CN109941180A - A kind of AGV trolley - Google Patents
A kind of AGV trolley Download PDFInfo
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- CN109941180A CN109941180A CN201910221165.4A CN201910221165A CN109941180A CN 109941180 A CN109941180 A CN 109941180A CN 201910221165 A CN201910221165 A CN 201910221165A CN 109941180 A CN109941180 A CN 109941180A
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- 238000010586 diagram Methods 0.000 description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
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- 241000282485 Vulpes vulpes Species 0.000 description 1
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- 238000005452 bending Methods 0.000 description 1
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The invention discloses a kind of AGV trolleies, including car body, the rear and front end of car body is provided with steering wheel and laser radar, and the corresponding preceding armful of clamp device of vehicle front and rear armful of clamp device corresponding with automobile back wheel is respectively arranged on car body, preceding armful of clamp device and to embrace a clamp device afterwards include that can mutually approach along the longitudinal direction and two separate actuating arms, two actuating arms connect same driving motor by transmission mechanism, the left and right ends of each actuating arm are hinged with clamp arm, each clamp arm is slidably connected with corresponding first sliding groove, each first sliding groove is communicated with second sliding slot in one end far from another first sliding groove, first sliding groove and second sliding slot are respectively provided on the car body, the bottom of each clamp arm is provided with the first idler wheel and the second idler wheel arranged along the longitudinal direction.It is folded after clamp arm is bent, structurally reasonable, simple and practical, stability is good, ensure that the stationarity of AGV trolley in the process of walking, prevents it because accelerating and rotating to turn on one's side.
Description
Technical field
The present invention relates to AGV trolley technical fields, it particularly relates to a kind of AGV trolley.
Background technique
AGV trolley refers to equipped with electromagnetism or optical target sounding device, can travel along defined guide path, including
Operation and parking device, safety guard and the transport vehicle with various transfer functions.AGV trolley can not need manually
In the case where pilotage, cargo or material are transported to destination from starting point automatically.
Existing AGV trolley is to carry out embracing folder to automobile tire by two clamp arm, but the folding and unfolding of clamp arm is past mostly
Toward by the way of flexible, structure is complicated for this mode, and stability is poor.And the car body of existing AGV trolley is mostly thin
Long structure, stationarity is not high, is easy to turn on one's side when the movement such as being accelerated and being rotated.
For the problems in the relevant technologies, currently no effective solution has been proposed.
Summary of the invention
For above-mentioned technical problem in the related technology, the present invention proposes a kind of AGV trolley, and clamp arm is bent to be folded,
Stability is good, and can effectively improve the stationarity of AGV trolley.
To realize the above-mentioned technical purpose, the technical scheme of the present invention is realized as follows:
A kind of AGV trolley, including car body, the rear and front end of the car body are provided with steering wheel and laser radar, on the car body
It is respectively arranged with and the corresponding preceding armful of clamp device of vehicle front and rear armful of clamp device corresponding with automobile back wheel, described preceding armful presss from both sides
Device and it is described after to embrace a clamp device include that can mutually approach along the longitudinal direction and two separate actuating arms, described two drivings
Arm connects same driving motor by transmission mechanism, and the left and right ends of each actuating arm are hinged with clamp arm, each described
Clamp arm is slidably connected with corresponding first sliding groove, and the first sliding groove extends along the longitudinal direction, and each first sliding groove exists
It is communicated with second sliding slot far from one end of another first sliding groove, the second sliding slot extends in left-right direction, and described the
One sliding slot and the second sliding slot are respectively provided on the car body, and the bottom of each clamp arm is provided with arranges along the longitudinal direction
First idler wheel and the second idler wheel, wherein be arranged in first idler wheel in the same clamp arm and second idler wheel with
The first sliding groove corresponding to the clamp arm matches, the second sliding slot and second idler wheel in the corresponding clamp arm
It matches, it is coaxial with first idler wheel in the clamp arm at the position of the hinged corresponding actuating arm in each clamp arm
Setting.
Further, the actuating arm is slidably connected with the guide rail being arranged on the car body, and the guide rail is along front and back
To extension.
Further, the preceding driving motor embraced in clamp device is fixedly connected on the car body.
Further, rear two first sliding grooves embraced in clamp device form third sliding slot after being interconnected.
Further, the rear driving motor embraced in clamp device is fixedly connected on the support, the support and institute
Guide rail is stated to be slidably connected.
Further, the first roller bearing and the second roller bearing, first roller bearing and institute are respectively arranged in each clamp arm
It states the second roller bearing to be vertically arranged, first roller bearing is rotatablely connected first idler wheel and the clamp arm respectively, and described
First roller bearing is fixedly connected with the actuating arm, and second roller bearing is fixedly connected with the clamp arm and turns with second idler wheel
Dynamic connection.
Further, the bottom of second idler wheel be lower than first idler wheel bottom, the first sliding groove with it is described
The guide plate of arc is provided on the inner wall of second sliding slot junction, the guide plate is matched with second idler wheel.
Further, at least one balance oscillating arm is respectively arranged at left and right sides of the car body, the balance oscillating arm
One end and the car body are hinged, and the other end bottom of the balance oscillating arm is equipped with universal wheel, and the balance oscillating arm is hinged at it
Place is installed with worm gear, and the worm gear engagement is connected with worm screw, the output shaft of the worm screw connection motor, and the motor is installed in institute
It states on car body.
Further, it is fixedly connected with mounting base on the car body, rotatable vertical pivot, institute are provided in the mounting base
It states balance oscillating arm to be fixedly connected close to one end of the car body with the vertical pivot, the worm gear is fixedly connected with the vertical pivot, institute
State the opening offered in mounting base for described 90 degree of balance oscillating arm swings.
Further, ultrasonic sensor and anticollision wheel are provided at left and right sides of the portion of the car body rear and front end.
Beneficial effects of the present invention: folding after clamp arm is bent, structurally reasonable, simple and practical, and stability is good, ensure that
The stationarity of AGV trolley in the process of walking prevents it because accelerating and rotating to turn on one's side.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the schematic diagram of the AGV trolley described according to embodiments of the present invention；
Fig. 2 is the schematic diagram of the preceding armful of described according to embodiments of the present invention clamp device；
Fig. 3 is A-A cross-sectional view according to Fig.2,；
Fig. 4 is B-B cross-sectional view according to Fig.2,；
Schematic diagram when Fig. 5 is the expansion of preceding armful of clamp device according to Fig.2,；
Fig. 6 is the schematic diagram of the rear armful of described according to embodiments of the present invention clamp device；
Fig. 7 is A-A cross-sectional view according to figure 6；
Fig. 8 is B-B cross-sectional view according to figure 6；
Fig. 9 is schematic diagram one of the AGV trolley described according to embodiments of the present invention when embracing folder rear-wheel；
Figure 10 is schematic diagram two of the AGV trolley described according to embodiments of the present invention when embracing folder rear-wheel；
Figure 11 is the schematic diagram when balancing device described according to embodiments of the present invention is unfolded；
Cross-sectional view when Figure 12 is the expansion of the balancing device according to embodiments of the present invention.
In figure:
10, car body；11, steering wheel；12, laser radar；13, ultrasonic sensor；14, anticollision wheel；15, lithium battery；20, it balances
Swing arm；21, universal wheel；22, bearing block；23, worm screw；24, motor；25, mounting base；26, worm gear；27, vertical pivot；30, clamp arm；
31, the first idler wheel；32, the second idler wheel；33, first sliding groove；34, second sliding slot；35, actuating arm；36, driving motor；37, it leads
Rail；38, third sliding slot；39, the first roller bearing；310, the second roller bearing；311, guide plate；312, roller；313, support.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art's every other embodiment obtained belong to what the present invention protected
Range.
As shown in figs. 1-12, a kind of AGV trolley according to embodiments of the present invention, including car body 10, the car body 10
Rear and front end be provided with steering wheel 11 and laser radar 12, be respectively arranged on the car body 10 it is corresponding with vehicle front before
Embrace clamp device and it is corresponding with automobile back wheel after embrace clamp device, it is described before embrace clamp device and it is described after embrace a clamp device include can
Mutually approach and two separate actuating arms 35, described two actuating arms 35 connect same drive by transmission mechanism along the longitudinal direction
Dynamic motor 36, which is characterized in that the left and right ends of each actuating arm 35 are hinged with clamp arm 30, and each clamp arm 30 is
It is slidably connected with corresponding first sliding groove 33, the first sliding groove 33 extends along the longitudinal direction, and each first sliding groove 33 exists
One end far from another first sliding groove 33 is communicated with second sliding slot 34, and the second sliding slot 34 extends in left-right direction,
The first sliding groove 33 and the second sliding slot 34 are arranged on car body 10, and the bottom of each clamp arm 30 is provided with edge
The first idler wheel 31 and the second idler wheel 32 of front-rear direction arrangement, wherein first rolling in the same clamp arm 30 is set
Wheel 31 and second idler wheel 32 are matched with the first sliding groove 33 corresponding to the clamp arm 30, the second sliding slot 34 with
Second idler wheel 32 in the corresponding clamp arm 30 matches, the hinged corresponding actuating arm in each clamp arm 30
It is coaxially disposed at 35 position with first idler wheel 31 in the clamp arm 30.
In one particular embodiment of the present invention, the actuating arm 35 and the guide rail 37 being arranged on the car body 10 are sliding
Dynamic connection, the guide rail 37 extend along the longitudinal direction.
In one particular embodiment of the present invention, the preceding driving motor 36 embraced in clamp device is fixedly connected on described
On car body 10.
In one particular embodiment of the present invention, rear two 33 phases of the first sliding groove interconnection embraced in clamp device
Third sliding slot 38 is formed after logical.
In one particular embodiment of the present invention, the rear driving motor 36 embraced in clamp device is fixedly connected on
On support 313, the support 313 is slidably connected with the guide rail 37.
In one particular embodiment of the present invention, the first roller bearing 39 and second is respectively arranged in each clamp arm 30
Roller bearing 310, first roller bearing 39 and second roller bearing 310 are vertically arranged, and first roller bearing 39 is rotatablely connected respectively
First idler wheel 31 and the clamp arm 30, and first roller bearing 39 is fixedly connected with the actuating arm 35, described second
Roller bearing 310 is fixedly connected with the clamp arm 30 and is rotatablely connected with second idler wheel 32.
In one particular embodiment of the present invention, the bottom of second idler wheel 32 is lower than the bottom of first idler wheel 31
The guide plate 311 of arc, the guiding are provided on portion, the first sliding groove 33 and the inner wall of 34 junction of second sliding slot
Plate 311 is matched with second idler wheel 32.
In one particular embodiment of the present invention, the left and right sides of the car body 10 is respectively arranged at least one balance
Swing arm 20, one end of the balance oscillating arm 20 and the car body 10 are hinged, and the other end bottom of the balance oscillating arm 20 is equipped with
Universal wheel 21, the balance oscillating arm 20 are installed with worm gear 26 in its hinged place, and the engagement of worm gear 26 is connected with worm screw 23, described
Worm screw 23 connects the output shaft of motor 24, and the motor 24 is installed on the car body 10.
In one particular embodiment of the present invention, mounting base 25, the mounting base are fixedly connected on the car body 10
Rotatable vertical pivot 27 is provided in 25, the balance oscillating arm 20 is close to one end of the car body 10 and the fixed company of the vertical pivot 27
It connects, the worm gear 26 is fixedly connected with the vertical pivot 27, is offered in the mounting base 25 for described 20 90 degree of balance oscillating arm
The opening of swing.
In one particular embodiment of the present invention, ultrasound is provided at left and right sides of the 10 rear and front end portion of car body
Wave sensor 13 and anticollision wheel 14.
In order to facilitate above-mentioned technical proposal of the invention is understood, below by way of specifically used mode to above-mentioned skill of the invention
Art scheme is described in detail.
AGV trolley of the present invention includes car body 10, steering wheel 11, laser radar 12, ultrasonic sensor 13, anticollision wheel
Son 14, controller, preceding armful of clamp device, embraces clamp device, balancing device, obstacle avoidance sensor, anticollision strip etc. at lithium battery 15 afterwards.Wherein
Steering wheel 11, ultrasonic sensor 13, lithium battery 15, preceding armful of clamp device, embraces clamp device, balancing device, avoidance at laser radar 12 afterwards
Sensor is all connected with controller, to realize automatic operating.Single-chip microcontroller or PLC can be used in controller, and single-chip microcontroller uses STM32 system
A times good fortune CX5020 type can be used in column single-chip microcontroller such as STM32F429, PLC, and obstacle avoidance sensor and anticollision strip are the guarantees of operational safety,
One obstacle avoidance sensor of each side setting at 10 middle part of car body, an anticollision strip, vehicle is respectively arranged in the rear and front end of car body 10
Two ultrasonic sensors 13 are respectively arranged in the rear and front end of body 10, and in the two ultrasonic sensors 13, one is located at car body 10
Left side, another is located at the right side of car body 10, and when AGV trolley is into parking stall, four ultrasonic sensors 13 measure left and right distances, control
Device processed data of adjusting the distance are analyzed, and are then rectified a deviation to steering wheel 11, are greatly improved and are improved stopping accuracy requirement.Car body 10
Front end is respectively arranged with steering wheel 11, laser radar 12, ultrasonic sensor 13, anticollision wheel 14, and the rear end of car body 10 is also distinguished
It is provided with steering wheel 11, laser radar 12, ultrasonic sensor 13, anticollision wheel 14.The model neutrality ZYW-190- of steering wheel 11
10008-908-39.08 the model PEPPERL FUCHS OMD30M-R2000-B23-V1V1D-HD-1L of laser radar 12, ultrasonic wave is passed
The model Yi Fumen UGT501 of sensor.
Preceding armful of clamp device is for embracing folder vehicle front, and rear clamp device of embracing is for embracing folder automobile back wheel, and preceding armful of clamp device is with after
Embracing clamp device includes driving motor 36, transmission mechanism, actuating arm 35, clamp arm 30, the first idler wheel 31, the second idler wheel 32, first
Sliding slot 33 and second sliding slot 34 etc..Transmission mechanism is ball wire bar pair, and ball wire bar pair includes lead screw and is arranged in the silk
Two nuts on thick stick, each nut are fixedly connected with an actuating arm 35, lead screw extend along the longitudinal direction and with the driving electricity
The motor shaft of machine 36 is fixedly connected.Driving motor 36 drives two actuating arms 35 mutually to become along the longitudinal direction by ball screw assembly,
Near and far is from actuating arm 35 is slidably connected with the guide rail 37 on car body 10, T shape protrusion is provided on guide rail 37, on actuating arm 35
It is provided with the T-slot matched with T shape protrusion, the left and right ends of actuating arm 35 respectively pass through screw and are fixedly connected with one first rolling
Axis 39, the first roller bearing 39 are rotatablely connected by axle sleeve and clamp arm 30, and clamp arm 30 can be axis rotation, the first roller bearing with the first roller bearing 39
39 are rotatablely connected by bearing and the first idler wheel 31, and the first idler wheel 31 is located in first sliding groove 33, and first sliding groove 33 is along front and back
To extension, the second fixed roller bearing 310 is provided in clamp arm 30, the second roller bearing 310 is connected by bearing and the rotation of the second idler wheel 32
It connects, the second idler wheel 32 also is located in first sliding groove 33, and first sliding groove 33 is connected to second sliding slot 34, and second sliding slot 34 is in left-right direction
Extend, when two actuating arms 35 are located remotely from each other, the second idler wheel 32 is slid into second sliding slot 34, then forces clamp arm 30 with first
Roller bearing 39 is that axis rotates backward 90 degree, realizes that bending folds, when the first idler wheel 31 and the second idler wheel 32 are respectively positioned on first sliding groove 33
When interior, clamp arm 30 can not be axis rotation with the first roller bearing 39, can be achieved to embrace automobile tire after two clamp arm 30 mutually approach
Folder.To slide into the second idler wheel 32 more smoothly in second sliding slot 34, the inner wall of first sliding groove 33 and 34 junction of second sliding slot
The upper guide plate 311 provided with arc, to guarantee that guide plate 311 does not affect the first idler wheel 31, guide plate 311 is located at first
The lower section of idler wheel 31, the bottom of corresponding second idler wheel 32 also below the first idler wheel 31 bottom so that the second idler wheel 32 can
It is contacted with guide plate 311.
Preceding armful of clamp device and armful clamp device afterwards are different, and the driving motor 36 in preceding armful of clamp device is fixed on car body 10
On, the front end of first sliding groove 33 or rear end connect a second sliding slot 34, and first sliding groove 33 is collectively formed with second sliding slot 34
One L-shaped sliding slot, that is to say, that there are four L-shaped sliding slots for tool in total in preceding armful of clamp device, because of the front and back wheel of each automobile
Away from difference, for the versatility for improving AGV trolley, the rear driving motor 36 embraced in clamp device is fixed on support 313, support 313
It is slidably connected with guide rail 37, two first sliding grooves 33 therein form third sliding slot 38 after being interconnected, before third sliding slot 38
Both ends are respectively connected to a second sliding slot 34 afterwards, and the sliding slot of a C-shaped is collectively formed in third sliding slot 38 and two second sliding slots 34,
That is embracing the sliding slot having in total in clamp device there are two C-shaped afterwards.
Clamp arm 30 clamps at tire, has roller 312 with a slope, and 312 sets of roller in the elongated cylinder of clamp arm 30, press from both sides
Arm 30 is when clamping tire, and due to the effect of roller 312, tire is lifted along gradient direction is rolled, and whole process is roller
312 with the rolling friction of tire, physical damage not will cause to tire.
To prevent clamp arm 30 mobile and rotating position, it is also provided on car body 10 corresponding close to switch.Close to switch
Model Omron E2B-M18KN16-WZ-B1.
Rust preventive lubricating oil is added in sliding slot, so that 30 moving in rotation of clamp arm is flexible, no catching phenomenon.
The clamp arm 30 of 35 left and right sides of actuating arm symmetrically, and guarantees while being unfolded, and folds simultaneously.
Balancing device includes mounting base 25, motor 24, worm screw 23, worm gear 26, universal wheel 21, balance oscillating arm 20.Motor 24
It is fixedly mounted on car body 10, motor 24 is connect with the controller of AGV trolley.The output shaft and hollow shaft reducer of motor 24 connect
It connects, the output shaft driving transition axis rotation of hollow shaft reducer, the both ends of transition axis respectively connect a snail by yielding coupling
Bar 23, worm screw 23 are located at the lower section of car body 10, and worm screw 23 is connect by bearing block 22 and bearing with car body 10.The number of mounting base 25
Amount is two, and is mounted on car body 10 by the way that bolt is symmetrical, is provided with vertical pivot 27 in mounting base 25, vertical pivot 27 it is upper
Lower both ends connect mounting base 25 by bearing respectively, one end of fixed balance oscillating arm 20 and worm gear 26 on vertical pivot 27, so that
The end of balance oscillating arm 20 can be rotated synchronously with worm gear 26, and the other end bottom of balance oscillating arm 20 is equipped with universal wheel 21, worm screw
23 go deep into engaging in mounting base 25 and with worm gear 26, so as to drive balance oscillating arm 20 to swing by motor 24, worm screw 23 and snail
Wheel 26 has self-locking function, i.e. worm screw 23 can rotate worm gear 26 easily, but worm gear 26 can not rotary worm 23, the small garage of AGV
Since the latching characteristics of 26 worm screw of worm gear, balance oscillating arm 20 will not swing back and forth when walking, motor internal contracting brake, and worm gear 26 are eliminated
Worm structure is compact to have many advantages, such as that backhaul gap is small, low noise.Balance oscillating arm 20 can in the horizontal plane 90 ° swing, mounting base
Opening is provided on 25, openings of sizes is advisable with the swing for not influencing balance oscillating arm 20.
Balance oscillating arm 20 is in collapsed state at the beginning, when the stationarity for needing to keep AGV trolley by balance oscillating arm 20
When, single-chip microcontroller or PLC issue action command, and motor 24 acts and two worm screws 23 is driven to rotate, and worm screw 23 drives 26 turns of worm gear
Dynamic, worm gear 26 drives one end of balance oscillating arm 20 to rotate synchronously, and makes the other end of balance oscillating arm 20 with the rotation of 26 center of circle of worm gear
90 degree of expansion, after expansion triggering be arranged on car body 10 close to switch, signal is fed back into single-chip microcontroller or PLC close to switch,
Motor 24 stops rotating, and so as to keep the balance of AGV trolley, prevents the rollover in acceleration and turning of AGV trolley, close to switch
Model Omron E2B-M18KN16-WZ-B1.
When specifically used, automobile is parked in the designated position of landing, then guidance of the AGV trolley in laser radar 12
Under drive into vehicle bottom, be parked in setting position after being positioned by mirror reflection photoelectric switch (model Omron E3FA), then before
The driving motor 36 for embracing clamp device acts and corresponding two actuating arms 35 is driven mutually to approach, second in corresponding clamp arm 30
Idler wheel 32 slides into first sliding groove 33 from second sliding slot 34, and the clamp arm 30 folded is that axis rotates forward 90 degree with the first roller bearing 39,
Under the action of L-shaped sliding slot, clamp arm 30 is unfolded, and vehicle front tire is embraced folder by preceding armful of clamp device, then embraces clamp device afterwards
Driving motor 36, which acts, simultaneously drives corresponding two actuating arms 35 mutually to approach, and the second idler wheel 32 in corresponding clamp arm 30 is from the
Two sliding slots 34 slide into third sliding slot 38, and the clamp arm 30 folded is that axis rotates forward 90 degree with the first roller bearing 39, in the sliding slot of C-shaped
Under the action of, clamp arm 30 is unfolded, then during two clamp arm 30 mutually approach, since the wheel base of automobile differs,
One of clamp arm 30 stops after first contacting tire, and since support 313 and guide rail 37 are slidably connected, frictional force far smaller than should
Resistance suffered by clamp arm 30, therefore support 313 will be moved towards 30 side of clamp arm, until another clamp arm 30 touches wheel
Automobile back wheel tire is embraced folder by tire, two clamp arm 30 that clamp device is embraced after last.
In conclusion being folded after clamp arm is bent by means of above-mentioned technical proposal of the invention, structurally reasonable, simple reality
With stability is good, ensure that the stationarity of AGV trolley in the process of walking, prevents it because accelerating and rotating to turn on one's side.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. the rear and front end of a kind of AGV trolley, including car body (10), the car body (10) is provided with steering wheel (11) and laser thunder
Up to (12), be respectively arranged on the car body (10) and vehicle front it is corresponding before embrace clamp device and corresponding with automobile back wheel
After embrace clamp device, embraced before described clamp device and it is described after to embrace a clamp device include that can mutually approach along the longitudinal direction and separate two
A actuating arm (35), described two actuating arms (35) connect same driving motor (36) by transmission mechanism, which is characterized in that every
The left and right ends of a actuating arm (35) are hinged with clamp arm (30), each clamp arm (30) with corresponding first sliding groove
(33) it is slidably connected, the first sliding groove (33) extends along the longitudinal direction, and each first sliding groove (33) is far from another
One end of the first sliding groove (33) is communicated with second sliding slot (34), and the second sliding slot (34) extends in left-right direction, described
First sliding groove (33) and the second sliding slot (34) are arranged on car body (10), and the bottom of each clamp arm (30) is respectively provided with
There are the first idler wheel (31) and the second idler wheel (32) arranged along the longitudinal direction, wherein be arranged on the same clamp arm (30)
First idler wheel (31) and second idler wheel (32) match with the first sliding groove (33) corresponding to the clamp arm (30)
It closes, the second sliding slot (34) matches with second idler wheel (32) on the corresponding clamp arm (30), each folder
It is coaxial with first idler wheel (31) in the clamp arm (30) at the position of the hinged corresponding actuating arm (35) on arm (30)
Setting.
2. AGV trolley according to claim 1, which is characterized in that the actuating arm (35) and setting are in the car body
(10) guide rail (37) on is slidably connected, and the guide rail (37) extends along the longitudinal direction.
3. AGV trolley according to claim 1, which is characterized in that the driving motor (36) embraced in clamp device before described is solid
Surely it is connected on the car body (10).
4. AGV trolley according to claim 1, which is characterized in that two described first embraced in clamp device after described are slided
Slot (33) forms third sliding slot (38) after being interconnected.
5. AGV trolley according to claim 4, which is characterized in that embrace the driving motor in clamp device after described
(36) it is fixedly connected on support (313), the support (313) is slidably connected with the guide rail (37).
6. AGV trolley according to claim 1, which is characterized in that be respectively arranged with first on each clamp arm (30)
Roller bearing (39) and the second roller bearing (310), first roller bearing (39) and second roller bearing (310) are vertically arranged, and described
One roller bearing (39) is rotatablely connected first idler wheel (31) and the clamp arm (30), and first roller bearing (39) and institute respectively
Actuating arm (35) is stated to be fixedly connected, second roller bearing (310) be fixedly connected with the clamp arm (30) and with second idler wheel
(32) it is rotatablely connected.
7. AGV trolley according to claim 1, which is characterized in that the bottom of second idler wheel (32) is lower than described the
Arc is provided on the inner wall of the bottom of one idler wheel (31), the first sliding groove (33) and the second sliding slot (34) junction
Guide plate (311), the guide plate (311) match with second idler wheel (32).
8. AGV trolley according to claim 1, which is characterized in that be respectively arranged at left and right sides of the car body (10)
At least one balance oscillating arm (20), one end of the balance oscillating arm (20) and the car body (10) hingedly, the balance oscillating arm
(20) other end bottom is equipped with universal wheel (21), and the balance oscillating arm (20) is installed with worm gear (26), institute in its hinged place
It states worm gear (26) engagement to be connected with worm screw (23), the output shaft of worm screw (23) connection motor (24), the motor (24) is solid
It is located on the car body (10).
9. AGV trolley according to claim 8, which is characterized in that be fixedly connected with mounting base on the car body (10)
(25), it is provided with rotatable vertical pivot (27) in the mounting base (25), the balance oscillating arm (20) is close to the car body (10)
One end be fixedly connected with the vertical pivot (27), the worm gear (26) is fixedly connected with the vertical pivot (27), the mounting base
(25) opening for the 90 degree swing of the balance oscillating arm (20) is offered on.
10. AGV trolley according to claim 1, which is characterized in that the left and right sides in car body (10) the rear and front end portion
It is provided with ultrasonic sensor (13) and anticollision wheel (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910221165.4A CN109941180A (en) | 2019-03-22 | 2019-03-22 | A kind of AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910221165.4A CN109941180A (en) | 2019-03-22 | 2019-03-22 | A kind of AGV trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109941180A true CN109941180A (en) | 2019-06-28 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110700663A (en) * | 2019-10-25 | 2020-01-17 | 因特帕克科技集团有限公司 | AGV trolley-based vehicle parking method |
| CN111550111A (en) * | 2020-06-01 | 2020-08-18 | 江苏小白兔智造科技有限公司 | Telescopic automobile transfer robot with linkage panel turnover type clamping arms |
| CN113003496A (en) * | 2021-03-12 | 2021-06-22 | 机械工业第九设计研究院有限公司 | Tire supporting mechanism for AGV (automatic guided vehicle) carrying of whole vehicle and control method of tire supporting mechanism |
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| KR20100006697U (en) * | 2008-12-23 | 2010-07-01 | 시마텍(주) | Parking system used of robot |
| CN205654151U (en) * | 2016-05-30 | 2016-10-19 | 屠建仁 | Embrace and press from both sides wheeled car transfer robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110700663A (en) * | 2019-10-25 | 2020-01-17 | 因特帕克科技集团有限公司 | AGV trolley-based vehicle parking method |
| CN111550111A (en) * | 2020-06-01 | 2020-08-18 | 江苏小白兔智造科技有限公司 | Telescopic automobile transfer robot with linkage panel turnover type clamping arms |
| CN111550111B (en) * | 2020-06-01 | 2021-05-14 | 江苏小白兔智造科技有限公司 | Telescopic automobile transfer robot with linkage panel turnover type clamping arms |
| CN113003496A (en) * | 2021-03-12 | 2021-06-22 | 机械工业第九设计研究院有限公司 | Tire supporting mechanism for AGV (automatic guided vehicle) carrying of whole vehicle and control method of tire supporting mechanism |
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