CN109292681A - A kind of novel driving structure - Google Patents
A kind of novel driving structure Download PDFInfo
- Publication number
- CN109292681A CN109292681A CN201811066663.8A CN201811066663A CN109292681A CN 109292681 A CN109292681 A CN 109292681A CN 201811066663 A CN201811066663 A CN 201811066663A CN 109292681 A CN109292681 A CN 109292681A
- Authority
- CN
- China
- Prior art keywords
- push rod
- driving
- mounting
- swinging
- agv
- 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.)
- Pending
Links
- 230000001360 synchronised effect Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 15
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
Abstract
Novel driving structure disclosed by the invention, including mounting bracket, swinging mounting, driving mechanism and driving device, for driving device for driving driving structure to advance, swinging mounting is equipped with synchronization structure；There are two swinging mounting is set, two swinging mountings hingedly and between two swinging mountings by synchronization structure are connect with the both ends of mounting bracket respectively, two swinging mountings are respectively equipped with driving device, driving mechanism is used for driving, and wherein a swinging mounting is rotated relative to mounting bracket, while rotates another swinging mounting by the drive synchronous backward of synchronization structure.Compared with prior art, using the AGV of two novel driving structures of the invention, the driving device that the two sides AGV driving structure is controlled in such a way that driving mechanism cooperates synchronization structure is rotated in symmetry direction synchronous backward, so that AGV not only has straight trip and traverse moving function, it can also realize to rotate in place and be lifted with low clearance, structure is simple, and manufacturing cost is low.
Description
Technical field
The invention belongs to operations and technical field of transportation, and in particular to a kind of novel driving structure.
Background technique
Usually each side a driving wheel is fixedly mounted on above chassis traditional AGV differential driving structure, though
Right structure is simple, but since the mounting bracket of driving wheel is fixedly mounted on chassis, and driving can only be toward before single direction
It into retrogressing, can not accomplish to be provided simultaneously with straight trip and traverse moving function therefore, have the agv of traversing requirement that can only use Twin Rudders at present
Wheel cooperation universal wheel or realized using the structure of four Mecanum wheels, however, using four Mecanum wheel drives
Cost and the expense of maintenance be it is highest, followed by by the way of Twin Rudders wheel drive, and steering wheel is integrated with steering engine and driving
Wheel, so that its whole height is higher, it is that cannot achieve low clearance lifting using the AGV that steering wheel drives, to the user of AGV industry
It makes troubles.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of novel driving structure applied on AGV,
AGV is set to realize low clearance lifting, and the novel driving structure structure is simple, at low cost.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of novel driving structure, including mounting bracket, swinging mounting, driving mechanism and driving device, the driving dress
It sets for driving the driving structure to advance, the swinging mounting is equipped with synchronization structure；There are two the swinging mounting is set, two
The swinging mounting hingedly and between two swinging mountings passes through the synchronous knot with the both ends of the mounting bracket respectively
Structure connection, two swinging mountings are respectively equipped with driving device, and wherein a swinging mounting is opposite for driving for the driving mechanism
Mounting bracket rotation, while rotate another swinging mounting by the drive synchronous backward of the synchronization structure.
Compared with prior art, using the AGV of two novel driving structures of the invention, cooperated using driving mechanism and synchronized
The driving device that the mode of structure controls the two sides AGV driving structure is rotated in symmetry direction synchronous backward, so that AGV not only has
Straight trip and traverse moving function, can also realize rotate in place with low clearance lift, structure is simple, and manufacturing cost is low.
Preferably, the synchronization structure is two transmission fluted discs, and the transmission fluted disc is respectively arranged on two swinging mountings, described
The gear teeth intermeshing of two transmission fluted discs；In such a way that two transmission fluted disc synchronous backward rotations change driving device steering,
It is high that structure is simple, driving device turns to precision.
Alternatively, the synchronization mechanism includes revolving meber and two connecting rods, the revolving meber is rotatably arranged in mounting bracket
On, the both ends of the revolving meber are hinged with one end of two connecting rods respectively, the other end of two connecting rods respectively with it is corresponding
Swinging mounting is hinged；Two connecting rods are cooperated to drive the rotation of two driving device synchronous backwards using revolving meber, structure is simple, driving dress
It sets and turns to precision height.
Preferably, the driving mechanism is the first push rod, and the cylinder body of first push rod and the mounting bracket are hinged, the
The telescopic rod of one push rod and a wherein swinging mounting are hinged；Alternatively, the cylinder body of the first push rod and a wherein swinging mounting are hinged, the
The telescopic rod of one push rod and mounting bracket are hinged；It is arranged in this way, steering engine change in the prior art is replaced using pusher structure
Driving device turns to, and structure is simpler, at low cost.
Preferably, first push rod is air-leg or hydraulic push rod or electric pushrod, first push rod are preferably
Air-leg, it is at low cost.
It preferably, further include lifting mechanism, the lifting mechanism includes the second push rod and rocking bar, and second push rod is stretched
One end of outlet and rocking bar is hinged with mounting bracket respectively, the other end of the fixing end of second push rod and rocking bar be used for
The tray bottom of AGV is hinged, and the straight reciprocating motion of second push rod can be changed between the chassis AGV and mounting bracket
Distance；It is arranged in this way, the driving structure is made to have lifting function, it is easy to use.
Preferably, second push rod is set to the top of the rocking bar, and the length of second push rod is less than the rocking bar
Length, alternatively, second push rod is arranged in the lower section of the rocking bar, the length of second push rod is greater than the rocking bar
Length；It is arranged in this way, the lifting or decline on chassis is controlled by the way of link mechanism linkage, lifting is stablized.
Preferably, the lifting mechanism further includes mounting plate, the fixing end of second push rod and the other end point of rocking bar
Not hingedly on a mounting board, the mounting plate is set to AGV tray bottom；It is arranged in this way, facilitates the driving structure and AGV
Assembly between chassis, other connection structures that no setting is required on the chassis, can be with peace by processing mounting holes fit connection
Loading board completes assembly.
Preferably, there are two the rocking bar is set, the two sides of second push rod are located at；It is arranged in this way, makes
It is triangularly arranged between two push rods and two rocking bars, structure is more firm.
Preferably, the cylinder body of the second push rod and the mounting bracket are hinged, and the telescopic rod and mounting plate of the second push rod are hinged；
Alternatively, the cylinder body of the second push rod and the mounting plate are hinged, the telescopic rod and mounting bracket of the second push rod are hinged；Described second pushes away
Bar is air-leg or hydraulic push rod or electric pushrod；Driving motor lifting in the prior art is replaced using pusher structure driving
Mode, cost are lower.
Preferably, further include level detection device and control module, level detection device and the second push rod respectively with it is described
Control module connection, the level detection device is for detecting inclination angle of the chassis AGV relative to horizontal position, the control mould
The stroke that root tuber is stretched out according to the second push rod of inclination angle state modulator that level detection device is fed back is so that the chassis AGV and place ground
Keep balance；It is arranged in this way, allows to keep using the AGV adaptive inclined-plane adjustment chassis of two driving structures of the present invention
Horizontality avoids cargo from toppling over, using reliable.
Detailed description of the invention
Fig. 1 is the schematic diagram using the AGV of the novel driving structure of the present invention；
Fig. 2 is the schematic diagram using the AGV reset condition of the novel driving structure of the present invention；
Fig. 3 is the schematic diagram using the AGV lifting state of the novel driving structure of the present invention；
Fig. 4 is the bottom schematic view using the novel driving structure AGV straight-going state of the present invention；
Fig. 5 is the bottom schematic view using the novel traversing state of driving structure AGV of the present invention；
Fig. 6 is the bottom schematic view that state is rotated in place using the novel driving structure AGV of the present invention；
Fig. 7 is the side view travelled on inclined-plane using the novel driving structure AGV of the present invention；
Fig. 8 is the half sectional view of Fig. 7；
Fig. 9 is the schematic diagram 1 of lifting mechanism；
Figure 10 is the schematic diagram 2 of lifting mechanism；
Figure 11 is the schematic diagram of the novel driving structure of the present invention.
Figure 12 is the schematic diagram of synchronization mechanism alternative driving mechanism straight-going state；
Figure 13 is the schematic diagram of the traversing state of synchronization mechanism alternative driving mechanism.
Specific embodiment
Below in conjunction with Detailed description of the invention technical solution of the present invention:
Referring to Fig. 1 to Figure 11, novel driving structure 2 of the invention, including mounting bracket 21, swinging mounting 24, driving machine
Structure 22 and driving device, for the driving device for driving the driving structure 2 to advance, the driving device includes driving wheel
231 and driving motor 232, the swinging mounting 24 is equipped with synchronization structure；There are two the swinging mounting 24 is set, two pendulum
Dynamic bracket 24 hingedly and between two swinging mountings 24 passes through the synchronous knot with the both ends of the mounting bracket 21 respectively
Structure connection, two swinging mountings 24 are respectively equipped with driving device, and the driving mechanism 22 is for driving a wherein swinging mounting
24 rotate relative to mounting bracket 21, while turn another swinging mounting 24 by the drive synchronous backward of the synchronization structure
It is dynamic.
Referring to fig. 4 to Fig. 6, using the AGV of two novel driving structures 2 of the invention, two driving structures 2 are distinguished
Set on the two sides on the chassis AGV 1, when AGV advances, by two sides driving mechanism 22 drive the driving direction of four driving wheels 231 with
AGV straight-line travelling is realized when AGV car body direction is parallel, when two sides driving mechanism 22 drives the driving direction of four driving wheels 231
The transverse shifting that AGV is realized when vertical with AGV car body direction, since two driving wheels 231 of same driving structure 2 are in symmetrical side
It is rotated to synchronous backward, can realize AGV when the axis for controlling 22 4 driving wheels 231 of two sides driving mechanism intersects at a point
Origin rotation.
Compared with prior art, using the AGV of two novel driving structures 2 of the invention, cooperated using driving mechanism 22
The driving wheel 231 that the mode of synchronization structure controls the two sides AGV driving structure 2 is rotated in symmetry direction synchronous backward, so that AGV is not
Only have straight trip and traverse moving function, can also realize rotate in place with low clearance lift, structure is simple, and manufacturing cost is low.
Referring to fig. 4 to Fig. 6 and Figure 11, preferably, the synchronization structure is two transmission fluted discs 3, the driving cog
Disk 3 is respectively arranged on two swinging mountings 24, the gear teeth intermeshing of the two transmissions fluted disc 3, in the present embodiment, the transmission
Fluted disc 3 is the fan-shaped transmission fluted disc 3 greater than 90 degree less than 180 degree, and the center of circle of the fan-shaped transmission fluted disc 3 is rotatably arranged in pendulum
On dynamic bracket 24；In such a way that two transmission 3 synchronous backward of fluted disc rotations change the steering of driving wheel 231, structure is simple, drives
It is high that wheel 231 turns to precision.
Referring to Figure 12 and Figure 13, as a kind of alternative of the synchronization mechanism, the synchronization mechanism includes revolving meber
41 and two connecting rods 42, the revolving meber 41 is specially rotary disk, and the rotary disk is rotatably arranged in installation by bearing and props up
On frame 21, the both ends of the revolving meber 41 are hinged with one end of two connecting rods 42 respectively, the other end point of two connecting rods 42
It is not hinged with corresponding swinging mounting 24, it is preferred that two connecting rods 42 are arranged on non-same straight line；The driving mechanism 22
Driving wherein a swinging mounting 24 with respect to mounting bracket 21 rotate when, connect with the swinging mounting 24 connecting rod 42 promotion rotary disk
Rotation, while rotary disk pulls another 24 reverse sync of swinging mounting to rotate by another connecting rod 42；It is arranged in this way, uses
Revolving meber 41 cooperates two connecting rods 42 to drive the rotation of two driving device synchronous backwards, and structure is simple, and it is high that driving device turns to precision.
Referring to fig. 4 to Fig. 6 and Figure 11, preferably, the swinging mounting 24 includes first be arranged in a mutually vertical manner
Mounting portion 241 and the second mounting portion 242, the driving wheel 231 and driving motor 232 are mounted on the first mounting portion 241, described
The end of second mounting portion 242 is rotatably connected to the end of mounting bracket 21 by shaft, the fan-shaped transmission fluted disc 3
The center of circle is installed in rotation on the end of the second mounting portion 242, the swinging mounting 24, mounting bracket 21 and transmission by shaft
3 three of fluted disc coaxial arrangement；It is arranged in this way, makes the compact overall structure of driving structure 2, takes up space less.
Preferably, the driving mechanism 22 is the first push rod 25, the end of 25 cylinder body of the first push rod and the peace
It is hinged to fill bracket 21, the end of 25 telescopic rod of the first push rod and a wherein swinging mounting 24 are hinged, stretch out when driving mechanism 22
When, swinging mounting 24 will be rotated along the hinge joint of itself and mounting bracket 21；Replaced in the prior art using pusher structure
Steering engine changes driving wheel 231 and turns to, and structure is simpler, at low cost.
Alternatively, the cylinder body of the first push rod 25 and a wherein swinging mounting 24 are hinged, the telescopic rod of the first push rod 25 and installation
Bracket 21 is hinged.
A kind of embodiment (not shown) of driving mechanism 22, the driving mechanism 22 is clockwise and anticlockwise motor, described
The output end of clockwise and anticlockwise motor is sequentially connected with a wherein swinging mounting 24, realizes that two swing by the positive and negative rotation of clockwise and anticlockwise motor
Bracket 24 is rotated in symmetry direction synchronous backward.
Preferably, first push rod 25 is that air-leg or hydraulic push rod or electric pushrod, the push rod are excellent
It is selected as air-leg, it is at low cost.
Further include preferably referring to fig. 4 lifting mechanism to Figure 11, the lifting mechanism include the second push rod and
Rocking bar 26, the extension end of second push rod and one end of rocking bar 26 are hinged with mounting bracket 21 respectively, second push rod
For hinged with 1 bottom of chassis of AGV, the straight reciprocating motion of second push rod can change the other end of fixing end and rocking bar 26
Become the distance between the chassis AGV 1 and mounting bracket 21；It is arranged in this way, the driving structure 2 is made to have lifting function
Can, it is easy to use.
Further, the lifting mechanism further includes mounting plate 27, the fixing end of second push rod and rocking bar 26 it is another
One end is respectively hinged on mounting plate 27, and the mounting plate 27 is set to 1 bottom of the chassis AGV, and the mounting bracket 21, second push away
Bar, mounting plate 27 and rocking bar 26 constitute four-bar mechanism, realize peace by the extended or retracted linkage four-bar mechanism of the second push rod
Decline or lifting of the loading board 27 to 1 bottom of the chassis AGV；It is arranged in this way, facilitates between the driving structure 2 and the chassis AGV 1
Assembly, other connection structures that no setting is required on the chassis 1 can be complete with mounting plate 27 by processing mounting holes fit connection
At assembly.
Preferably, second push rod is set to the top (upside of such as Fig. 8) of the rocking bar 26, and described second pushes away
The length of bar is less than the length of the rocking bar 26, there are two the rocking bar 26 is set, is located at the two sides of second push rod；It is logical
It crosses in this way, making to be triangularly arranged between the second push rod and two rocking bars 26, structure is more firm.
Or the lower section of the rocking bar 26, the length of second push rod is arranged in (not shown), second push rod
Degree is greater than the length of the rocking bar 26.
Preferably, the cylinder body of second push rod and the mounting bracket 21 are hinged, the telescopic rod of the second push rod
It is hinged with mounting plate 27；Alternatively, the cylinder body of the second push rod and the mounting plate 27 are hinged, the telescopic rod and installation branch of the second push rod
Frame 21 is hinged；Second push rod is air-leg or hydraulic push rod or electric pushrod, preferably electric pushrod, easy for installation；
In such a way that pusher structure driving replaces high-power driving motor lifting in the prior art, cost is lower.
Preferably (not shown) further includes level detection device and control module, the control module tool
Body is plc, and the control module and level detection device are preferably disposed on chassis 1, level detection device and the second push rod difference
It is connect with the control module, the level detection device is for detecting inclination angle of the chassis AGV 1 relative to horizontal position, institute
The stroke for the second push rod of inclination angle state modulator stretching that control module is fed back according to level detection device is stated so that the chassis AGV 1
Corresponding side and place ground keep balancing；Be arranged in this way, allow using two driving structures 2 of the present invention AGV oneself
It adapts to inclined-plane adjustment chassis 1 and keeps horizontality, avoid cargo from toppling over, using reliable.
Referring to fig. 2, Fig. 3 and Fig. 7 to Figure 11, using the AGV of two novel driving structures of the invention, two drivings
Structure is respectively arranged on the two sides on the chassis AGV, and two driving structures share a control module and level detection device, and described two drive
The driving mechanism 22 and driving motor 232 of dynamic structure 2 are electrically connected with the control module respectively.The driving structure lifts AGV
When lifting chassis 1, the driving direction of four driving wheels 231 is parallel with the line direction of two driving structures 2, the second push rod of two sides 25
Storage cooperation two sides driving structure 2 driving wheel 231 draw close inwardly linkage rocking bar 26 realize chassis 1 lifting, chassis 1 lift
It does work simultaneously during rising by the second push rod 25 and driving wheel 231, lifting is stablized.Driving wheel 231 before driving AGV in addition to carrying out
Outside the effect sailed, also has the function of the lifting of rocking bar 26 chassis 1 of linking, driving wheel 231 working method multiplicity, structure design is ingeniously
It is wonderful；Compared to conventionally employed motor-driven mode, the lifting structures cost that the present invention designs is lower, clever structure.
1 horizontality of chassis is kept on inclined-plane in addition, also having using the AGV of two novel driving structures of the invention
Function, specifically: for AGV during ground is excessively travelled to inclined-plane, level detection device can detecte more chassis 1, and it is opposite
The inclination angle of horizontal plane, and the row that feedback information is stretched out to control module by the second push rod 25 of control two sides driving structure 2
The height official post chassis 1 that path difference and the cooperation linkage rocking bar 26 of driving wheel 231 lift keeps horizontality, prevents 1 loading of chassis
Topple over, using reliable.
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and is modified.Therefore, the invention is not limited to the specific embodiments disclosed and described above, to of the invention
Some modifications and changes should also be as falling into the scope of the claims of the present invention.In addition, although being used in this specification
Some specific terms, these terms are merely for convenience of description, does not limit the present invention in any way.
Claims (10)
1. a kind of novel driving structure, it is characterised in that: including mounting bracket, swinging mounting, driving mechanism and driving device, institute
Driving device is stated for driving the driving structure to advance, the swinging mounting is equipped with synchronization structure；The swinging mounting is set
There are two, two swinging mountings hingedly and between two swinging mountings pass through institute with the both ends of the mounting bracket respectively
Synchronization structure connection is stated, two swinging mountings are respectively equipped with driving device, and the driving mechanism wherein one is swung for driving
Bracket is rotated relative to mounting bracket, while rotates another swinging mounting by the drive synchronous backward of the synchronization structure.
2. novel driving structure according to claim 1, it is characterised in that: the synchronization structure is two transmission fluted discs, institute
It states transmission fluted disc to be respectively arranged on two swinging mountings, the gear teeth intermeshing of the two transmissions fluted disc.
3. novel driving structure according to claim 1, it is characterised in that: the synchronization mechanism includes revolving meber and two
Connecting rod, the revolving meber are rotatably arranged in mounting bracket, the both ends of revolving meber one end with two connecting rods respectively
Hingedly, the other end of two connecting rods is hinged with corresponding swinging mounting respectively.
4. novel driving structure according to any one of claims 1 to 3, it is characterised in that: the driving mechanism is first
Push rod, the cylinder body of first push rod and the mounting bracket are hinged, and the telescopic rod of the first push rod is cut with scissors with a wherein swinging mounting
It connects；
Alternatively, the cylinder body of the first push rod and a wherein swinging mounting are hinged, the telescopic rod and mounting bracket of the first push rod are hinged.
5. novel driving structure according to claim 1, it is characterised in that: it further include lifting mechanism, the lifting mechanism
Including the second push rod and rocking bar, the extension end of second push rod and one end of rocking bar are hinged with mounting bracket respectively, and described
The fixing end of two push rods and the other end of rocking bar are used for, the linear reciprocation fortune of second push rod hinged with the tray bottom of AGV
It is dynamic that the distance between the chassis AGV and mounting bracket can be changed.
6. novel driving structure according to claim 5, it is characterised in that: second push rod is set to the upper of the rocking bar
Side, the length of second push rod is less than the length of the rocking bar, alternatively, second push rod is arranged under the rocking bar
Side, the length of second push rod are greater than the length of the rocking bar.
7. novel driving structure according to claim 5, it is characterised in that: the lifting mechanism further includes mounting plate, institute
The other end of the fixing end and rocking bar of stating the second push rod is respectively articulated on a mounting board, and the mounting plate is set to AGV tray bottom.
8. according to the described in any item novel driving structures of claim 5 to 7, it is characterised in that: there are two the rocking bar is set, point
Not Wei Yu second push rod two sides.
9. novel driving structure according to claim 7, it is characterised in that: the cylinder body of the second push rod and the mounting bracket
Hingedly, the telescopic rod of the second push rod and mounting plate are hinged；
Alternatively, the cylinder body of the second push rod and the mounting plate are hinged, the telescopic rod and mounting bracket of the second push rod are hinged；
Second push rod is air-leg or hydraulic push rod or electric pushrod.
10. according to the described in any item novel driving structures of claim 5 to 7, it is characterised in that: further include level detection device
And control module, level detection device and the second push rod are connect with the control module respectively, the level detection device is used for
Inclination angle of the chassis AGV relative to horizontal position is detected, the control module is joined according to the inclination angle that level detection device is fed back
The stroke that number the second push rod of control stretches out is so that the chassis AGV and place ground keep balancing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811066663.8A CN109292681A (en) | 2018-09-13 | 2018-09-13 | A kind of novel driving structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811066663.8A CN109292681A (en) | 2018-09-13 | 2018-09-13 | A kind of novel driving structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109292681A true CN109292681A (en) | 2019-02-01 |
Family
ID=65166906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811066663.8A Pending CN109292681A (en) | 2018-09-13 | 2018-09-13 | A kind of novel driving structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109292681A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155166A (en) * | 2019-06-03 | 2019-08-23 | 衡阳市利美电瓶车制造有限责任公司 | A kind of full angle steering system |
| EP3656726A1 (en) * | 2018-11-12 | 2020-05-27 | Evocortex GmbH | Transport robot, assembly and method for manufacturing a transport robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010089554A (en) * | 2008-10-03 | 2010-04-22 | Kanto Auto Works Ltd | Omnidirectional movement vehicle |
| CN202507877U (en) * | 2012-04-07 | 2012-10-31 | 西北农林科技大学 | Steering drive axle with adjustable elevation difference |
| CN204472889U (en) * | 2015-03-04 | 2015-07-15 | 窦耀 | A kind of original place rotates and cross running car wheel structure |
| CN205095406U (en) * | 2015-11-06 | 2016-03-23 | 深圳市熙龙玩具有限公司 | What can turn to in step pulls toy car device |
| CN209291898U (en) * | 2018-09-13 | 2019-08-23 | 广东嘉腾机器人自动化有限公司 | A kind of novel driving structure |
-
2018
- 2018-09-13 CN CN201811066663.8A patent/CN109292681A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010089554A (en) * | 2008-10-03 | 2010-04-22 | Kanto Auto Works Ltd | Omnidirectional movement vehicle |
| CN202507877U (en) * | 2012-04-07 | 2012-10-31 | 西北农林科技大学 | Steering drive axle with adjustable elevation difference |
| CN204472889U (en) * | 2015-03-04 | 2015-07-15 | 窦耀 | A kind of original place rotates and cross running car wheel structure |
| CN205095406U (en) * | 2015-11-06 | 2016-03-23 | 深圳市熙龙玩具有限公司 | What can turn to in step pulls toy car device |
| CN209291898U (en) * | 2018-09-13 | 2019-08-23 | 广东嘉腾机器人自动化有限公司 | A kind of novel driving structure |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3656726A1 (en) * | 2018-11-12 | 2020-05-27 | Evocortex GmbH | Transport robot, assembly and method for manufacturing a transport robot |
| CN110155166A (en) * | 2019-06-03 | 2019-08-23 | 衡阳市利美电瓶车制造有限责任公司 | A kind of full angle steering system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207774088U (en) | Gravity landing type collecting and sending conveyer | |
| CN106495070A (en) | A kind of device of achievable table top wide-angle tilt | |
| CN107840069A (en) | Gravity landing type collecting and sending conveyer | |
| CN109292681A (en) | A kind of novel driving structure | |
| CN209159845U (en) | A kind of AGV with adaptive inclined-plane function | |
| CN209629264U (en) | A kind of infant industry deisgn product observation displaying device | |
| CN109159832A (en) | A kind of AGV with novel driving structure | |
| CN109128965A (en) | A kind of heavy turn positioner device | |
| CN209291898U (en) | A kind of novel driving structure | |
| CN209159844U (en) | A kind of AGV with novel driving structure | |
| CN206277386U (en) | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism | |
| CN208166480U (en) | Automatic guided vehicle | |
| CN202829496U (en) | Parallel four-bar lifting mechanism | |
| CN101804903A (en) | Frog leg type weight-shifting device | |
| CN205713127U (en) | The boom system of pump truck and pump truck | |
| CN206171282U (en) | Blade transfer car(buggy) facial make -up mechanism and blade transfer car(buggy) | |
| CN209319371U (en) | A kind of heavy turn positioner device | |
| CN207879849U (en) | A kind of adjustable the linear guide | |
| CN208454383U (en) | A kind of glue basin elevating mechanism | |
| CN201703495U (en) | Self tipping wagon with guide rail | |
| CN207607565U (en) | A kind of four-wheel steering universal chassis of Parameter adjustable | |
| CN112299304A (en) | Shuttle car | |
| CN205891862U (en) | Automatic access arrangement of storing storage | |
| CN205627075U (en) | Differential tricycle toy car that turns to of solar energy | |
| CN206577363U (en) | The Flat-pushing board-piling mechanism of mahjong machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |