motor mounting plate, and on the outside of motor mounting plate；
One suspended rack assembly, is set between drive installation plate and motor mounting plate so that the driving wheel passes through uneven road surface
When float up and down, mitigate and be transmitted to the impacts of the AGV vehicle frames by uneven road surface.
2. as described in claim 1 single drive two-way AGV driving devices, which is characterized in that the suspended rack assembly includes：Damping
Spring, support base and shaft；
The damping spring is set between the drive installation plate and motor mounting plate and at drive wheel position；
The support base is set to drive installation plate lower surface, and described motor mounting plate one end is movably connected on by shaft
Support base so that the driving wheel floats up and down around the shaft when passing through uneven road surface.
3. single two-way AGV driving devices of drive as claimed in claim 2, which is characterized in that the suspended rack assembly further includes one
Guide holder, the guide holder are set to drive installation plate lower surface, and the motor mounting plate other end stretches into guide holder, makes
The driving motor mounting plate when driving wheel passes through uneven road surface is obtained to swing up and down in guide holder.
4. single two-way AGV driving devices of drive as described in claim 1, which is characterized in that between the shaft and support base
Equipped with an oil-free bushing.
5. single two-way AGV driving devices of drive according to any one of claims 1-4, which is characterized in that further include a driving group
Part, output end are connected to driving wheel, for exporting power to driving wheel.
6. as claimed in claim 5 single drive two-way AGV driving devices, which is characterized in that the drive component includes：Driving
Motor, speed reducer, driving wheel and driven wheel；The speed reducer input terminal connects driving motor output shaft, and output end is connected to
Driving wheel；The driven wheel is connected to driving wheel, and with the driving wheel Synchronous Transmission.
7. as claimed in claim 5 single drive two-way AGV driving devices, which is characterized in that the driving wheel and driven wheel it
Between be driven by chain syn-chro-step.
8. single two-way AGV driving devices of drive as claimed in claim 7, which is characterized in that further include a strainer, for opening
The tight chain.
9. a kind of AGV, which is characterized in that including at least a pair of as claim 1-8 any one of them lists drive two-way AGV drivings
Device.
10. AGV as claimed in claim 9, which is characterized in that the list drives two-way AGV driving devices and is equipped with a driving wheel；
Single driving wheel forward or reverse driving for driving two-way AGV driving devices AGV is moved forward or back；Or,
The rotation of two driving wheels is controlled to generate speed discrepancy, the AGV is driven to turn.
11. a kind of AGV system, which is characterized in that including scheduling system, external control system and at least one such as claim 9-
10 any one of them AGV；
The scheduling system communicates to connect respectively with the control system of the AGV, external control system；
The control system of the AGV is used to receive and execute the control instruction that the scheduling system is sent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099886.8A CN108501688A (en) | 2018-02-01 | 2018-02-01 | It is single to drive two-way AGV driving devices, AGV and AGV system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099886.8A CN108501688A (en) | 2018-02-01 | 2018-02-01 | It is single to drive two-way AGV driving devices, AGV and AGV system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108501688A true CN108501688A (en) | 2018-09-07 |
Family
ID=63374930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810099886.8A Pending CN108501688A (en) | 2018-02-01 | 2018-02-01 | It is single to drive two-way AGV driving devices, AGV and AGV system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108501688A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114228821A (en) * | 2021-12-31 | 2022-03-25 | 华晓精密工业(苏州)有限公司 | Long distance chassis mechanism and AGV |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
-
2018
- 2018-02-01 CN CN201810099886.8A patent/CN108501688A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114228821A (en) * | 2021-12-31 | 2022-03-25 | 华晓精密工业(苏州)有限公司 | Long distance chassis mechanism and AGV |
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Application publication date: 20180907 |