CN109878597A - A kind of AGV trolley with accurate damping steering wheel - Google Patents
A kind of AGV trolley with accurate damping steering wheel Download PDFInfo
- Publication number
- CN109878597A CN109878597A CN201910312526.6A CN201910312526A CN109878597A CN 109878597 A CN109878597 A CN 109878597A CN 201910312526 A CN201910312526 A CN 201910312526A CN 109878597 A CN109878597 A CN 109878597A
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- steering wheel
- damping
- wheel
- frame section
- pivoting support
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- 238000013016 damping Methods 0.000 title claims abstract description 79
- 239000007787 solid Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Abstract
The present invention provides a kind of AGV trolley with accurate damping steering wheel, runs smoothly, is compact-sized, passability is strong, high degree of automation.It includes frame section, the bottom four corners of the frame section are respectively arranged with corresponding wheel, the wheel includes two sets of steering wheels, two carrying rollers, two sets of steering wheels correspond to Angle Position in the bottom that diagonal line is installed in the frame section, another cornerwise corresponding Angle Position in the bottom of the frame section is fixed with corresponding carrying roller respectively, and the inner cavity of the center body portion of the frame section is provided with lifting part；Steering wheel described in every set includes steering wheel mounting plate, steering wheel running gear, steering wheel knuckle section, steering wheel shock-damping structure, the affixed steering wheel mounting plate in the top of the steering wheel shock-damping structure, the upper surface of the affixed steering wheel knuckle section in the lower part of the steering wheel shock-damping structure, the steering wheel knuckle section are connect with the connection of the steering wheel running gear by pivoting support bearing.
Description
Technical field
The present invention relates to the technical field of AGV vehicle structure, specially a kind of AGV trolley with accurate damping steering wheel.
Background technique
AGV (Automated Guided Vehicle) automatic guide vehicle is automatic material flow transportation system and flexible system
Make the key equipment of system.With the fast development of China's science and technology, machining, automobile manufacture, electronic product assembly,
The industries such as logistics have started to widely apply AGV.
A steering wheel is arranged as power source in existing AGV trolley mostly, even if requiring relatively high application some
Occasion can see the AGV trolley for being arranged that multiple steering wheels are power source once in a while, but shock-damping structure is all spring vertical expansion structure,
Its running stability is poor, and in practical applications, applicability is also relatively poor, is not able to satisfy operation demand.
Summary of the invention
In view of the above-mentioned problems, running smoothly, tying the present invention provides a kind of AGV trolley with accurate damping steering wheel
Structure is compact, passability is strong, high degree of automation.
A kind of AGV trolley with accurate damping steering wheel, it is characterised in that: it includes frame section, the frame section
Bottom four corners be respectively arranged with corresponding wheel, the wheel includes two sets of steering wheels, two carrying rollers, and two sets of steering wheels are in
The bottom that diagonal line is installed in the frame section corresponds to Angle Position, another cornerwise corresponding angles in the bottom of the frame section
Position is fixed with corresponding carrying roller respectively, and the inner cavity of the center body portion of the frame section is provided with lifting part；Often
Covering the steering wheel includes steering wheel mounting plate, steering wheel running gear, steering wheel knuckle section, steering wheel shock-damping structure, the steering wheel
The affixed steering wheel mounting plate in the top of shock-damping structure, the upper surface of the affixed steering wheel knuckle section in the lower part of the steering wheel shock-damping structure,
The steering wheel knuckle section is connect with the connection of the steering wheel running gear by pivoting support bearing.
It is further characterized by:
The bottom front and back end center of the frame section is respectively arranged with guiding structure, and the guiding structure contains machine
Human visual system, the guiding structure are used to guide the traveling of car body；
The marginal position of one jiao of the bottom front and back end of the frame section is fixed with auxiliary universal wheel, two auxiliary ten thousand respectively
It is distributed to wheel in diagonal line；
The driving end of the steering wheel running gear is connected with movable motor, the installation section positioning of the steering wheel running gear
In on the location structure of the steering wheel supporting mechanism, the wheel least significant end of the steering wheel running gear supports machine lower than the steering wheel
The bottom supporting of the lowest part of structure, the wheel is arranged in operation face, and the upper surface of the steering wheel supporting mechanism is provided with direction
The outer gear ring engagement connection direction of adjusting tooth wheel disc, the direction adjusting tooth wheel disc adjusts input gear ring, and the direction adjusts defeated
Enter gear ring and be circumscribed with direction adjusting motor, the direction adjusting tooth wheel disc is pivoting support outer ring, the pivoting support outer ring
Inner ring is provided with pivoting support inner ring, and pivoting support outer ring, pivoting support inner ring combine to form the pivoting support bearing, described
Pivoting support inner ring lower end surface is fixed in the upper surface of the steering wheel supporting mechanism, covers and is equipped with admittedly on the pivoting support inner ring
Described to be connected and fixed plate, the upper surface of the direction adjusting tooth wheel disc is connected with revolution connection ring, the steering wheel shock-damping structure
The upper surface of the affixed revolution connection ring in lower part, the height between the steering wheel shock-damping structure adjustment wheel and steering wheel mounting plate
Distance is appropriate to buffer, it is ensured that car body is steady；
Each steering wheel shock-damping structure includes three groups of straight line arrangement dampings in three arm of angle arrangeds, Mei Gezhi
Line arrangement damping specifically includes a pair of damping spring limit plate for being installed in steering wheel mounting plate, two pieces of damping spring limits
The opposite end face of position plate is respectively and fixedly connected with the corresponding end of corresponding damping spring, and the other end of the damping spring has been respectively and fixedly connected with
One end of the linear slide block seat of corresponding position, the upper surface of the linear slide block seat are provided with linear slide block, and two pieces described linear
The upper surface of sliding block is installed in the length direction corresponding position of linear guide, and there are between activity between two pieces of linear slide blocks
Every the upper end of the linear guide is fixed in the lower end surface of the steering wheel mounting plate, the bottom pivot of each linear slide block seat
One end of corresponding damping connecting rod is connect, the other end of the damping connecting rod is pivotally connected the damping connecting rod fixing seat, and the damping connects
Bar fixing seat is installed in the upper surface of the revolution connection ring；
The connector for being pivotally connected part is specially fixed latch structure；
Entire steering wheel part is connected on the steering wheel mounting plate, and steering wheel mounting plate is integrally fastened to the frame section,
When AGV trolley passes through uneven road surface, entire steering wheel part has certain impact power, and the damping spring is flexible, described
Linear slide block moves in the linear guide, and damping connecting rod can rotate corresponding angle along the pin-jointed structure of damping connecting rod two end
Degree, the height of wheel center to the frame section of steering wheel can make small adjustment, to play the role of damping；
The lifting part passes through the lifting of the bottom plate of electric cylinder or Driven by Hydraulic Cylinder cavity or decline.
After adopting the structure of the invention, it is driven by two sets of steering wheels, car can keep straight on along any direction, and have good
Passability, can pass through in narrow space, this point is not available for AGV trolley that traditional differential mode controls；And
There are one more obvious advantages for Twin Rudders wheel drive, even if largely injustice occurs in road surface, also at least one steering wheel is
With ground face contact, entire car body will not run out of steam completely；And steering wheel has damping device can when passing through uneven road surface
Appropriate buffering, it is ensured that car body is steady, and the cargo loaded is avoided to fall；And AGV trolley has lifting part, this device is in entire object
It is of great significance in streaming system, improves the degree of automation of logistics system.
Detailed description of the invention
Fig. 1 is three-dimensional figure structure schematic representation of the invention；
Fig. 2 is the structural schematic diagram of steering wheel of the invention；
Fig. 3 is the structural schematic diagram after the removal mounting plate of steering wheel of the invention；
Fig. 4 is the main view broken section structural schematic diagram of steering wheel of the invention (being free of shock-damping structure)；
Title corresponding to serial number is as follows in figure:
Frame section 1, steering wheel 3, carrying roller 4, lifting part 2, steering wheel mounting plate 31, steering wheel running gear 32, steering wheel branch
Support structure 321, movable motor 322, wheel 323, steering wheel knuckle section 33, direction adjusting tooth wheel disc 331, direction adjust input tooth
Circle 332 is connected and fixed plate 333, pivoting support inner ring 334, direction adjusting motor 335, revolution connection ring 336, steering wheel damping knot
Structure 34, damping spring limit plate 341, damping spring 342, linear slide block seat 343, linear slide block 344, linear guide 345, damping
Connecting rod 346, damping connecting rod fixing seat 347, fixed latch structure 348, auxiliary universal wheel 5, guiding structure 6.
Specific embodiment
A kind of AGV trolley with accurate damping steering wheel, is shown in Fig. 1-Fig. 4: it includes frame section 1, the bottom of frame section
Portion quadrangle is respectively arranged with corresponding wheel, and wheel includes two sets of steering wheels, 3, two carrying rollers 4, and two sets of steering wheels 3 are solid in diagonal line
Bottom loaded on frame section 1 corresponds to Angle Position, and another cornerwise corresponding Angle Position in the bottom of frame section 1 is fixed with respectively
Corresponding carrying roller 4, the inner cavity of the center body portion of frame section 1 are provided with lifting part 2；
Every set steering wheel 3 includes steering wheel mounting plate 31, steering wheel running gear 32, steering wheel knuckle section 33, steering wheel damping
Structure 34, the affixed steering wheel mounting plate 31 in the top of steering wheel shock-damping structure 34, the affixed steering wheel in the lower part of steering wheel shock-damping structure 34 turn to
The upper surface of part 33, steering wheel running gear 32 are connect with steering wheel knuckle section 33 by pivoting support.
The bottom front and back end center of frame section 1 is respectively arranged with guiding structure 6, contains machine on guiding structure 6
Human visual system, guiding structure 6 are used to guide the traveling of car body；
The marginal position of one jiao of the bottom front and back end of frame section 1 is fixed with auxiliary universal wheel 5 respectively, and two auxiliary are universal
Wheel is distributed in diagonal line；
The driving end of steering wheel running gear 32 is connected with movable motor 322, the installation section positioning of steering wheel running gear 32
In on the location structure of steering wheel supporting mechanism 321,323 least significant end of wheel of steering wheel running gear 32 is lower than steering wheel supporting mechanism
The bottom supporting of 321 lowest part, wheel 323 is arranged in operation face, and the upper surface of steering wheel supporting mechanism 321 is provided with direction tune
Toothed disc 331 is saved, the outer gear ring engagement connection direction of direction adjusting tooth wheel disc 331 adjusts input gear ring 332, direction adjustment gear
Disk 331 is pivoting support outer ring, and pivoting support outer ring inner ring is provided with pivoting support inner ring 334, pivoting support inner ring 334
Bottom and the upper surface of steering wheel supporting mechanism 321 are directly connected to, and set is equipped with and is connected and fixed plate admittedly on pivoting support inner ring 334
333, the upper surface of direction adjusting tooth wheel disc 331 is connected with revolution connection ring 336, and direction adjusts input 332 side of being connected with of gear ring
To motor 335, the upper surface of the affixed revolution connection ring 336 in the lower part of steering wheel shock-damping structure 34 is adjusted, steering wheel shock-damping structure 34 is adjusted
Height distance between vehicle wheel 323 and steering wheel mounting plate 31 is appropriate to buffer, it is ensured that car body is steady；
Each steering wheel shock-damping structure 34 includes three groups of straight line arrangement dampings in three arm of angle arrangeds, each straight line
Arrangement damping specifically includes a pair of damping spring limit plate 341 for being installed in steering wheel mounting plate, two pieces of damping spring limits
The opposite end face of plate 341 is respectively and fixedly connected with the corresponding end of corresponding damping spring 342, and the other end of damping spring 342 is solid respectively
It is connected to one end of the linear slide block seat 343 of corresponding position, the upper surface of linear slide block seat 343 is provided with linear slide block 344, and two pieces
The upper surface of linear slide block 344 is installed in the length direction corresponding position of linear guide 345, between two pieces of linear slide blocks 344
There are active interval, the upper end of linear guide 345 is fixed in the lower end surface of steering wheel mounting plate 31, each linear slide block seat 343
Bottom is pivotally connected one end of corresponding damping connecting rod 346, and the other end of damping connecting rod 346 is pivotally connected damping connecting rod fixing seat 347, damping
Connecting rod fixing seat 347 is installed in the upper surface of revolution connection ring 336；
The connector for being pivotally connected part is specially fixed latch structure 348；
Entire steering wheel part is connected on steering wheel mounting plate 31, and steering wheel mounting plate 31 is integrally fastened to frame section 1, when
When AGV trolley passes through uneven road surface, entire steering wheel part has certain impact power, and damping spring 342 is flexible, linear slide block
344 move in linear guide 345, and damping connecting rod 346 can rotate phase by pin-jointed structure under the drive of linear take-up housing 343
The height of the angle answered, 323 center of wheel to the frame section 1 of steering wheel 3 can make small adjustment, to play the work of damping
With；
Lifting part 2 passes through the lifting of the bottom plate of electric cylinder or Driven by Hydraulic Cylinder cavity or decline.
Its advantages are as follows: car is driven by two sets of steering wheels, and car can keep straight on along any direction, and have good
Passability can pass through in narrow space, this point is not available for the AGV trolley that traditional differential mode controls；And it is double
Steering wheel driving there are one more obvious advantage, even if road surface occur it is largely uneven, also at least one steering wheel be with
Ground face contact, entire car body will not run out of steam completely；And there is steering wheel damping device can fit when passing through uneven road surface
Work as buffering, it is ensured that car body is steady, and the cargo loaded is avoided to fall；And AGV trolley has lifting part, this device is in entire logistics
It is of great significance in system, improves the degree of automation of logistics system.
Specific embodiments of the present invention are described in detail above, but content is only the preferable implementation of the invention
Example, should not be considered as limiting the invention the practical range of creation.It is all to become according to equalization made by the invention application range
Change and improve etc., it shall still fall within the scope of this patent.
Claims (6)
1. a kind of AGV trolley with accurate damping steering wheel, it is characterised in that: it includes frame section, the frame section
Bottom four corners are respectively arranged with corresponding wheel, and the wheel includes two sets of steering wheels, two carrying rollers, and two sets of steering wheels are in pair
The bottom that linea angulata is installed in the frame section corresponds to Angle Position, another cornerwise corresponding angles position in the bottom of the frame section
It sets and is fixed with corresponding carrying roller respectively, the inner cavity of the center body portion of the frame section is provided with lifting part；Every set
The steering wheel includes steering wheel mounting plate, steering wheel running gear, steering wheel knuckle section, steering wheel shock-damping structure, and the steering wheel subtracts
Shake the affixed steering wheel mounting plate in top of structure, the upper surface of the affixed steering wheel knuckle section in the lower part of the steering wheel shock-damping structure, institute
Steering wheel knuckle section is stated to connect with the connection of the steering wheel running gear by pivoting support bearing.
2. a kind of AGV trolley with accurate damping steering wheel as described in claim 1, it is characterised in that: the frame section
Bottom front and back end center be respectively arranged with guiding structure, the guiding structure contains robotic vision system, the guiding
Structure is used to guide the traveling of car body.
3. a kind of AGV trolley with accurate damping steering wheel as described in claim 1, it is characterised in that: the frame section
The marginal position of one jiao of bottom front and back end be fixed with auxiliary universal wheel respectively, two auxiliary universal wheels are distributed in diagonal line.
4. a kind of AGV trolley with accurate damping steering wheel as described in claim 1, it is characterised in that: the steering wheel walking
Partial driving end is connected with movable motor, and the installation section of the steering wheel running gear is positioned at the steering wheel supporting mechanism
On location structure, the wheel least significant end of the steering wheel running gear is lower than the lowest part of the steering wheel supporting mechanism, the wheel
Bottom supporting in operation face be arranged, the upper surface of the steering wheel supporting mechanism is provided with direction adjusting tooth wheel disc, the direction
The outer gear ring engagement connection direction of adjusting tooth wheel disc adjusts input gear ring, and the direction adjusts input gear ring and is circumscribed with direction adjusting
Motor, the direction adjusting tooth wheel disc are pivoting support outer ring, and the pivoting support outer ring inner ring is provided in pivoting support
Circle, pivoting support outer ring, pivoting support inner ring combine to form the pivoting support bearing, and pivoting support inner ring lower end surface is solid
It is connected to the upper surface of the steering wheel supporting mechanism, is covered admittedly on the pivoting support inner ring and is connected and fixed plate described in being equipped with, it is described
The upper surface of direction adjusting tooth wheel disc is connected with revolution connection ring, the affixed revolution connection in the lower part of the steering wheel shock-damping structure
The upper surface of ring, the height distance between the steering wheel shock-damping structure adjustment wheel and steering wheel mounting plate.
5. a kind of AGV trolley with accurate damping steering wheel as claimed in claim 4, it is characterised in that: each steering wheel
Shock-damping structure includes three groups of straight line arrangement dampings in three arm of angle arrangeds, and each straight line arrangement damping specifically wraps
A pair of damping spring limit plate for being installed in steering wheel mounting plate is included, the opposite end face of two pieces of damping spring limit plates is solid respectively
It is connected to the corresponding end of corresponding damping spring, the other end of the damping spring is respectively and fixedly connected with the linear slide block seat of corresponding position
One end, the upper surface of the linear slide block seat is provided with linear slide block, and the upper surface of two pieces of linear slide blocks is installed in
The length direction corresponding position of linear guide, there are active interval between two pieces of linear slide blocks, the linear guide it is upper
End is fixed in the lower end surface of the steering wheel mounting plate, and the bottom of each linear slide block seat is pivotally connected the one of corresponding damping connecting rod
End, the other end of the damping connecting rod are pivotally connected the damping connecting rod fixing seat, and the damping connecting rod fixing seat is installed in described return
Turn the upper surface of connection ring.
6. a kind of AGV trolley with accurate damping steering wheel as claimed in claim 5, it is characterised in that: be pivotally connected the company of part
Fitting is specially fixed latch structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910312526.6A CN109878597A (en) | 2019-04-18 | 2019-04-18 | A kind of AGV trolley with accurate damping steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910312526.6A CN109878597A (en) | 2019-04-18 | 2019-04-18 | A kind of AGV trolley with accurate damping steering wheel |
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| Publication Number | Publication Date |
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| CN109878597A true CN109878597A (en) | 2019-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910312526.6A Pending CN109878597A (en) | 2019-04-18 | 2019-04-18 | A kind of AGV trolley with accurate damping steering wheel |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110219495A (en) * | 2019-07-15 | 2019-09-10 | 河南祥鼎智能科技股份有限公司 | A kind of tooth-like AGV carrier of omnidirectional's shuttle |
| CN110356182A (en) * | 2019-07-02 | 2019-10-22 | 苏州斯锐奇机器人有限公司 | Automatic guide transport vehicle steering wheel damping and automatic lifting device |
| CN110561999A (en) * | 2019-08-06 | 2019-12-13 | 苏州斯锐奇机器人有限公司 | Shock attenuation and automatic lifting device and be equipped with device's automatic direction transport vechicle |
| CN110562351A (en) * | 2019-07-30 | 2019-12-13 | 上海同毅自动化技术有限公司 | Double-support steering wheel driving steering mechanism assembly |
| CN110626441A (en) * | 2019-08-30 | 2019-12-31 | 南京蹑波物联网科技有限公司 | Vibration reduction type intelligent unmanned transport vehicle and transport method thereof |
| CN110666471A (en) * | 2019-08-15 | 2020-01-10 | 燕山大学 | Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections |
| CN112282459A (en) * | 2020-10-18 | 2021-01-29 | 安徽鸿杰威尔停车设备有限公司 | AGV intelligent transfer robot for stereo parking garage and working method thereof |
| CN112987738A (en) * | 2021-02-26 | 2021-06-18 | 深圳易行机器人有限公司 | Physical parameter checking method of AGV motion navigation core controller and AGV |
| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
| CN114475855A (en) * | 2022-02-10 | 2022-05-13 | 宁波华运智能科技有限公司 | AGV chassis |
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| CN210258627U (en) * | 2019-04-18 | 2020-04-07 | 浙江大学昆山创新中心 | AGV dolly with accurate shock attenuation steering wheel |
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| CN106739903A (en) * | 2016-12-29 | 2017-05-31 | 广州市远能物流自动化设备科技有限公司 | AGV steering wheels drive damping and AGV steering wheel drive devices |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356182A (en) * | 2019-07-02 | 2019-10-22 | 苏州斯锐奇机器人有限公司 | Automatic guide transport vehicle steering wheel damping and automatic lifting device |
| CN110219495A (en) * | 2019-07-15 | 2019-09-10 | 河南祥鼎智能科技股份有限公司 | A kind of tooth-like AGV carrier of omnidirectional's shuttle |
| CN110562351A (en) * | 2019-07-30 | 2019-12-13 | 上海同毅自动化技术有限公司 | Double-support steering wheel driving steering mechanism assembly |
| CN110561999A (en) * | 2019-08-06 | 2019-12-13 | 苏州斯锐奇机器人有限公司 | Shock attenuation and automatic lifting device and be equipped with device's automatic direction transport vechicle |
| CN110666471B (en) * | 2019-08-15 | 2021-01-19 | 燕山大学 | Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections |
| CN110666471A (en) * | 2019-08-15 | 2020-01-10 | 燕山大学 | Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections |
| CN110626441A (en) * | 2019-08-30 | 2019-12-31 | 南京蹑波物联网科技有限公司 | Vibration reduction type intelligent unmanned transport vehicle and transport method thereof |
| CN112282459A (en) * | 2020-10-18 | 2021-01-29 | 安徽鸿杰威尔停车设备有限公司 | AGV intelligent transfer robot for stereo parking garage and working method thereof |
| CN112282459B (en) * | 2020-10-18 | 2021-11-05 | 安徽鸿杰威尔停车设备有限公司 | AGV intelligent transfer robot for stereo parking garage and working method thereof |
| CN112987738A (en) * | 2021-02-26 | 2021-06-18 | 深圳易行机器人有限公司 | Physical parameter checking method of AGV motion navigation core controller and AGV |
| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
| CN113525507B (en) * | 2021-07-16 | 2024-04-12 | 湖南国科智能技术研究院有限公司 | Damping steering wheel suitable for robot |
| CN114475855A (en) * | 2022-02-10 | 2022-05-13 | 宁波华运智能科技有限公司 | AGV chassis |
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