CN109515555A - A kind of drum-type automated guided vehicle - Google Patents

A kind of drum-type automated guided vehicle Download PDF

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Publication number
CN109515555A
CN109515555A CN201811606738.7A CN201811606738A CN109515555A CN 109515555 A CN109515555 A CN 109515555A CN 201811606738 A CN201811606738 A CN 201811606738A CN 109515555 A CN109515555 A CN 109515555A
Authority
CN
China
Prior art keywords
roller
vehicle ontology
drum
connect
automated guided
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
Application number
CN201811606738.7A
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Chinese (zh)
Inventor
胡松
徐俊
曹雏清
高云峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhu Hit Robot Technology Research Institute Co Ltd
Original Assignee
Wuhu Hit Robot Technology Research Institute Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wuhu Hit Robot Technology Research Institute Co Ltd filed Critical Wuhu Hit Robot Technology Research Institute Co Ltd
Priority to CN201811606738.7A priority Critical patent/CN109515555A/en
Publication of CN109515555A publication Critical patent/CN109515555A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/14Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only

Abstract

The invention discloses a kind of drum-type automated guided vehicles, including vehicle ontology, cylinder mechanism, car body driving mechanism, the cylinder mechanism is arranged on vehicle ontology, the car body driving mechanism setting is placed in vehicle ontology below cylinder mechanism, and the front end of the vehicle ontology is equipped with anticollision mechanism.The present invention using the above structure, has the advantage that the 1, present invention is hung using a kind of hinge type, reduces vehicle height, and driving wheel and the adhesive force on ground are adjustable;2, the present invention drags driven roller with motorized roller, saves the structure space of roller driving unit, and its power performance fully meets the use of the underloading industry such as 3C;3, the configuration of the present invention is simple, bearing capacity are stronger, and install, is easy to maintain, overcome the technological deficiency in the space existing roller AGV, energy dissipation.

Description

A kind of drum-type automated guided vehicle
Technical field
The present invention relates to automated guided vehicle technical field, in particular to a kind of drum-type automated guided vehicle.
Background technique
AGV is the abbreviation of automated guided vehicle, i.e., can be along regulation equipped with homing guidances devices such as electromagnetism or photoelectricity Guide path automatic running, have programming and mode selector, safeguard protection and various transfer functions transfer robot. AGV has the characteristics that high degree of automation, safe and flexible.
In recent years, with the development of the society, the raising of labor cost, factories in China start towards material flows automation, stand The development of body warehouse field, therefore the demand of roller AGV increasingly increases.But existing market roller AGV, structure is complicated, the scope of application It is narrow, it at 3C industrial application end, is limited by logistics space in factory, the larger AGV of volume can not often be put to good use, while carry the weight of object Also relatively lighter, it be easy to cause wasting one's talent on a petty job for AGV.
The Chinese patent of application number 201720988534.9 discloses a kind of " omni-directional wheel roller bears type AGV ", can realize The Omni-mobile of AGV, but its structure is complex, and size is larger, is not suitable for 3C industry, while its single wheel damping modes for using, Fixed four-wheel mounting means is adjusted in three wheels, ground complexity in the case where, it is difficult to ensure that four wheel have with ground it is good Good adhesive force, i.e. individual wheels skid, and increase control difficulty;The Chinese patent of application number 201621412606.7 discloses one kind " drum-type AGV device " realizes easily handling goods, reduces labor intensity, but its structure is complex, useless volumetric spaces More, 3C industry is not applicable;The Chinese patent of application number 201621164080.5 discloses a kind of " double equipped with roller docking platform To AGV ", by being arranged car body driving mechanism in headstock, to reduce the body height of roller docking platform, but its car body Outer dimension is big, if being used in 3C industry, space waste is serious, i.e., not applicable.
Summary of the invention
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide kind of a drum-type homing guidance fortune Defeated vehicle, to achieve the purpose that compact-sized, saving space, adjustable driving wheel and traction.
In order to solve the above technical problems, the technical scheme is that a kind of drum-type automated guided vehicle, including vehicle Ontology, cylinder mechanism, car body driving mechanism, the cylinder mechanism are arranged on vehicle ontology, and the car body driving mechanism is set It sets and is placed in vehicle ontology below cylinder mechanism, the front end of the vehicle ontology is equipped with anticollision mechanism.
The cylinder mechanism includes pedestal, multiple rollers, the roller cage that pedestal both ends are arranged in, is arranged in roller Roller leading truck above support frame, the bracket cover sheet being arranged in above roller leading truck, described roller one end and bottom The roller cage connection of seat one end, the roller other end connect with another roller cage of the pedestal other end, set between roller There is gap.
The car body driving mechanism includes driving wheel, driving motor, motor mounting rack, upper ear seat, lower ear base, guiding Axis, pressing plate, compressed spring, the lower ear base are connect with vehicle ontology, the upper ear seat be arranged in the top of lower ear base and with Lower ear base is hinged, and the motor mounting rack is connect with driving motor, and one end of motor mounting rack is connect with upper ear seat, motor peace The other end shelved is adjustable side, is socketed on the guiding axis, the adjustable side of motor mounting rack is arranged in the pressing plate Top, the pressing plate is socketed on guiding axis, and the compressed spring is socketed on guiding axis, and compressed spring one end with The adjustable side of pressing plate connection, the compressed spring other end and motor mounting rack connects, and the guiding axis lower part is connect with vehicle ontology, The top of guiding axis is connect by screw thread pair with adjusting nut, and the adjusting nut is pressed on the pressing plate, the driving Wheel is connect with driving motor output shaft.
The car body driving mechanism is two, is symmetricly set in vehicle ontology.
The anticollision mechanism includes the anticollision strip that vehicle ontology front end end wall lower part is arranged in, is arranged in above anticollision strip Avoidance laser radar.
Distribution table is equipped with driven wheel in the bottom four corners of the vehicle ontology.
The vehicle ontology front end is equipped with end wall, and the end wall back is equipped with back shroud.
The end wall of the front end of the vehicle ontology is equipped with status lamp, control button, antenna, display screen.
The side wall of the vehicle ontology is equipped with loudspeaker, and the tail end of the vehicle ontology is equipped with battery module.
The present invention using the above structure, has the advantage that the 1, present invention is hung using a kind of hinge type, it is high to reduce vehicle Degree, and driving wheel and the adhesive force on ground are adjustable;2, the present invention drags driven roller with motorized roller, saves roller driving unit Structure space, and its power performance fully meet 3C etc. underloading industry use;3, the configuration of the present invention is simple, bearing capacity compared with By force, it and installs, is easy to maintain, overcoming the technological deficiency in the space existing roller AGV, energy dissipation.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments;
Fig. 1 is the structural diagram of the present invention;
Fig. 2 is that car body driving mechanism is arranged in the intrinsic structural schematic diagram of vehicle in the present invention;
Fig. 3 is the structural schematic diagram of car body driving mechanism in the present invention;
Fig. 4 is the structural schematic diagram of cylinder mechanism in the present invention;
In FIG. 1 to FIG. 4,1, Che Benti, 11, anticollision strip, 12, avoidance laser radar, 13, status lamp, 14, loudspeaker, 15, back shroud, 2, cylinder mechanism, 21, pedestal, 22, roller cage, 23, roller leading truck, 24, bracket cover sheet, 25, Roller, 3, car body driving mechanism, 31, driving wheel, 32, driving motor, 33, motor mounting rack, 34, upper ear seat, 35, lower ear base, 36, guiding axis, 37, pressing plate, 38, compressed spring, 39, adjustable side, 4, driven wheel, 5, battery module.
Specific embodiment
A kind of drum-type automated guided vehicle (AGV) as shown in Figure 1 to 4, including vehicle ontology 1, cylinder mechanism 2, vehicle Body driving mechanism 3, cylinder mechanism 2 are arranged on vehicle ontology 1, and the setting of car body driving mechanism 3 is placed in vehicle below cylinder mechanism 2 In ontology 1, the front end of Che Benti 1 is equipped with anticollision mechanism.The present invention is Miniature roll formula automated guided vehicle.
Cylinder mechanism 2 exists including pedestal 21, multiple rollers 25, the roller cage 22 that 21 both ends of pedestal are arranged in, setting The roller leading truck 23 of 22 top of roller cage, the bracket cover sheet 24 that 23 top of roller leading truck is set, roller 25 One end is connect with the roller cage 22 of 21 one end of pedestal, another roller cage of 25 other end of roller and 21 other end of pedestal 22 connect, and gap is equipped between roller 25.Roller 25 can according to the size and weight of cargo, carry out cylinder number, power etc. into Row type selecting, roller 25 are used for the transport of AGV interface object.Pedestal 21 is formed by square tube and iron sheet welding.Roller cage 22 It plays a supportive role to roller 25.Roller leading truck 23 play the guiding role to freight disengaging.Bracket cover sheet 24 is used for Protect the electric elements such as roller route and optoelectronic switch.
Car body driving mechanism 3 include driving wheel 31, driving motor 32, motor mounting rack 33, upper ear seat 34, lower ear base 35, Guiding axis 36, pressing plate 37, compressed spring 38, lower ear base 35 are connect with vehicle ontology 1, and the top of lower ear base 35 is arranged in upper ear seat 34 And it is hinged with lower ear base 35, motor mounting rack 33 is connect with driving motor 32, and one end of motor mounting rack 33 and upper ear seat 34 connect It connects, the other end of motor mounting rack 33 is adjustable side 39, is socketed on guiding axis 36, motor mounting rack 33 is arranged in pressing plate 37 The top of adjustable side 39, pressing plate 37 are socketed on guiding axis 36, and compressed spring 38 is socketed on guiding axis 36, and compressed spring 38 One end is connect with pressing plate 37, and 38 other end of compressed spring is connect with the adjustable side 39 of motor mounting rack 33,36 lower part of guiding axis with Vehicle ontology 1 connects, and the top of guiding axis 36 is connect by screw thread pair with adjusting nut, and adjusting nut is pressed on pressing plate 37, driving Wheel 31 exports axis connection with driving motor 32.The decrement of compressed spring 38 can be by guiding axis 36, adjusting nut and pressing plate 37 1 With adjusting, for increaseing or decreasing the pressure downward to motor mounting rack 33, and then driving wheel 31 and ground are increasedd or decreased Adhesive force;Driving wheel 31 is consolidated by key and jackscrew and 32 output shaft of driving motor.
Contain a motorized roller in multiple rollers 25, is connected by V-ribbed belt and drive other drum movements.Car body driving Mechanism 3 is two, is symmetricly set in vehicle ontology 1.Anticollision mechanism includes the anticollision strip that 1 front end end wall lower part of vehicle ontology is arranged in 11, the avoidance laser radar 12 of 11 top of anticollision strip is set.Anticollision strip 11 is used to carry out secondary protection, avoidance laser to car body Radar 12 is used to carry out first time protection, fast response time to car body.Distribution table is equipped with driven wheel in the bottom four corners of vehicle ontology 1 4.1 front end of vehicle ontology is equipped with end wall, and end wall back is equipped with back shroud 15, plays detachable maintenance dustproof effect.The front end of vehicle ontology 1 End wall be equipped with status lamp 13, control button, antenna, display screen, for show AGV operating status, publication control instruction, connect Collection of letters number etc..The side wall of vehicle ontology 1 is equipped with loudspeaker 14, and the tail end of Che Benti 1 is equipped with battery module 5, by bolt to it It is constrained, for providing energy to AGV.
In the use of the present invention, adjusting the compressed spring in car body driving mechanism 3 according to the weight of entire AGV and load 38, so that car body driving mechanism 3 is met requirement, connects electric wiring and debugged software, so that route of the AGV along planning Each website is advanced to, cargo is carried out with each website and docks, complete work.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way Limitation, as long as using the various improvement that technical solution of the present invention carries out, or not improved directly apply to other occasions , it is within the scope of the present invention.

Claims (9)

1. a kind of drum-type automated guided vehicle, it is characterised in that: including vehicle ontology, cylinder mechanism, car body driving mechanism, institute The cylinder mechanism stated is arranged on vehicle ontology, and the car body driving mechanism setting is placed in vehicle ontology below cylinder mechanism Interior, the front end of the vehicle ontology is equipped with anticollision mechanism.
2. a kind of drum-type automated guided vehicle according to claim 1, it is characterised in that: the cylinder mechanism packet Include pedestal, multiple rollers, the roller cage that pedestal both ends are set, the roller leading truck being arranged in above roller cage, Bracket cover sheet above roller leading truck is set, described roller one end is connect with the roller cage of pedestal one end, The roller other end is connect with another roller cage of the pedestal other end, and gap is equipped between roller.
3. a kind of drum-type automated guided vehicle according to claim 1 or 2, it is characterised in that: the car body drives Motivation structure includes driving wheel, driving motor, motor mounting rack, upper ear seat, lower ear base, guiding axis, pressing plate, compressed spring, described Lower ear base connect with vehicle ontology, the top of lower ear base is arranged in and motor hinged with lower ear base, described in the upper ear seat Mounting rack is connect with driving motor, and one end of motor mounting rack is connect with upper ear seat, and the other end of motor mounting rack is adjustable side, It is socketed on the guiding axis, the top of the adjustable side of motor mounting rack, the pressing plate socket is arranged in the pressing plate On guiding axis, the compressed spring is socketed on guiding axis, and compressed spring one end is connect with pressing plate, and compressed spring is another End is connect with the adjustable side of motor mounting rack, and the guiding axis lower part is connect with vehicle ontology, and the top of guiding axis passes through screw thread Pair is connect with adjusting nut, and the adjusting nut is pressed on the pressing plate, and the driving wheel and driving motor output shaft connect It connects.
4. a kind of drum-type automated guided vehicle according to claim 3, it is characterised in that: the car body driving machine Structure is two, is symmetricly set in vehicle ontology.
5. a kind of drum-type automated guided vehicle according to claim 1, it is characterised in that: the anticollision mechanism packet Include the anticollision strip that vehicle ontology front end end wall lower part is set, the avoidance laser radar being arranged in above anticollision strip.
6. a kind of drum-type automated guided vehicle according to claim 1, it is characterised in that: the bottom of the vehicle ontology Distribution table is equipped with driven wheel on portion quadrangle.
7. a kind of drum-type automated guided vehicle according to claim 1, it is characterised in that: the vehicle ontology front end Equipped with end wall, the end wall back is equipped with back shroud.
8. a kind of drum-type automated guided vehicle according to claim 1, it is characterised in that: before the vehicle ontology The end wall at end is equipped with status lamp, control button, antenna, display screen.
9. a kind of drum-type automated guided vehicle according to claim 1, it is characterised in that: the side of the vehicle ontology Wall is equipped with loudspeaker, and the tail end of the vehicle ontology is equipped with battery module.
CN201811606738.7A 2018-12-27 2018-12-27 A kind of drum-type automated guided vehicle Pending CN109515555A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811606738.7A CN109515555A (en) 2018-12-27 2018-12-27 A kind of drum-type automated guided vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811606738.7A CN109515555A (en) 2018-12-27 2018-12-27 A kind of drum-type automated guided vehicle

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Publication Number Publication Date
CN109515555A true CN109515555A (en) 2019-03-26

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111348123A (en) * 2020-03-20 2020-06-30 长安大学 Indoor navigation mobile robot
CN111959641A (en) * 2020-09-09 2020-11-20 山东大学 Waterproof automatic guiding transport vehicle and working method
CN113548355A (en) * 2021-06-30 2021-10-26 孙仕轩 Intelligent warehousing robot for commodity circulation

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120006609A1 (en) * 2009-12-29 2012-01-12 Fori Automation, Inc. Drive mechanism for automated guided vehicle
JP2014091369A (en) * 2012-11-01 2014-05-19 Toyota Motor Corp Assembly transport apparatus
CN105966818A (en) * 2016-07-06 2016-09-28 天津市山石机器人有限责任公司 Embedded automated guided vehicle
CN206203291U (en) * 2016-11-01 2017-05-31 广东嘉腾机器人自动化有限公司 A kind of two-way AGV for being provided with roller docking platform
CN206384066U (en) * 2017-01-03 2017-08-08 东莞市远见自动化科技有限公司 A kind of integrated A GV dollies
CN207089491U (en) * 2017-08-09 2018-03-13 东莞市瑞鹏机器人自动化有限公司 A kind of omni-directional wheel roller bears type AGV

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120006609A1 (en) * 2009-12-29 2012-01-12 Fori Automation, Inc. Drive mechanism for automated guided vehicle
JP2014091369A (en) * 2012-11-01 2014-05-19 Toyota Motor Corp Assembly transport apparatus
CN105966818A (en) * 2016-07-06 2016-09-28 天津市山石机器人有限责任公司 Embedded automated guided vehicle
CN206203291U (en) * 2016-11-01 2017-05-31 广东嘉腾机器人自动化有限公司 A kind of two-way AGV for being provided with roller docking platform
CN206384066U (en) * 2017-01-03 2017-08-08 东莞市远见自动化科技有限公司 A kind of integrated A GV dollies
CN207089491U (en) * 2017-08-09 2018-03-13 东莞市瑞鹏机器人自动化有限公司 A kind of omni-directional wheel roller bears type AGV

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111348123A (en) * 2020-03-20 2020-06-30 长安大学 Indoor navigation mobile robot
CN111959641A (en) * 2020-09-09 2020-11-20 山东大学 Waterproof automatic guiding transport vehicle and working method
CN113548355A (en) * 2021-06-30 2021-10-26 孙仕轩 Intelligent warehousing robot for commodity circulation

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Application publication date: 20190326

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