CN109029428B - Magnetic navigation AGV drive unit and AGV car - Google Patents
Magnetic navigation AGV drive unit and AGV car Download PDFInfo
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- CN109029428B CN109029428B CN201810939998.XA CN201810939998A CN109029428B CN 109029428 B CN109029428 B CN 109029428B CN 201810939998 A CN201810939998 A CN 201810939998A CN 109029428 B CN109029428 B CN 109029428B
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- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000003825 pressing Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000012423 maintenance Methods 0.000 abstract description 7
- 239000000463 material Substances 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The invention discloses a magnetic navigation AGV driving unit and an AGV, comprising a lifting mechanism and a driving mechanism, wherein the lifting mechanism is connected with the driving mechanism through a transmission mechanism, and the upper and lower positions of the driving mechanism are adjusted through the transmission mechanism. The driving unit has the advantages of strong universality, convenient maintenance, simple manufacture and the like, and can meet the material conveying requirement of the manufacturing industry of the electrical complete equipment.
Description
Technical Field
The invention relates to AGV equipment, in particular to a magnetic navigation AGV driving unit and an AGV vehicle
Background
The magnetic navigation AGV (Automatic Guided Vehicle) is a transport vehicle provided with an electromagnetic automatic guiding device and running along a specified guiding path, and usually uses a storage battery as power, and can accurately reach a destination under the assistance of a computer and the guiding device, so that the magnetic navigation AGV (Automatic Guided Vehicle) has wide application prospects in logistics industry and automatic storage.
At present, AGV drive units of all factories are basically designed independently, and only self-designed structural modules can be adopted for combined installation, so that the AGV drive unit has the problems of applicability singleness, complex structure and inconvenient maintenance.
Disclosure of Invention
In order to solve the defects in the prior art, the invention designs the magnetic navigation AGV driving unit and the AGV, and the driving unit has the advantages of strong universality, convenience in maintenance, simplicity in manufacture and the like, and can meet the requirements of material transportation in the manufacturing industry of electrical complete equipment.
In order to achieve the above object, the technical scheme of the present invention is as follows:
the magnetic navigation AGV driving unit comprises a lifting mechanism and a driving mechanism, wherein the lifting mechanism is connected with the driving mechanism through a transmission mechanism,
the lifting mechanism comprises a lifting wheel and a lifting motor, the lifting motor drives the lifting wheel to rotate through a first driving shaft, and the lifting wheel converts the rotation of the lifting wheel into the up-and-down movement of the transmission mechanism, so that the up-and-down position of the driving mechanism is adjusted;
the driving mechanism comprises a second driving shaft, a driving motor and driving wheels, the second driving shaft is arranged on a driving shaft supporting plate, the driving shaft supporting plate is fixedly arranged on the main mounting plate, the driving wheels are arranged at two ends of the second driving shaft, the driving motor is fixedly arranged on the main mounting plate, and the driving wheels can complete advancing, retreating and turning actions by driving the second driving shaft;
the transmission mechanism comprises a rectangular spring, a linear bearing shaft is sleeved outside the rectangular spring, a linear rotary bushing bearing is sleeved outside the linear bearing shaft, the linear rotary bushing bearing is connected with a bearing sleeve through a shaft clamping ring, the lower end of the bearing sleeve is fixedly connected with a main mounting plate, the upper end of the linear bearing shaft is fixedly connected with a pressing plate, and the pressing plate is used for converting rotation of a lifting wheel into up-and-down movement of the linear bearing shaft so as to drive the driving mechanism to move up-and-down through the bearing sleeve and the main mounting plate.
Further, the lifting motor is fixedly connected to the lifting motor mounting plate, and the lifting motor mounting plate is fixedly connected to the lower mounting plate.
Further, the lifting wheel comprises a cam follower, and the cam follower is arranged below the pressing plate and is used for driving the pressing plate to move up and down.
Further, the upper end of the rectangular spring is compressed downwards through an upper mounting plate, the lower end of the rectangular spring is compressed upwards through a second driving shaft, and the upper mounting plate is fixedly connected with the lower mounting plate.
Further, the lower end of the linear bearing shaft is fixedly connected with a bearing seat supporting plate, and the upper end of the bearing seat supporting plate is connected with the main mounting plate.
Furthermore, the upper end of the linear bearing shaft is of a stepped structure, and the pressing plate is arranged on the stepped structure and is fixed through a round retaining nut.
Further, the inner sides of the two ends of the second driving shaft are connected with the driven sprocket through bearings, the outer sides of the second driving shaft are connected with the driving wheels through bearings and fastening bolts, and the driven sprocket is driven to rotate through a driving motor so as to drive the second driving shaft to rotate.
Further, the front side and the rear side of the main mounting plate are respectively and fixedly connected with a first navigation mounting plate and a second navigation mounting plate.
Further, a positioning piece is fixedly connected to the main mounting plate.
A magnetically guided AGV vehicle comprising a magnetically guided AGV drive unit as described above.
Compared with the prior art, the invention has the beneficial effects that:
1. the universality is strong, and the drive unit can be provided with a 100W-200W direct current brushless motor and a servo motor which are commonly used in the market;
2. the module design, the drive unit can be dismantled and assembled on AGV fast, make things convenient for driving motor, magnetic navigation sensor, elevator motor to dismantle and assemble, convenient maintenance and routine maintenance, and in the different forms AGV application in future, the drive unit is unanimous to change the shell of different functions according to different application environment just can accomplish the task demand;
3. the driving unit can be lifted, after the driving unit is lifted, 4 universal wheels move the AGV when the AGV is manually pushed, so that the resistance caused by the driving wheel is greatly reduced, and the maintenance of the AGV when an accident occurs is facilitated;
4. the manufacturing process is simplified, casting and milling processes of other AGV driving unit manufacturing processes are omitted, the driving unit can be machined only by simple sheet metal bending and pin turning processes, the precision can be purchased to meet the requirements, the machining cost is low, the machining time is short, and machining equipment is popular;
5. the driving unit can meet the technical parameter requirements, the driving unit loads 500Kg, the displacement speed is 0-50m/min, the braking (stopping) precision is 1mm, the minimum turning radius is 1000mm, and the lifting height of the driving unit is 40mm.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application.
FIG. 1 is a schematic perspective view of a magnetic navigation AGV drive unit according to the present invention;
FIG. 2 is a schematic view of a portion of the three-dimensional structure of a magnetic navigation AGV drive unit of the present invention;
FIG. 3 is a cross-sectional view of the magnetic navigation AGV drive unit of the present invention;
FIG. 4 is a top view of the magnetic navigation AGV drive unit of the present invention;
FIG. 5 is a schematic diagram of the installation of the magnetic navigation AGV drive unit and ACV of the present invention;
fig. 6 is a schematic diagram of differential motion of the drive unit.
The linear rotating bushing bearing comprises a linear rotating bushing bearing (1, ST35 UUUB), a main mounting plate (2), a driving wheel (3), a driving wheel (4), a chain protection cover (5), a navigation mounting plate (6), a driving motor (7), a second driving shaft (8), a driven sprocket (9), a bearing sleeve (10), a lifting motor mounting plate (11), a lower mounting plate (12), an upper mounting plate (13), a lifting motor (14), a lifting wheel (15), a rectangular spring (16), a pressing plate (17) and a positioning piece.
Detailed Description
The invention will be further described with reference to the drawings and the specific embodiments.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", etc. refer to an orientation or a positional relationship based on that shown in the drawings, and are merely relational terms, which are used for convenience in describing structural relationships of various components or elements of the present invention, and do not denote any one of the components or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly attached," "connected," "coupled," and the like are to be construed broadly and refer to either a fixed connection or an integral or removable connection; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present invention can be determined according to circumstances by a person skilled in the relevant art or the art, and is not to be construed as limiting the present invention.
Just as the background art introduced, there is the poor problem of AGV drive unit commonality among the prior art, in order to solve above technical problem, this application provides a magnetic navigation AGV drive unit and AGV car, and this drive unit has that the commonality is strong, easy maintenance, advantages such as simple manufacture, can satisfy the requirement that electric complete sets of equipment manufacturing trade material transported simultaneously.
As shown in fig. 1-4, a magnetically guided AGV drive unit includes a lift mechanism and a drive mechanism, the lift mechanism being coupled to the drive mechanism by a transmission mechanism, wherein,
the lifting mechanism comprises a lifting wheel 14 and a lifting motor 13, the lifting motor 13 drives the lifting wheel 14 to rotate through a first driving shaft, and the lifting wheel 14 converts the rotation of the lifting wheel into the up-and-down movement of the transmission mechanism, so that the up-and-down position of the driving mechanism is adjusted;
the driving mechanism comprises a second driving shaft 7, a driving motor 6 and a driving wheel 3, wherein the second driving shaft 7 is arranged on a driving shaft supporting plate, the driving shaft supporting plate is fixedly arranged on the main mounting plate 2, the driving wheel 3 is arranged at two ends of the second driving shaft 7, the driving motor 6 is fixedly arranged on the main mounting plate 2, and the driving wheel 3 is driven to complete advancing, retreating and turning actions by driving the second driving shaft 7;
the transmission mechanism comprises a rectangular spring 15, a linear bearing shaft is sleeved outside the rectangular spring 15, a linear rotary bushing bearing 1 is sleeved outside the linear bearing shaft, the linear rotary bushing bearing 1 is connected with a bearing sleeve 9 through a shaft clamping ring, the lower end of the bearing sleeve 9 is fixedly connected with a main mounting plate 2, the upper end of the linear bearing shaft is fixedly connected with a pressing plate 16, and the pressing plate 16 is used for converting rotation of a lifting wheel 14 into up-and-down movement of the linear bearing shaft and further driving the driving mechanism to move up and down through the bearing sleeve 9 and the main mounting plate 2.
The lifting motor 13 is fixedly connected to the lifting motor mounting plate 10 through screws, and the lifting motor mounting plate 10 is fixedly connected to the lower mounting plate 11 through screws. The lift motor drive shaft is keyed to lift wheel 14.
The lift wheel 14 includes a cam follower disposed below the platen 16.
The daily state of the driving unit is in a free state, if the lifting motor 13 drives the lifting wheel 14 to rotate when the driving unit is to be lifted, the cam follower ascends along with the lifting wheel, so that the pressing plate 16 is driven to ascend, the pressing plate 16 is fastened with the bearing sleeve 9 through the linear bearing shaft, the bearing sleeve 9 is fixed with the main mounting plate 2, and therefore the lifting wheel 14 can drive the main mounting plate 2, and the lifting of the whole driving unit is completed.
The linear rotary sleeve bearing 1 is preferably an ST35UUB linear rotary sleeve bearing.
The upper end of the rectangular spring 15 is compressed downwards through the upper mounting plate 12, the lower end of the rectangular spring is compressed upwards through the second driving shaft 7, and the upper mounting plate 12 is fixedly connected with the lower mounting plate 11.
In a specific implementation, the rectangular spring 15 includes an upper rectangular spring and a lower rectangular spring, and a circular spacer is disposed between the upper rectangular spring and the lower rectangular spring.
The lower end of the linear bearing shaft is fixedly connected with a bearing seat supporting plate, and the upper end of the bearing seat supporting plate is connected with the main mounting plate 2.
The upper end of the linear bearing shaft is of a stepped structure, and the pressing plate 16 is installed on the stepped structure and fixed through a round retaining nut.
The inner sides of the two ends of the second driving shaft 7 are connected with the driven sprocket 8 through bearings, and the outer sides of the second driving shaft are connected with the driving wheel 3 through bearings and fastening bolts. The driving motor 6 is provided with a driving sprocket on a motor shaft, the driving sprocket and the driven sprocket 8 are connected through a transmission chain, in specific implementation, the driving motor 6 drives the driven sprocket 8 to rotate through driving the driving sprocket, so that the driving wheel 3 works to complete forward, backward and turning actions, and the gear ratio of the driving sprocket and the driven sprocket is 15:24.
in specific implementation, the driving unit main mounting plate 2 is provided with two driving motors 6, and the main mounting plate 2 can be provided with a 100-200W direct current motor and a servo motor which are commercially available through structural optimization of the main mounting plate 2.
The front side and the rear side of the main mounting plate 2 are respectively and fixedly connected with a first navigation mounting plate and a second navigation mounting plate.
The main mounting plate 2 is fixedly connected with a positioning piece 17.
A magnetically guided AGV vehicle comprising a magnetically guided AGV drive unit as described above.
As shown in fig. 5, the driving unit is installed on the AGV car using a fastening bolt, and 2 driving units are installed in a single AGV using a bi-directional submerged AGV as an example, and the AGV moves by means of 4 universal wheels when the driving unit is lifted.
In specific implementation, the magnetic navigation sensor is installed on the navigation installation plate 5, 2 navigation installation plates 5 can be installed on a single driving unit, and differential motion work is realized through a driving motor 6 installed on the driving unit.
As shown in fig. 6, when walking in a straight line, the rotation speed of the left motor and the right motor is adjusted and controlled to change in a small degree according to the input speed, so that the magnetic navigation sensor is kept at the center of the magnetic stripe; when the curve walks, the rotation speed change of the left motor and the right motor is greatly adjusted and controlled according to the input speed, so that the magnetic navigation sensor is kept at the center of the magnetic stripe.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (7)
1. The magnetic navigation AGV driving unit is characterized by comprising a lifting mechanism and a driving mechanism, wherein the lifting mechanism is connected with the driving mechanism through a transmission mechanism,
the lifting mechanism comprises a lifting wheel and a lifting motor, the lifting motor drives the lifting wheel to rotate through a first driving shaft, and the lifting wheel converts the rotation of the lifting wheel into the up-and-down movement of the transmission mechanism, so that the up-and-down position of the driving mechanism is adjusted;
the driving mechanism comprises a second driving shaft, a driving motor and driving wheels, the second driving shaft is arranged on a driving shaft supporting plate, the driving shaft supporting plate is fixedly arranged on the main mounting plate, the driving wheels are arranged at two ends of the second driving shaft, the driving motor is fixedly arranged on the main mounting plate, and the driving wheels can complete advancing, retreating and turning actions by driving the second driving shaft;
the transmission mechanism comprises a rectangular spring, wherein the rectangular spring comprises an upper rectangular spring and a lower rectangular spring, and a circular gasket is arranged between the upper rectangular spring and the lower rectangular spring; the upper end of the rectangular spring is compressed downwards through an upper mounting plate, the lower end of the rectangular spring is compressed upwards through a second driving shaft, and the upper mounting plate is fixedly connected with the lower mounting plate;
the rectangular spring is externally sleeved with a linear bearing shaft, the lower end of the linear bearing shaft is fixedly connected with a bearing seat supporting plate, and the upper end of the bearing seat supporting plate is connected with a main mounting plate; the linear bearing shaft is sleeved with a linear rotating bushing bearing, the linear rotating bushing bearing is connected with a bearing sleeve through a shaft collar, the lower end of the bearing sleeve is fixedly connected with a main mounting plate, the upper end of the linear bearing shaft is fixedly connected with a pressing plate, the upper end of the linear bearing shaft is of a stepped structure, and the pressing plate is mounted on the stepped structure and is fixed through a circular retaining nut; the pressing plate is used for converting the rotation of the lifting wheel into the up-and-down movement of the linear bearing shaft, and then drives the driving mechanism to move up and down through the bearing sleeve and the main mounting plate.
2. The magnetically guided AGV drive unit of claim 1, wherein the lift motor is fixedly connected to a lift motor mounting plate, and wherein the lift motor mounting plate is fixedly connected to the lower mounting plate.
3. The magnetically guided AGV drive unit according to claim 1, wherein the lift wheel includes a cam follower disposed below the platen for moving the platen up and down.
4. The magnetically guided AGV drive unit according to claim 1, wherein the inner sides of the two ends of the second drive shaft are connected to the driven sprocket through bearings, the outer sides of the second drive shaft are connected to the drive wheel through bearings and fastening bolts, and the driven sprocket is driven to rotate by the drive motor, thereby driving the second drive shaft to rotate.
5. The magnetically guided AGV drive unit according to claim 1, wherein the front and rear sides of the main mounting plate are fixedly connected with a first navigation mounting plate and a second navigation mounting plate, respectively.
6. The magnetically guided AGV drive unit according to claim 1, wherein the main mounting plate is fixedly connected with a positioning member.
7. A magnetically guided AGV comprising a magnetically guided AGV drive unit according to any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810939998.XA CN109029428B (en) | 2018-08-17 | 2018-08-17 | Magnetic navigation AGV drive unit and AGV car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810939998.XA CN109029428B (en) | 2018-08-17 | 2018-08-17 | Magnetic navigation AGV drive unit and AGV car |
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| Publication Number | Publication Date |
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| CN109029428A CN109029428A (en) | 2018-12-18 |
| CN109029428B true CN109029428B (en) | 2024-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810939998.XA Active CN109029428B (en) | 2018-08-17 | 2018-08-17 | Magnetic navigation AGV drive unit and AGV car |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332935A (en) * | 2019-05-22 | 2019-10-15 | 南通大学 | A kind of AGV system paths planning method based on improved adaptive GA-IAGA |
| CN110550124A (en) * | 2019-09-05 | 2019-12-10 | 珠海格力智能装备有限公司 | Transport mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206644888U (en) * | 2017-03-16 | 2017-11-17 | 广州林茨机电科技有限公司 | One-way single-drive submarine AGV based on magnetic navigation |
| WO2018072712A1 (en) * | 2016-10-21 | 2018-04-26 | 北京京东尚科信息技术有限公司 | Agv transport vehicle and control method therefor |
| CN107985448A (en) * | 2017-12-04 | 2018-05-04 | 苏州艾吉威机器人有限公司 | A kind of AGV driving hoisting mechanisms and AGV trolleies |
| CN208621075U (en) * | 2018-08-17 | 2019-03-19 | 山东爱普电气设备有限公司 | A kind of magnetic navigation AGV driving unit and AGV vehicle |
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- 2018-08-17 CN CN201810939998.XA patent/CN109029428B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018072712A1 (en) * | 2016-10-21 | 2018-04-26 | 北京京东尚科信息技术有限公司 | Agv transport vehicle and control method therefor |
| CN206644888U (en) * | 2017-03-16 | 2017-11-17 | 广州林茨机电科技有限公司 | One-way single-drive submarine AGV based on magnetic navigation |
| CN107985448A (en) * | 2017-12-04 | 2018-05-04 | 苏州艾吉威机器人有限公司 | A kind of AGV driving hoisting mechanisms and AGV trolleies |
| CN208621075U (en) * | 2018-08-17 | 2019-03-19 | 山东爱普电气设备有限公司 | A kind of magnetic navigation AGV driving unit and AGV vehicle |
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