CN110422249A - A kind of AGV damping walking mechanism - Google Patents
A kind of AGV damping walking mechanism Download PDFInfo
- Publication number
- CN110422249A CN110422249A CN201910669962.9A CN201910669962A CN110422249A CN 110422249 A CN110422249 A CN 110422249A CN 201910669962 A CN201910669962 A CN 201910669962A CN 110422249 A CN110422249 A CN 110422249A
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- damping
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- walking
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- 230000007246 mechanism Effects 0.000 title claims abstract description 169
- 238000013016 damping Methods 0.000 title claims abstract description 116
- 239000003638 chemical reducing agent Substances 0.000 claims description 22
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008278 dynamic mechanism Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The present invention relates to a kind of AGV damping walking mechanisms, including AGV walking mechanism and damping, the AGV walking mechanism is mounted on AGV trolley by damping, the damping includes damping shell, compressed spring and guide rail, the driving mechanism component of the AGV walking mechanism is mounted on damping shell by compressed spring and guide rail, and the damping shell is fixed on AGV trolley.The walking mechanism of AGV of the invention and damping are relatively independent, it is non-interference that assembling can be processed respectively, damping effect may be implemented in the present invention, so that AGV overall structure is low to ground requirement, it is applicable to the ground of most of logistics warehouse, and can guarantee the stability and reliability of AGV walking process.
Description
Technical field
The invention belongs to AGV automatic vehicle field, specially a kind of AGV damping walking mechanism.
Background technique
Currently, existing AGV damping walking mechanism majority cooperates compressed spring using multi-connecting-rod mechanism or linear bearing
Structure type, multi-connecting-rod mechanism structure type is complicated, and transmission efficiency is low, and linear bearing mechanism bearing capacity is not enough and to installation
Required precision is very high, and requirement of the walking damping of both forms to ground is very high, if there is ground in walking process
Height difference very big situation in face then will lead to the sliding phenomenon of walking round frame impact missing, cause walking straightness not high, therefore in summary
Existing AGV damping walking mechanism or Shortcomings.
Existing AGV damping walking mechanism the space occupied in entire AGV system is big, and requires ground very high, increase
The expense and time that unit in charge of construction handles ground construction, affect entire AGV system and implement online project process.
Linear bearing in existing damping is very high to requirement on machining accuracy, will appear once process and assemble is problematic
The stuck situation of linear bearing causes the compressed spring in damping to fail, and loses effective normal pressure to ground, finally
Cause traveling wheel that cannot effectively contact the case where ground has skidded.
Summary of the invention
It is of the invention that the technical problem to be solved is that provide a kind of AGV damping walking mechanism.
The technical scheme to solve the above technical problems is that
A kind of AGV damping walking mechanism, including AGV walking mechanism and damping, the AGV walking mechanism pass through damping
Mechanism is mounted on AGV trolley, and the damping includes damping shell, compressed spring and guide rail, the AGV vehicle with walking machine
The driving mechanism component of structure is mounted on damping shell by compressed spring and guide rail, and the damping shell is fixed on
On AGV trolley.
Further, the damping shell is the rectangular enclosure that there is cavity in inside, the driving mechanism component left side
Through there is damping guiding axis, the driving mechanism component can be slided up and down along damping guiding axis, the driving mechanism component one
In in damping shell, the driving mechanism component passes through in compressed spring and damping shell for end and damping guiding axle position
Side connection, the compressed spring upper end are fixed with damping shell inside upper surface, and lower end is fixed with driving mechanism component, institute
It states driving mechanism component to be also fixedly connected with guide rail, the guide rail can be slided up and down along sliding block, and the sliding block is fixed on damping
On the outside of mechanism shell, the damping guiding axis is fixed on AGV trolley.
Further, damping guiding axis top and bottom are provided with guiding axis baffle, and the guiding axis baffle is used
It is positioned in damping shell.
Further, the sliding block is fixed in damping sliding block fixed plate, and the damping sliding block fixed plate is fixed on damping
On mechanism shell.
Further, the AGV walking mechanism includes traveling wheel and driving mechanism component, and the driving mechanism component includes
Walking mechanism fixed frame, traveling wheel fixed disk, traveling wheel baffle, walking mechanism motor and walking mechanism speed reducer, the walking
Mechanism motor is connect with walking mechanism speed reducer, and the walking mechanism motor and walking mechanism speed reducer are installed in walking mechanism
In fixed frame, output shaft and the traveling wheel fixed disk of the walking mechanism speed reducer are fixed, the traveling wheel fixed disk and walking
The connection of wheel center, the traveling wheel center outside are additionally provided with traveling wheel baffle, and the traveling wheel baffle is used for walking mechanism
The output shaft of speed reducer is limited.
Further, the walking mechanism fixed frame includes plate, walking during walking mechanism fixes upper plate, walking mechanism is fixed
Lower plate and walking mechanism motor fixing plate, plate, vehicle with walking machine in the walking mechanism fixation upper plate, walking mechanism fixation are fixed by mechanism
The fixed lower plate of structure forms gap frame structure, is provided with walking mechanism motor fixing plate at the gap frame structure front openings,
Support column is provided between the fixed upper plate of the walking mechanism and the fixed lower plate of walking mechanism.
Further, the damping is fixed on AGV trolley by damping positioning pin.
The invention has the benefit that
1, the present invention provides it is a kind of it is practical, to ground strong applicability, " goods can be carried out to the table trolley in intensive warehouse
To people " sort intelligent AGV system walking damping, which includes walking mechanism and damping.Walking mechanism is
The differential walking of entire AGV is realized by motor driven traveling wheel, damping is to assemble to close compressed spring work by straight line mould
With AGV is realized to effective normal pressure on ground, ensure that entire AGV, two traveling wheels will not skid in the process of walking, and right
The ground flat degree of walking is of less demanding.It is applicable to the ground of most of logistics warehouse, and can guarantee AGV walking process
Stability and reliability.This invention cleverly links together both walking mechanism and damping, and entire mechanism occupies
Space is small, not high and easy for installation to requirement on machining accuracy, and walking process straightness is good, and positioning accuracy is high, stable and reliable for performance,
Overcome the deficiencies in the prior art.
2, entire walking mechanism of the invention is assembled using tower structure, by the fixed upper plate of walking mechanism, walking
Plate and the fixed lower plate of walking mechanism are bolted and are secured together during mechanism is fixed, form the frame structure of a C font,
Walking mechanism is fixed into adjustment of the printing plate with two support columns again and walking mechanism fixes lower plate reinforcement by connection, guarantees entire walking mechanism frame
The stability and intensity of frame structure.
Walking mechanism motor is fixed as an entirety by walking mechanism speed reducer and walking mechanism motor fixing plate, then
This entirety is put into C font frame just now, fixation is bolted, such mounting means both ensure that row
The use intensity of mechanism is walked, and installation accuracy can be improved by way of splicing, reduces processing and manufacturing cost.
Traveling wheel fixed disk, the cooperation of traveling wheel through hole and axis are also equipped on the output shaft of walking mechanism speed reducer
Relationship is secured together with bolt and traveling wheel fixed disk, then a traveling wheel baffle is fixed on the outside of traveling wheel, effect
To prevent traveling wheel from occurring the case where along axial float on 3 output shaft of walking mechanism speed reducer during rotation.
Entire AGV tread systems design of the invention is small and exquisite succinct, and simple installation, processing cost is low, assembly precision it is high and
It can satisfy the intensity requirement of actual use.
Detailed description of the invention
Fig. 1 is the overlooking structure diagram of AGV trolley；
Fig. 2 is walking mechanism schematic perspective view of the invention；
Fig. 3 is walking mechanism side structure schematic diagram of the invention；
Fig. 4 is walking mechanism schematic cross-sectional view of the invention；
Fig. 5 is schematic perspective view of the invention；
Fig. 6 is schematic cross-sectional view of the invention.
In attached drawing, parts list represented by the reference numerals are as follows:
1, AGV walking mechanism；11, walking mechanism fixed frame；12, traveling wheel fixed disk；13, traveling wheel baffle；14, it walks
Mechanism motor；15, walking mechanism speed reducer；16, traveling wheel；17, support column；2, damping；21, damping shell；22,
Compressed spring；23, guide rail；24, driving mechanism component；25, damping guiding axis；26, damping sliding block fixed plate；27, damping
Positioning pin；28, sliding block；29, guide rail fixed plate；30, retaining ring；31, guiding axis baffle
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" " clockwise " " counterclockwise " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
As shown in figs 1 to 6, a kind of AGV damping walking mechanism 2, including AGV walking mechanism 1 and damping 2, it is described
AGV walking mechanism 1 is mounted on AGV trolley 3 by damping 2, and the damping 2 includes damping shell 21, pressure
The driving mechanism component 24 of contracting spring 22 and guide rail 23, the AGV walking mechanism 1 is mounted on by compressed spring 22 and guide rail 23
On damping shell 21, the damping shell 21 is fixed on AGV trolley 3.
As an implementation, the damping shell 21 is the rectangular enclosure that there is cavity in inside, the driving machine
Through there is damping guiding axis 25 on the left of structure component 24, the driving mechanism component 24 can be slided up and down along damping guiding axis 25,
Described 24 one end of driving mechanism component and damping guiding axis 25 are located in damping shell 21, and the driving mechanism component 24 is logical
It is connected on the inside of overcompression spring 22 and damping shell 21, on 21 inside of 22 upper end of compressed spring and damping shell
Surface is fixed, and lower end and driving mechanism component 24 are fixed, and the driving mechanism component 24 is also fixedly connected with guide rail 23, described to lead
Rail 23 can be slided up and down along sliding block 28, and the sliding block 28 is fixed on 21 outside of damping shell, the damping guiding axis 25
It is fixed on AGV trolley 3.
As an implementation, 25 top and bottom of damping guiding axis are provided with guiding axis baffle 31, described
Guiding axis baffle 31 is for positioning damping shell 21.
As an implementation, the sliding block 28 is fixed in damping sliding block fixed plate 26, and the damping sliding block is fixed
Plate 26 is fixed on damping shell 21.
As an implementation, the AGV walking mechanism 1 includes traveling wheel 16 and driving mechanism component 24, the drive
Dynamic mechanism assembly 24 includes walking mechanism fixed frame 11, traveling wheel fixed disk 12, traveling wheel baffle 13,14 and of walking mechanism motor
Walking mechanism speed reducer 15, the walking mechanism motor 14 are connect with walking mechanism speed reducer 15, the walking mechanism motor 14
It is installed in walking mechanism fixed frame 11 with walking mechanism speed reducer 15, the output shaft and row of the walking mechanism speed reducer 15
It is fixed to walk to take turns fixed disk 12, the traveling wheel fixed disk 12 is connect with 16 center of traveling wheel, on the outside of 16 center of traveling wheel also
It is provided with traveling wheel baffle 13, the traveling wheel baffle 13 is for limiting the output shaft of walking mechanism speed reducer 15.
As an implementation, the walking mechanism fixed frame 11 is solid including the fixed upper plate of walking mechanism, walking mechanism
The fixed lower plate of plate, walking mechanism and walking mechanism motor fixing plate 18 in fixed, the fixed upper plate of the walking mechanism, walking mechanism are solid
The fixed lower plate of plate, walking mechanism forms gap frame structure in fixed, is provided with vehicle with walking machine at the gap frame structure front openings
Structure motor fixing plate 18 is provided with support column 17 between the fixed upper plate of the walking mechanism and the fixed lower plate of walking mechanism.
As an implementation, the damping 2 is fixed on AGV trolley 3 by damping positioning pin 27.
Entire walking mechanism of the invention is assembled using tower structure, by the fixed upper plate of walking mechanism, vehicle with walking machine
Plate and the fixed lower plate of walking mechanism are bolted and are secured together during structure is fixed, form the frame structure of a C font, then
Walking mechanism is fixed into adjustment of the printing plate with two support columns and walking mechanism fixes lower plate reinforcement by connection, guarantees entire running mechanism frame
The stability and intensity of structure.
Walking mechanism motor is fixed as an entirety by walking mechanism speed reducer and walking mechanism motor fixing plate, then
This entirety is put into C font frame, fixation is bolted, such mounting means both ensure that walking mechanism
Use intensity, and installation accuracy can be improved by way of splicing, reduce processing and manufacturing cost.
Traveling wheel fixed disk, the cooperation of traveling wheel through hole and axis are also equipped on the output shaft of walking mechanism speed reducer
Relationship is secured together with bolt and traveling wheel fixed disk, then a traveling wheel baffle is fixed on the outside of traveling wheel, effect
To prevent traveling wheel 6 from occurring the case where along axial float on 3 output shaft of walking mechanism speed reducer during rotation.
Entire AGV tread systems design of the invention is small and exquisite succinct, and simple installation, processing cost is low, assembly precision it is high and
It can satisfy the intensity requirement of actual use.
Entire damping installation there are two linear guide mould group, linear guide mould group in this invention it is solid with sliding block
Fixed, it is free to slide that damping guide rail along the inside groove of damping sliding block does straight line.Since damping guide rail and walking mechanism component are fixed into
For an entirety, damping sliding block and damping shell are fixed as an entirety, therefore in AGV walking process, vehicle with walking machine
Structure component can do in damping interior of shell and freely up and down slide,
Two sets of compression spring devices are also equipped in the outer place of damping interior of shell, compression spring device includes
Damping is oriented to shaft retaining ring 30, compressed spring and guiding axis baffle 31.Entire walking mechanism component is located at two sets of compression spring devices
Centre, allowing for walking mechanism component so just will receive compressed spring when damping interior of shell slides up and down
Active force guarantees that walking mechanism component is constantly subjected to the active force of compressed spring when moving up and down, allows traveling wheel in rotation
And it can be equal to the active force of compressed spring to the normal pressure on ground effectively with ground face contact in the process, can play and subtract
Shake effect.
Entire AGV damping walking mechanism is cooperated by the dowel hole on two damping positioning pins 27 and AGV bottom plate,
It ensure that the positioning accuracy that walking damping is installed on bottom plate.
Walking mechanism and damping are separately designed processing by the present invention, and the two is installed by straight line mould group and connected by the back side
To together, the two is simultaneously connected in series together with compression spring device by front, so that walking mechanism is constantly subjected to the work of compressed spring
Firmly, the reliable contacts on traveling wheel and ground be ensure that, the phenomenon that walking process is not in skidding.
The foregoing is merely presently preferred embodiments of the present invention, is 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 (7)
1. a kind of AGV damping walking mechanism (2), which is characterized in that described including AGV walking mechanism (1) and damping (2)
AGV walking mechanism (1) is mounted on AGV trolley (3) by damping (2), and the damping (2) includes outside damping
The driving mechanism component (24) of shell (21), compressed spring (22) and guide rail (23), the AGV walking mechanism (1) passes through compression bullet
Spring (22) and guide rail (23) are mounted on damping shell (21), and the damping shell (21) is fixed on AGV trolley (3)
On.
2. AGV damping walking mechanism (2) according to claim 1, which is characterized in that the damping shell (21) is
There is the rectangular enclosure of cavity in inside, and running through on the left of the driving mechanism component (24) has damping guiding axis (25), the driving machine
Structure component (24) can be slided up and down along damping guiding axis (25), described driving mechanism component (24) one end and damping guiding axis
(25) it is located in damping shell (21), the driving mechanism component (24) passes through compressed spring (22) and damping shell
(21) inside connection, compressed spring (22) upper end are fixed with damping shell (21) inside upper surface, lower end and driving
Mechanism assembly (24) is fixed, and the driving mechanism component (24) is also fixedly connected with guide rail (23), and the guide rail (23) can be along
Sliding block (28) slides up and down, and the sliding block (28) is fixed on the outside of damping shell (21), and the damping guiding axis (25) is solid
It is scheduled on AGV trolley (3).
3. AGV damping walking mechanism (2) according to claim 1, which is characterized in that damping guiding axis (25) upper end
It is provided with guiding axis baffle (31) with lower end, the guiding axis baffle (31) is for determining damping shell (21)
Position.
4. AGV damping walking mechanism (2) according to claim 1, which is characterized in that the sliding block (28) is fixed on damping
In sliding block fixed plate (26), the damping sliding block fixed plate (26) is fixed on damping shell (21).
5. AGV damping walking mechanism (2) according to claim 1, which is characterized in that the AGV walking mechanism (1) includes
Traveling wheel (16) and driving mechanism component (24), the driving mechanism component (24) include walking mechanism fixed frame (11), walking
Take turns fixed disk (12), traveling wheel baffle (13), walking mechanism motor (14) and walking mechanism speed reducer (15), the walking mechanism
Motor (14) is connect with walking mechanism speed reducer (15), and the walking mechanism motor (14) and walking mechanism speed reducer (15) are pacified
In walking mechanism fixed frame (11), the output shaft of the walking mechanism speed reducer (15) and traveling wheel fixed disk (12) are solid
Fixed, the traveling wheel fixed disk (12) connect with traveling wheel (16) center, is additionally provided with row on the outside of traveling wheel (16) center
It walks to take turns baffle (13), the traveling wheel baffle (13) is for limiting the output shaft of walking mechanism speed reducer (15).
6. AGV damping walking mechanism (2) according to claim 5, which is characterized in that the walking mechanism fixed frame (11)
Including plate, the fixed lower plate of walking mechanism and walking mechanism motor fixing plate in walking mechanism fixation upper plate, walking mechanism fixation
(18), plate, the fixed lower plate of walking mechanism form gap frame structure, institute during the walking mechanism fixes upper plate, walking mechanism is fixed
It states and is provided at gap frame structure front openings walking mechanism motor fixing plate (18), the fixed upper plate of the walking mechanism and row
It walks and is provided with support column (17) between the fixed lower plate of mechanism.
7. AGV damping walking mechanism (2) according to claim 1, which is characterized in that the damping (2) is by subtracting
Shake mechanism positioning pin (27) is fixed on AGV trolley (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910669962.9A CN110422249A (en) | 2019-07-24 | 2019-07-24 | A kind of AGV damping walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910669962.9A CN110422249A (en) | 2019-07-24 | 2019-07-24 | A kind of AGV damping walking mechanism |
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| CN110422249A true CN110422249A (en) | 2019-11-08 |
Family
ID=68410490
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910669962.9A Pending CN110422249A (en) | 2019-07-24 | 2019-07-24 | A kind of AGV damping walking mechanism |
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| CN (1) | CN110422249A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112895828A (en) * | 2021-03-12 | 2021-06-04 | 机械工业第九设计研究院有限公司 | Take absorbing ultra-thin differential drive for AGV |
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| DE202009015783U1 (en) * | 2009-11-19 | 2010-02-25 | Georg Kramp Gmbh & Co. Kg | Drive unit for a heavy load transport system |
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| CN208602592U (en) * | 2018-07-04 | 2019-03-15 | 哈工大机器人（昆山）有限公司 | It is a kind of for the drive wheel suspension damping of AGV trolley, chassis, AGV trolley |
| CN209063832U (en) * | 2018-10-18 | 2019-07-05 | 杭州易博特科技有限公司 | The suspension and automated guided vehicle of all-wheel drive |
| CN210634667U (en) * | 2019-07-24 | 2020-05-29 | 湖北九州云仓科技发展有限公司 | AGV shock attenuation running gear |
-
2019
- 2019-07-24 CN CN201910669962.9A patent/CN110422249A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202009015783U1 (en) * | 2009-11-19 | 2010-02-25 | Georg Kramp Gmbh & Co. Kg | Drive unit for a heavy load transport system |
| CN106739904A (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 | A kind of AGV driver elements damping |
| CN107323238A (en) * | 2017-09-06 | 2017-11-07 | 天津朗誉科技发展有限公司 | A kind of single two-way AGV transport vehicles buffer-type drive mechanism of drive |
| CN208602592U (en) * | 2018-07-04 | 2019-03-15 | 哈工大机器人（昆山）有限公司 | It is a kind of for the drive wheel suspension damping of AGV trolley, chassis, AGV trolley |
| CN209063832U (en) * | 2018-10-18 | 2019-07-05 | 杭州易博特科技有限公司 | The suspension and automated guided vehicle of all-wheel drive |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112895828A (en) * | 2021-03-12 | 2021-06-04 | 机械工业第九设计研究院有限公司 | Take absorbing ultra-thin differential drive for AGV |
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