CN108909880A - One kind slipping into towed AGV - Google Patents
One kind slipping into towed AGV Download PDFInfo
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- CN108909880A CN108909880A CN201810859151.0A CN201810859151A CN108909880A CN 108909880 A CN108909880 A CN 108909880A CN 201810859151 A CN201810859151 A CN 201810859151A CN 108909880 A CN108909880 A CN 108909880A
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- agv
- wheel
- omnidirectional
- synchronous pulley
- driving
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 33
- 239000011248 coating agent Substances 0.000 claims abstract description 15
- 238000000576 coating method Methods 0.000 claims abstract description 15
- 239000003292 glue Substances 0.000 claims abstract description 15
- 235000004443 Ricinus communis Nutrition 0.000 claims abstract description 4
- 239000002184 metal Substances 0.000 claims description 30
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses one kind to slip into towed AGV, including AGV main body, the omnidirectional's castor and another diagonal omnidirectional driving wheel of the bottom AGV pair of horns are set, the omnidirectional driving wheel includes omnidirectional driving wheel main body and glue coating wheel, Supporting cover is provided with above omnidirectional's wheel body, rotation is provided with big synchronous pulley and small synchronous pulley on the support cover, it is contributed by travel driving motor and drives small synchronous pulley, small synchronous pulley drives big synchronous pulley, big synchronous pulley is finally made to drive glue coating wheel rotation by deceleration mechanism, furthermore, it drives gear to engage on revolving support part by the steering turned on driving motor and is provided with outer ring tooth, glue coating wheel is driven to carry out 360 ° of rotations without dead angle.AGV of the present invention ensure that its driving wheel can not have excessively high minimum altitude along between 360 degree of rotations and AGV ontology, therefore AGV can readily slip into bottom shelf.
Description
Technical field
The present invention relates to AGV manufacturing fields, slip into towed AGV particularly for factory/warehouse materials circulation dispatching.
Background technique
AGV (Automated Guided Vehicle), i.e. automatic Guided Vehicle, be it is a kind of equipped with electromagnetism, optics or
The autopilots such as vision can identify trajectory path and marker, run according to preset autonomous path, complete fortune
Send the unmanned automatic transportation equipment of operation.With flourishing for logistic industry, AGV trolley is slowly applied.
Currently, automation application factory, warehouse materials circulation dispatching are usually using towed AGV is slipped into, above-mentioned slip into is led
Draw the common driving wheel unit of formula AGV and generally use differential driving wheel or steering wheel driving method, differential drives the vehicle to AGV
Length-width ratio has a requirement, does not allow generally length-width ratio to be greater than 2.5, limits the development of AGV；Although steering wheel driving method solves
The shortcomings that differential driving, but the current steering wheel driving unit radius of gyration is big, rotation angle maximum can only achieve 270 °, and
Minimum altitude is relatively high, so that AGV can not really realize that omnidirectional is traveled freely, minimum altitude is big, increases the height of AGV vehicle
Add, increases the difficulty that AGV slips into bottom shelf.
Summary of the invention
It is an object of the invention to overcome defect existing in the prior art, provides one kind and slip into towed AGV.
The present invention is achieved through the following technical solutions：One kind slipping into towed AGV, including AGV main body, setting exist
Omnidirectional's castor of the bottom AGV pair of horns and another diagonal omnidirectional driving wheel are used to connect external power supply in the setting of the bottom AVG
Electrode unit, the omnidirectional driving wheel includes omnidirectional driving wheel main body, be provided with Supporting cover above omnidirectional's wheel body,
It is rotatablely connected between the omnidirectional driving wheel main body and the Supporting cover by revolving support part, rotation is set on the support cover
It is equipped with big synchronous pulley and small synchronous pulley, is connected between the big synchronous pulley and small synchronous pulley by toothed belt transmission,
The travel driving motor for driving small synchronous pulley is provided with below the Supporting cover；It is rotated on the driving wheel body
It is provided with glue coating wheel, ring gear is provided on the inside of the glue coating wheel, is additionally provided with described in engagement on the driving wheel body
The pinion gear of ring gear is fixedly connected with a small coning gear shaft extended downwardly on the big synchronous pulley, in the small bevel gear
The end of wheel shaft is fixed with bevel pinion, the bevel pinion and bevel gear wheel engagement, and the middle part of the bevel gear wheel is fixed
It is connected with large bevel gear shaft, the side of large bevel gear shaft is connected with driving wheel body rotation, in the another of the large bevel gear shaft
It is fixedly connected on side with the pinion gear, steering driving motor, the steering driving is fixedly installed below the Supporting cover
It is fixed with steering driving gear on the output shaft of motor, outer ring tooth, the rotate driving are provided on the revolving support part
Gear and the outer ring tooth engagement.
In above-mentioned technical proposal, it is additionally provided with eccentric wheel, the eccentric wheel and the synchronous belt top on the support cover
It leans on.
In above-mentioned technical proposal, the ring gear and the glue coating wheel are bolted.
In above-mentioned technical proposal, the shell for stating AGV main body includes metal plate front cover, metal plate rear cover and metal plate support frame, wherein
Metal plate front cover, metal plate rear cover and metal plate support frame are connected by a hinge.
In above-mentioned technical proposal, inter panel is set on metal plate support frame, the inter panel and metal plate support frame are logical
Cross fastener connection.
In above-mentioned technical proposal, the electrode unit includes a fixed frame for being fixed on AGV main body inner sidewall, described
Activity setting can be fixed with electrode slice at the both ends of the guide pad and fix along the guide pad of straight skidding in fixed frame
Frame, the pole piece setting are provided with the spring of bias guide pad in electrode slice fixed frame, on the upside of guide pad；In the fixation
It is fixedly installed driving motor in rack, an eccentric disc is connected on the motor shaft of the driving motor, in the off-centre operation
It is provided with roller on disk, is abutted against on the downside of the roller and guide pad.
In above-mentioned technical proposal, first is provided on the fixed frame close to switch, in the top of the guide pad
It is connected with the second close switch by drum block, the second close switch and first is close to switch gap and positioned at same longitudinal direction.
In above-mentioned technical proposal, two guide posts are provided in the fixed frame, the guide pad is slided by the guide post
Dynamic bearing, the spring are set on the guide post.
The present invention has the advantages that：AGV of the present invention ensure that its driving wheel can be along 360 degree of rotations and AGV
Excessively high minimum altitude is not had between ontology, therefore AGV can readily slip into bottom shelf.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention.
Elevational schematic view Fig. 2 of the invention.
Fig. 3 is along the schematic cross-sectional view at A-A in Fig. 2.
Fig. 4 is the schematic perspective view of omnidirectional driving wheel.
Fig. 5 is the schematic cross-sectional view of omnidirectional driving wheel.
Fig. 6 is the schematic perspective view of electrode unit.
Fig. 7 is the schematic top plan view of Fig. 6.
Fig. 8 is along the schematic cross-sectional view at A-A in Fig. 6.
Fig. 9 is along the schematic cross-sectional view at B-B in Fig. 8.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing：Referring to Fig. 1 to Fig. 9,
One kind slipping into towed AGV, and including AGV main body 1, omnidirectional's castor 100 of 1 bottom pair of horns of AGV main body and another is arranged in
The omnidirectional driving wheel 2 of pair of horns is additionally provided with electrode unit 3 in 1 bottom of AGV main body, and the electrode unit 3 includes electrode
Piece 39 is connect with external power supply power supply by electrode slice and cooperates with AGV interior super capacitor to be used for and realize that AGV 7*24 exists
Line operation.
The AGV main body includes 2 diagonally arranged security scanners 101, and AGV360 ° of realization is without dead angle security protection；
It is provided with two groups of acousto-optic warning lamps 102 before and after the AGV main body, above-mentioned acousto-optic warning lamp 102 is to make a sound and lamp
Optical signal guarantees personnel safety to remind shop worker；1 optical sensor 103, institute are each provided with before and after the AGV
The colour band and two dimensional code for stating optical sensor ground for identification, enable to advance after AGV, retreat with it is traversing；The AGV main body is adopted
With two sets of telescopic draw bars 104, AGV stretches out draw bar traction cargo to point of destination after slipping into bottom shelf；Tetra- angles AGV are set
It is equipped with 4 emergency stops and reset button 105, convenient processing in case of emergency；A wireless receiver is respectively installed before and after AGV
106, guarantee AGV and host computer normal communication.
The shell of the AGV main body includes metal plate front cover 1a, metal plate rear cover 1b and metal plate support frame 1c, wherein metal plate front cover
1a, metal plate rear cover 1b and metal plate support frame 1c are connected by a hinge, and metal plate front cover and metal plate rear cover can be opened, facilitate debugging
Service personnel safeguards electric elements inside；Metal plate support frame is that metal plate welds to form frame structure, with good intensity and just
Degree is the installation frame of all components of AGV.
Inter panel 1d, the inter panel 1d and metal plate support frame 1c are arranged on metal plate support frame 1c to connect by screw
It connects, facilitates the super capacitor and telescopic draw bar that personnel install and maintenance is intermediate；4 liftings are provided on metal plate support frame
Ring 107 facilitates the transport of AGV；Touch screen 108 and control button 109 are installed, for controlling the operation of AGV on metal plate front cover.
The omnidirectional driving wheel 2 includes omnidirectional driving wheel main body 20, is provided with support above omnidirectional's wheel body 20
Lid 21 is rotatablely connected, in the branch by revolving support part 22 between the omnidirectional driving wheel main body 20 and the Supporting cover 21
Rotation is provided with synchronous pulley 21a one group big and two groups of small synchronous pulleys 21b, the big synchronous pulley 21a and small on support lid 21
It is sequentially connected between synchronous pulley 21b by synchronous belt 21c, eccentric wheel 21d is additionally provided in the Supporting cover 21, it is described inclined
Heart wheel 21d and the synchronous belt abut against, and are provided with below the Supporting cover 21 for driving the walking of small synchronous pulley 21b to drive
Dynamic motor 21e.
Rotation is provided with glue coating wheel 23 on the driving wheel body 20, specifically, being provided in the middle part of the glue coating wheel 23
Encapsulated wheel shaft 23a, encapsulated wheel shaft 23a and driving wheel body 20 are rotatablely connected, and are provided with ring gear on the inside of the glue coating wheel
23b is additionally provided on the driving wheel body 20 specifically, the ring gear 23b and the glue coating wheel 23 are bolted
Engage the pinion gear 24 of the ring gear 23b.
A small coning gear shaft 25a extended downwardly is fixedly connected on the big synchronous pulley 21a, in the bevel pinion
The end of axis is fixed with bevel pinion 25, and the bevel pinion 25 and a bevel gear wheel 26 engage, in the bevel gear wheel 26
Portion is fixedly connected with large bevel gear shaft 26a, and the side of large bevel gear shaft 26a is connected with driving wheel body rotation, in the auger
The pinion gear 24 is fixed on the other side of gear shaft.
In above structure, small synchronous pulley is driven by travel driving motor, synchronous belt is then tensioned by eccentric wheel and is connected
Big synchronous pulley is connect, big synchronous pulley is engaged with bevel gear wheel, passed through by bevel pinion axis connection bevel pinion, bevel pinion
Large bevel gear shaft driving pinion, pinion gear engage driving glue coating wheel with ring gear and rotate around encapsulated wheel shaft, pass through this multistage
Deceleration transmission, it is final to realize travel driving motor driving glue coating wheel rotation.In addition the drive that encoder passes through small synchronous pulley
Realize the accurate control to omnidirectional driving wheel revolving speed.
It is fixedly installed below the Supporting cover and turns to driving motor 27, on the output shaft for turning to driving motor 27
It is fixed with steering driving gear 28, being provided with outer ring tooth on the revolving support part, (attached drawing is not shown）, the rotate driving
Gear and the outer ring tooth engagement drive and turn on driving gear engagement revolving support part by turning to driving motor power output
Outer ring tooth, so that omnidirectional driving wheel main body is rotated in 360 ° of omnidirectionals of the intracorporal glue coating wheel of omnidirectional driving wheel master.In addition lead to
It crosses close to switching and turning to the included encoder of driving motor, realizes the accurate control turned to omnidirectional driving wheel.
The revolving support part includes the inner ring and outer ring of two rotation settings, and inner ring is connected and fixed with Supporting cover, outer ring
It is connected and fixed with omnidirectional driving wheel main body, the outer ring tooth is arranged on the outer ring of revolving support part.
The electrode unit 3 includes a fixed frame 30, and fixed frame 30 passes through 300 He of connecting plate being arranged thereunder
1 inner sidewall of AGV main body is affixed, and two guide posts 31 are provided in the fixed frame 30, is arranged with one on two guide posts 31 and leads
To block 32, it is fixed with electrode slice fixed frame 33 at the both ends of the guide pad 32, the pole piece 39 is arranged in electrode slice fixed frame
It is interior, the spring 200 of guide pad described in fexible bias pressure is also arranged on the guide post 31, the spring 200 abuts against guide pad 32
Upside.
Driving motor 33, the driving motor 33 are fixedly installed by flange 201 in the side of the fixed frame 30
Motor shaft one eccentric disc 34 is connected with by shaft joint 202, roller 35, the roller are provided on the eccentric disc 34
It is abutted against on the downside of wheel 35 and guide pad 32.First is provided on the fixed frame 30 close to switch 36, in the guide pad 32
Top be connected with second close to switch 37 by drum block 38, second close to switch and first close to switch gap and is located at together
One is longitudinal.
It drives eccentric disc to promote guide pad guide pad dynamic in straight skidding along guide post by driving motor, cooperates spring
It compresses or loosens, to realize the liter and drop of electrode, i.e. through and off between electrode and ground electrodes.It is close by upper and lower two
Switch can be stringent coordination electrode lifting stroke, guarantee electrode charge it is effective with it is safe.
It is equipped with encoder on travel driving motor, steering driving motor and driving motor in the application, to be used for
Accurate control to motor speed is provided.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments.Described in the above embodiment and specification in the application
It is the principle of the present invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention.On
Changes and improvements are stated to both fall in the range of claimed invention.
Claims (8)
1. one kind slips into towed AGV, including AGV main body, omnidirectional's castor of the bottom AGV pair of horns and another diagonal is set
Omnidirectional driving wheel, the electrode unit for being used to connect external power supply being arranged in the bottom AVG, it is characterised in that：Omnidirectional's driving
Wheel includes omnidirectional driving wheel main body, and Supporting cover, the omnidirectional driving wheel main body and institute are provided with above omnidirectional's wheel body
State and be rotatablely connected between Supporting cover by revolving support part, on the support cover rotation be provided with big synchronous pulley with it is small synchronous
Belt wheel is connected by toothed belt transmission between the big synchronous pulley and small synchronous pulley, is provided with below the Supporting cover
For driving the travel driving motor of small synchronous pulley；Rotation is provided with glue coating wheel on the driving wheel body, in the packet
It is provided with ring gear on the inside of rubber tire, the pinion gear for engaging the ring gear is additionally provided on the driving wheel body, it is described big
It is fixedly connected with a small coning gear shaft extended downwardly on synchronous pulley, is fixed with small bevel gear in the end of the small coning gear shaft
Wheel, the bevel pinion and a bevel gear wheel engage, and are fixedly connected with large bevel gear shaft, auger tooth in the middle part of the bevel gear wheel
The side of wheel shaft is connected with driving wheel body rotation, is fixed and is connected with the pinion gear on the other side of the large bevel gear shaft
It connects, steering driving motor is fixedly installed below the Supporting cover, is fixed with and turns on the output shaft for turning to driving motor
To driving gear, outer ring tooth, the rotational driving gear and the outer ring tooth engagement are provided on the revolving support part.
2. one kind as described in claim 1 slips into towed AGV, it is characterised in that：It is additionally provided on the support cover partially
Heart wheel, the eccentric wheel and the synchronous belt abut against.
3. one kind as described in claim 1 slips into towed AGV, it is characterised in that：The ring gear and the glue coating wheel are logical
It crosses and is bolted.
4. one kind as described in claim 1 slips into towed AGV, it is characterised in that：The shell of the AGV main body includes metal plate
Front cover, metal plate rear cover and metal plate support frame, wherein metal plate front cover, metal plate rear cover and metal plate support frame are connected by a hinge.
5. one kind as claimed in claim 4 slips into towed AGV, it is characterised in that：Middle cover is set on metal plate support frame
Plate, the inter panel are connect with metal plate support frame by fastener.
6. one kind as described in any one of claim 1 or 3 slips into towed AGV, it is characterised in that:The electrode unit
The fixed frame for being fixed on AGV main body inner sidewall including one, activity setting can be along straight skidding in the fixed frame
Guide pad is fixed with electrode slice fixed frame at the both ends of the guide pad, and the pole piece is arranged in electrode slice fixed frame, guiding
The spring of bias guide pad is provided on the upside of block；Driving motor, the driving electricity are fixedly installed on the fixed frame
It is connected with an eccentric disc on the motor shaft of machine, roller, the roller and guide pad downside are provided on the eccentric disc
It abuts against.
7. one kind as claimed in claim 6 slips into towed AGV, it is characterised in that：Is provided on the fixed frame
One is connected with second close to switch, the second close switch and first by drum block close to switch, in the top of the guide pad
Close to switch gap and it is located at same longitudinal direction.
8. one kind as described in claim or 6 slips into towed AGV, it is characterised in that：It is provided in the fixed frame
Two guide posts, the guide pad is slidably supported by the guide post, and the spring is set on the guide post.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810859151.0A CN108909880B (en) | 2018-07-31 | 2018-07-31 | Submerged traction type AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810859151.0A CN108909880B (en) | 2018-07-31 | 2018-07-31 | Submerged traction type AGV |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108909880A true CN108909880A (en) | 2018-11-30 |
| CN108909880B CN108909880B (en) | 2024-03-08 |
Family
ID=64393596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810859151.0A Active CN108909880B (en) | 2018-07-31 | 2018-07-31 | Submerged traction type AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108909880B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109748200A (en) * | 2019-03-03 | 2019-05-14 | 航天通用技术(北京)有限公司 | A kind of king bolt formula AGV lifting device |
| CN110407135A (en) * | 2019-08-28 | 2019-11-05 | 广东嘉腾机器人自动化有限公司 | It can driving mechanism and AGV and AGV method for changing speed across shelves speed change |
| CN111290348A (en) * | 2019-12-18 | 2020-06-16 | 浙江工业大学 | Multi-load AGV control system capable of realizing omnidirectional movement and control method thereof |
| WO2020233017A1 (en) * | 2019-05-20 | 2020-11-26 | 兰剑智能科技股份有限公司 | Chassis having two steer wheels, and omnidirectional agv forklift |
| CN112882463A (en) * | 2021-01-11 | 2021-06-01 | 成都海瑞斯轨道交通设备有限公司 | Cutting robot system for overhauling wagon body of railway wagon |
| US12030467B2 (en) | 2019-06-26 | 2024-07-09 | Abb Schweiz Ag | Automated guided vehicle and method of controlling automated guided vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109748200A (en) * | 2019-03-03 | 2019-05-14 | 航天通用技术(北京)有限公司 | A kind of king bolt formula AGV lifting device |
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| WO2020233017A1 (en) * | 2019-05-20 | 2020-11-26 | 兰剑智能科技股份有限公司 | Chassis having two steer wheels, and omnidirectional agv forklift |
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| CN110407135A (en) * | 2019-08-28 | 2019-11-05 | 广东嘉腾机器人自动化有限公司 | It can driving mechanism and AGV and AGV method for changing speed across shelves speed change |
| CN111290348A (en) * | 2019-12-18 | 2020-06-16 | 浙江工业大学 | Multi-load AGV control system capable of realizing omnidirectional movement and control method thereof |
| CN112882463A (en) * | 2021-01-11 | 2021-06-01 | 成都海瑞斯轨道交通设备有限公司 | Cutting robot system for overhauling wagon body of railway wagon |
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| Publication number | Publication date |
|---|---|
| CN108909880B (en) | 2024-03-08 |
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Address after: 315499 No.2 Shunbei Road, Yangming Street, Yuyao City, Ningbo City, Zhejiang Province Applicant after: Ningbo Shunyu Bell Robot Co.,Ltd. Address before: 315400 Xingye Road, Yuyao City, Ningbo City, Zhejiang Province Applicant before: NINGBO SHUNYU BEIER AUTOMATION CO.,LTD. |
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