CN111267999A - AGV driving device - Google Patents
AGV driving device Download PDFInfo
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- CN111267999A CN111267999A CN202010202640.6A CN202010202640A CN111267999A CN 111267999 A CN111267999 A CN 111267999A CN 202010202640 A CN202010202640 A CN 202010202640A CN 111267999 A CN111267999 A CN 111267999A
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- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 238000013016 damping Methods 0.000 claims abstract description 18
- 230000003139 buffering effect Effects 0.000 claims abstract 2
- 238000005192 partition Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 18
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- 230000035939 shock Effects 0.000 description 12
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- 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
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- 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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Abstract
The present invention provides an AGV driving apparatus, including: the device comprises a driving unit, a guide unit and a damping unit. The damping unit is located the drive unit upper strata, and the guide unit is located the drive unit front end. The driving unit, the guiding unit and the damping unit form a complete AGV driving device. The drive unit provides a jacking mechanism and a transmission mechanism, so that slipping and idling of a drive wheel of the AGV can be effectively avoided when the AGV runs on an uneven road, the damping unit achieves a damping and buffering effect through the buffer piece, and the stability of the AGV is greatly improved.
Description
Technical Field
The invention relates to the technical field of transportation, in particular to an AGV driving device.
Background
The automatic guided vehicle is called AGV for short, the driving device is one of main constituent units, and the driving device has the functions of providing motion power for the AGV and ensuring the normal work of the AGV.
In order to keep the AGV working stably, the existing AGV driving speed is about 0 to 90 m/min, and belongs to middle and low speed driving.
The structure on current AGV chassis is comparatively complicated, and each drive assembly spatial distribution is comparatively mixed and disorderly, and along with the more extensive that AGV used, the user has provided higher requirement to AGV at complicated operational environment's ability, therefore AGV also becomes one of the index of measurationing of AGV practicality at the adaptability of complicated road conditions.
When the road surface is uneven or the ground is too slippery, the AGV is easy to cause the phenomenon that the driving wheel slips or idles, so that the traction force is insufficient, and the vehicle body is easy to generate strong trembling. Therefore, it is necessary to provide a driving device which simplifies the structure of the AGV chassis to prevent the AGV driving wheel from slipping or idling and can effectively reduce the vibration.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides an AGV driving device, provides a more reasonable AGV driving layout, can effectively avoid the slipping and idling of driving wheels when the AGV runs on an uneven road, and greatly improves the stability of the AGV.
The invention adopts the following technical scheme:
the invention discloses an AGV driving device which comprises a driving unit, a guiding unit and a damping unit. The damping unit is located the drive unit upper strata, and the guide unit is located the drive unit front end. The driving unit, the guiding unit and the damping unit form a complete AGV driving device.
The driving unit includes: the device comprises a driving wheel, a wheel shaft, a first bearing, a jacking mechanism, a driving motor, a transmission mechanism, a car connecting seat cover plate, a connecting cylinder, a first pin shaft and a first split pin.
The driving motor is installed on the left side and the right side of the car connecting seat, a motor shaft is connected with the wheel shaft through a transmission mechanism, the lower end of the jacking mechanism is connected with the wheel shaft through a first bearing, the upper end of the jacking mechanism is connected with the car connecting seat and the upper top plate of the bottom box through bolts, the upper top plate of the bottom box is located between the car connecting seat and the car connecting seat cover plate, the bottom box connecting plate, the car connecting seat and the car connecting seat cover plate are connected through common bolts, the connecting cylinder is located in the middle of the car connecting seat and matched with a round hole in the middle of the car connecting seat cover plate, and the lower end of the connecting cylinder is in surface contact with the upper surface of.
The driving wheels of the driving device are respectively arranged on the left side and the right side and are driven by the corresponding driving motors respectively, the driving motors are driven according to instructions sent by the control system, the two driving motors are not interfered with each other, and the AGV realizes different functions through different speeds of the two driving wheels.
The method specifically comprises the following steps: the two driving wheels have the same speed, forward and backward are respectively realized according to different steering directions of the driving wheels, the speed of the left driving wheel is higher than that of the right driving wheel to realize the right turning of the AGV, and the speed of the right driving wheel is higher than that of the left driving wheel to realize the left turning of the AGV.
The transmission mechanism includes: the universal joint driving fork, the universal joint driven fork, the clamp spring, the locking pin, the driven fork end cover, the cross reversing shaft, the first straight rod and the second straight rod.
The universal joint driving fork is characterized in that the two ends of the upper end of the universal joint driving fork are provided with fork pieces, the fork pieces are provided with through holes, the lower ends of the fork pieces are provided with pin holes, the through holes and the pin holes are arranged at 90 degrees, the two ends of the universal joint driven fork are provided with semi-circular holes, two threaded holes are symmetrically arranged at the two ends of the semi-circular holes, the lower ends of the fork pieces are provided with pin holes, the semi-circular holes and the pin holes are arranged at 90 degrees, the edges of end covers of the driven fork are provided with through holes, the through holes correspond to the threaded holes of the universal joint driven fork, the universal joint driven fork is connected with the end covers of the driven fork through bolts, the end covers of the driven fork are also provided with semi-circular holes, the two semi-circular holes correspond in size to form a complete circular hole, shaft rods are symmetrically arranged on the left and the right of the upper and the lower ends of the shaft bodies of the cross reversing shafts, the upper and, the left shaft lever, the right shaft lever and the semicircular hole of the universal joint driven fork are matched, the clamp spring is arranged on the outer side of the shaft lever, and the universal joint driven fork, the cross reversing shaft and the driven fork end cover are installed in a left-right matching mode in the transmission device.
The outer surface of the first straight rod is a hexagonal prism, the lower end of the first straight rod is provided with a limiting boss with a hexagonal prism-shaped outer surface, the upper end of the first straight rod is fixed with the driven universal joint fork through a locking pin, clamp springs are arranged on two sides of the locking pin to lock the first straight rod, the inner surface of the second straight rod is hexagonal prism-shaped, a limiting concave table is arranged on the upper side of the inner surface, the inner surface of the hexagonal prism is matched with the side surface of the limiting boss at the lower end of the first straight rod.
The outer surface of the first straight rod is matched with the inner surface of the second straight rod, the first straight rod can do relative linear motion relative to the axis direction of the second straight rod, the limiting boss at the lower end of the first straight rod interacts with the limiting boss at the upper side of the inner surface of the second straight rod, the first straight rod can slide relative to the second straight rod, and vertical and transverse movement of two ends of the transmission mechanism can be achieved.
The universal joint driving fork and the universal joint driven fork are connected through the cross reversing shaft, the universal joint driven fork can do rotary motion with the left shaft rod and the right shaft rod of the cross reversing shaft as axes relative to the universal joint driving fork, and vertical and transverse movement of two ends of the transmission mechanism can be achieved.
One end of the transmission mechanism is connected with the wheel shaft through a pin, the other end of the transmission mechanism is connected with the driving motor through a pin, when the driving wheel moves up and down, the transmission mechanism realizes the up-and-down movement of the driving wheel relative to a single plane without transverse displacement of the driving motor through the synergistic effect of the rotation movement generated by the universal joint driven fork and the universal joint driving fork and the relative sliding of the first straight rod and the second straight rod.
The top pressure mechanism includes: the spring type push rod comprises a base, a first push rod, a first spring, a second spring, a third spring and a second push rod.
The hollow rod internal surface of base upper end is equipped with the rectangle recess, and the base lower extreme is equipped with the go-between, and the go-between cooperatees with first bearing, and base lower end upper surface is equipped with spacing annular, the second spring is fixed at second push rod lower surface, second push rod surface is equipped with first bead, and the first bead of second push rod cooperatees with the rectangle recess of the hollow rod internal surface of base upper end, first spring lower extreme is fixed at second push rod top surface, and the bottom surface at first push rod is fixed to first spring upper end, first push rod surface is equipped with the second bead, and top erection joint boss, the restraint of third spring lower extreme is in the spacing annular of base, and the upper end contacts under the connection boss with first push rod upper end.
The jacking mechanism applies a vertical pressure to the driving wheel and the wheel shaft through the connection relation of the first bearing, so that the effect of jacking the whole driving wheel and the wheel shaft downwards is realized, and the driving wheel is always attached to the ground.
First spring sets up between first push rod and second push rod, realizes first heavy shock attenuation and roof pressure effect, and the second spring is a plurality of springs, is fixed in second push rod bottom surface, realizes second shock attenuation and roof pressure effect, and the third spring mounting realizes triple shock attenuation and roof pressure effect between first push rod and base, and whole shock attenuation process restricts mutually and goes on to respective extrusion length has been reduced, thereby has prolonged respective life.
The third spring has the advantages that the radius of the circular ring formed by the closed cross section from the upper end to the middle part of the third spring is gradually increased, and the radius of the circular ring formed by the closed cross section from the middle part to the lower end of the third spring is gradually decreased.
The guide unit includes: a navigator frame and a navigator.
The navigator frame is arranged on the front side of the bottom box outer frame of the driving unit and is connected with the bottom box outer frame through a common bolt. The navigator is connected with the navigator frame through a common bolt, the navigator can be an infrared emission device, an ultrasonic wave generation device, a visual navigation device and other navigation devices according to requirements, and the navigation of the AGV has a mature technology, so that the detailed description is omitted.
The shock-absorbing unit includes: the vertical shaft, the frame fixing plate, the compression spring, the stand column, the frame connecting plate, the buffer piece, the second bearing, the middle partition plate, the second pin shaft and the second split pin.
The frame fixing plate is connected with the upper end of the connecting cylinder through a common bolt, a through hole is formed in the lower end of the vertical shaft, the lower end of the vertical shaft is locked with the lower end of the car connecting seat through a first pin shaft and a first cotter pin, the upper portion of the vertical shaft penetrates through a central round hole of the frame fixing plate, the upper end face of the vertical shaft is overlapped with the upper surface of the middle portion of the frame fixing plate, the lower surfaces of two sides of the frame connecting plate are attached to the upper surfaces of two sides of the frame fixing plate and connected through the common bolt, the compression spring is sleeved on the outer surface of the stand column, the lower end of the compression spring abuts against the upper end.
The second bearing is arranged in a hollow groove in the upper surface of the middle part of the frame connecting plate and matched with the outer surface of the stand column, the boss of the middle partition plate is fixed with the hole in the upper end of the stand column through a second pin shaft and a second cotter pin, and the buffer parts are positioned between the middle partition plate and the frame fixing plate and are symmetrically arranged on the left side and the right side.
The buffer parts are four spring parts and are positioned between the middle partition plate and the frame fixing plate and symmetrically arranged on the left side and the right side, so that the buffer and shock absorption effects of the middle partition plate relative to the frame fixing plate are realized.
When the AGV runs on an uneven road, the middle partition plate and the AGV body connected with the middle partition plate can slowly swing up and down under the action of the buffer piece, so that balance is achieved, the left driving wheel and the right driving wheel are tightly attached to the ground on one side and slide or suspend on the other side in the running process, the driving wheels at the sliding or suspending ends can press the ground under the combined action of the jacking mechanism and the transmission mechanism, and therefore the driving wheels are prevented from sliding or even idling, and vibration can be reduced to a great extent.
The embodiment also provides an AGV, which comprises a frame, a driven wheel assembly and an AGV driving device, wherein the frame is provided with a driving wheel; AGV drive arrangement installs in frame bottom front end, from driving wheel assembly body position in frame bottom rear end, from driving wheel assembly body including elevating system, from driving wheel mounting bracket, the driven shaft, from the driving wheel, install in from driving wheel mounting bracket lower extreme through the driven shaft from the driving wheel, pass through elevating system and connected to the frame from the driving wheel mounting bracket, elevating system can realize the height adjustment of vertical direction.
The invention has the beneficial effects that:
according to the AGV driving device, the mounting clamping grooves of the assembly units required by AGV driving are formed in the upper surface of the middle partition plate, and the required assembly units can be added as required; the middle partition plate is fixedly connected with the frame, the middle partition plate is connected with the upright post through a second pin shaft and a second cotter pin, the middle partition plate can swing up and down within the range of 30 degrees in the vertical plane, and a buffer part is arranged between the middle partition plate and the frame fixing plate, so that the buffer effect of the middle partition plate during the up-and-down swing can be realized; the driving wheel is connected with the driving motor through the transmission mechanism, the transmission mechanism realizes non-coaxial movement of the driving wheel relative to the driving device in the whole vertical direction and the driving motor through the rotating motion generated by the universal joint driven fork and the universal joint driving fork and the relative sliding synergistic effect of the first straight rod and the second straight rod, the jacking mechanism is arranged between the wheel shaft and the car connecting seat, pressure in the vertical direction is applied to the driving wheel, the driving wheel is enabled to compress the ground constantly, the AGV can work in the environment with complex road conditions, slipping or idling is effectively prevented, and the stability of the AGV is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a portion of an AGV driving apparatus according to the present invention;
FIG. 2 is a schematic diagram II of a partial structure of the AGV driving apparatus of the present invention;
FIG. 3 is a schematic view of the overall structure of the pressing mechanism of the present invention;
FIG. 4 is a schematic view of a base structure of the present invention;
FIG. 5 is a schematic view of a portion of the pressing mechanism of the present invention;
FIG. 6 is a schematic view of a third spring structure according to the present invention;
FIG. 7 is a schematic view of the overall structure of the transmission mechanism of the present invention;
FIG. 8 is a full sectional view of the transmission mechanism of the present invention;
FIG. 9 is a schematic view of a portion of the drive mechanism of the present invention;
FIG. 10 is a schematic view of a first linear bar configuration of the present invention;
FIG. 11 is a schematic view of a second straight bar structure of the present invention;
FIG. 12 is a schematic structural view of a cross-shaped reversing shaft according to the present invention;
FIG. 13 is a schematic view of the overall structure of the shock absorbing unit of the present invention;
FIG. 14 is a partial structural view of a shock absorbing unit according to the present invention;
FIG. 15 is a schematic view of the construction of the column of the present invention;
FIG. 16 is a schematic diagram of the overall configuration of the AGV driving apparatus of the present invention;
FIG. 17 is a schematic view of the positional relationship of the AGV drive of the present invention with the AGV frame;
FIG. 18 is a schematic diagram of an AGV of the present invention.
In the figure: 1-a driving unit, 101-a driving wheel, 102-a wheel shaft, 103-a first bearing, 104-a jacking mechanism, 1041-a base, 1042-a first push rod, 1043-a first spring, 1044-a second spring, 1045-a third spring, 1046-a second push rod, 105-a driving motor, 106-a transmission mechanism, 1061-a universal joint driving fork, 1062-a universal joint driven fork, 1063-a snap spring, 1064-a locking pin, 1065-a driven fork end cover, 1066-a cross reversing shaft, 1067-a second straight rod, 1068-a first straight rod, 107-a car connecting seat, 108-a car connecting seat cover plate, 109-a connecting cylinder, 110-a first pin shaft and 111-a first split pin; .
2-a damping unit, 201-a vertical shaft, 202-a frame fixing plate, 203-a frame connecting plate, 204-a buffer, 205-a second bearing, 206-a compression spring, 207-an upright post, 208-a second split pin, 209-a second pin shaft and 210-an intermediate clapboard;
3-car sedan;
4-driven wheel assembly, 401-lifting mechanism, 402-driven wheel mounting rack, 403-driven wheel shaft and 404-driven wheel;
5-navigation unit, 501-navigator mount, 502-navigator;
6-vehicle head.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention are described below clearly and completely, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1, 2 and 16, an AGV driving apparatus of the present invention:
the drive unit 1 includes: the driving device comprises a driving wheel 101, a wheel shaft 102, a first bearing 103, a jacking mechanism 104, a driving motor 105, a transmission mechanism 106, a car connecting seat 107, a car connecting seat cover plate 108, a connecting cylinder 109, a first pin shaft 110 and a first split pin 111.
The left side and the right side of the driving wheel 101 are respectively provided with one driving motor 105, the two driving motors 105 are respectively arranged on the left side and the right side of the car connecting seat 107, a motor shaft is connected with the wheel shaft 102 through a transmission mechanism 106, the lower end of the jacking mechanism 104 is connected with the wheel shaft 102 through a first bearing 103, the upper end of the jacking mechanism is connected with the car connecting seat 107 and the upper top plate of the bottom box through bolts, the upper top plate of the bottom box is positioned between the car connecting seat 107 and the car connecting seat cover plate 108, the bottom box connecting plate, the car connecting seat 107 and the car connecting seat cover plate 108 are connected through common bolts, the connecting cylinder 109 is positioned in the middle of the car connecting seat 107 and matched with a round hole in the middle of the car connecting seat cover plate 108, and the lower end of the connecting cylinder is in contact with the upper surface.
Two driving wheels 101 of the driving device are respectively arranged on the left side and the right side of a car connecting seat 107 and are driven by corresponding driving motors 105, the driving motors 105 are driven according to instructions sent by a control system, the two driving motors 105 do not interfere with each other, and the AGV realizes different functions through different speeds of the two driving wheels 101.
The method specifically comprises the following steps: the two driving wheels 101 have the same speed, forward and backward are respectively realized according to different steering directions of the driving wheels 101, the speed of the left driving wheel is higher than that of the right driving wheel to realize the right turning of the AGV, and the speed of the right driving wheel is higher than that of the left driving wheel to realize the left turning of the AGV.
As shown in fig. 7-12, the transmission mechanism 106 includes: the universal joint driving fork 1061, the universal joint driven fork 1062, the clamp spring 1063, the locking pin 1064, the driven fork end cover 1065, the cross reversing shaft 1066, the first straight rod 1068 and the second straight rod 1067.
The outer surface of the first straight rod 1068 is hexagonal prism, the lower end of the first straight rod 1068 is provided with a limiting boss with a hexagonal prism-shaped outer surface, the inner surface of the second straight rod 1067 is hexagonal prism-shaped, the upper side of the inner surface is provided with a limiting boss, the hexagonal prism-shaped inner surface of the second straight rod 1067 is matched with the side surface of the limiting boss at the lower end of the first straight rod 1068, and the first straight rod 1068 can slide relative to the second straight rod 1067, so that the vertical and horizontal movement of the two ends of the transmission mechanism 106 is.
The universal joint driving fork 1061 is connected to the universal joint driven fork 1062 via a cross-shaped reversing shaft 1066, and the universal joint driven fork 1062 can rotate relative to the universal joint driving fork 1061 about the left and right shafts of the cross-shaped reversing shaft 1066, so as to realize vertical and horizontal movements at both ends of the transmission mechanism 106.
One end of the transmission mechanism 106 is connected with the wheel shaft 102 through a pin, and the other end of the transmission mechanism 106 is connected with the driving motor 105 through a pin, when the driving wheel 101 moves up and down, the transmission mechanism 106 realizes the up-and-down movement of the driving wheel 101 relative to the driving motor 105 in a single plane without transverse displacement through the cooperation of the rotation movement generated by the universal joint driven fork 1062 and the universal joint driving fork 1061 and the relative sliding of the first straight rod 1068 and the second straight rod 1067.
As shown in fig. 3 to 6, the pressing mechanism 104 includes: a base 1041, a first push rod 1042, a first spring 1043, a second spring 1044, a third spring 1045, and a second push rod 1046.
The hollow rod internal surface in base 1041 upper end is equipped with the rectangle recess, and base 1041 lower extreme is equipped with the go-between, and the go-between cooperatees with first bearing 103, and base 1041 lower extreme upper surface is equipped with spacing annular, second spring 1044 is fixed at second push rod 1046 lower surface, second push rod 1046 surface is equipped with first bead, and first bead and the rectangular recess of the hollow rod internal surface in base 1041 upper end of second push rod 1046 cooperate, first spring 1043 lower extreme is fixed at second push rod 1046 top surface, and the bottom surface at first push rod 1042 is fixed to first spring 1043 upper end, first push rod 1042 surface is equipped with the second bead, top erection joint boss, the restraint of third spring 1045 lower extreme is in the spacing annular of base 1041, the boss lower surface contact is connected to the upper end and first push rod 1042 upper end.
The pressing mechanism 104 applies a vertical pressure to the driving wheel 101 and the wheel shaft 102 through the connection relationship of the first bearing 103, so that the driving wheel 101 and the wheel shaft 102 are integrally pressed downwards, and the driving wheel 101 is always tightly attached to the ground.
The third spring 1045 has a gradually increasing radius of the circular ring formed by the closed cross section from the upper end to the middle part and a gradually decreasing radius of the circular ring formed by the closed cross section from the middle part to the lower end, so that the extrusion effect of the third spring 1045 is enhanced, the damping effect of the third spring 1045 is enhanced, and the service life of the third spring 1045 is prolonged.
As shown in fig. 16 to 18, the guide unit 5 includes: a navigator frame 501 and a navigator 502.
The navigator frame 501 is installed at the front side of the bottom box outer frame of the driving unit 1, and the navigator frame 501 is connected with the bottom box outer frame through a common bolt. The navigator 502 is connected with the navigator frame 501 through a common bolt, and the navigator 502 can be a plurality of navigation devices such as an infrared emitting device, an ultrasonic wave generating device and a visual navigation device according to requirements.
As shown in fig. 1-2,13-14, the shock-absorbing unit includes: the vertical shaft 201, a frame fixing plate 202, a compression spring 206, a vertical column 207, a frame connecting plate 203, a buffer 204, a second bearing 205, an intermediate partition plate 210, a second pin shaft 209 and a second cotter pin 208.
The frame fixing plate 202 is connected with the upper end of the connecting cylinder 109 through a common bolt, a through hole is formed in the lower end of the vertical shaft 201, the lower end of the vertical shaft 201 is locked with the lower end of the car connecting seat 107 through a first pin shaft 110 and a first cotter pin 111, the upper portion of the vertical shaft 201 penetrates through a central circular hole of the frame fixing plate 202, the upper end of the vertical shaft 201 is overlapped with the upper surface of the middle portion of the frame fixing plate 202, the lower surfaces of two sides of the frame connecting plate 203 are attached to the upper surfaces of two sides of the frame fixing plate 202 and connected through the common bolt, the compression spring 206 is sleeved on the outer surface of the stand column 207, the lower end of the compression spring 206 abuts against the upper end surface of.
The second bearing 205 is installed in a hollow groove on the upper surface of the middle part of the frame connecting plate 203 and is matched with the outer surface of the upright post 207, and the boss of the middle partition plate 210 and the hole at the upper end of the upright post 207 are fixed through a second pin shaft 209 and a second cotter pin 208, so that the middle partition plate 210 can swing up and down within the range of 30 degrees in the vertical plane.
The buffer members 204 are four spring members, are located between the middle partition plate 210 and the frame fixing plate 202, and are symmetrically arranged on the left side and the right side, so that the buffer and shock absorption effects of the middle partition plate 202 relative to the frame fixing plate are realized.
When the AGV runs on an uneven road, the intermediate clapboard 210 and the AGV body connected with the intermediate clapboard 210 can slowly swing up and down under the action of the buffer 204 so as to achieve balance, when the left and right driving wheels 101 run on the process, one side of the driving wheels clings to the ground and the other side of the driving wheels skids or hangs, the driving wheels 101 at the skidding or hanging ends can be pressed on the ground under the combined action of the jacking mechanism 104 and the transmission mechanism 106, so that the driving wheels 101 are prevented from skidding or even idling, and the vibration can be reduced to a great extent.
As shown in fig. 17-18, the present embodiment also provides an AGV cart including a frame 3, a driven wheel assembly 4 and the AGV driving apparatus of the above embodiment; AGV drive arrangement installs in frame 3 bottom front end, from driving wheel assembly body being located frame 3 bottom rear end, from driving wheel assembly body 4 including elevating system 401, from driving wheel mounting bracket 402, driven shaft 403, from driving wheel 404, install in from driving wheel mounting bracket 402 lower extreme through driven shaft 403 from driving wheel 404, from driving wheel mounting bracket 402 to be connected with frame 5 through elevating system 401, elevating system 401 can realize the height adjustment of vertical direction.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
- AGV drive arrangement, characterized in that includes: the AGV driving device comprises a driving unit and a damping unit, wherein the damping unit is positioned on the upper layer of the driving unit, and the driving unit and the damping unit form a complete AGV driving device;the driving unit includes: the device comprises a driving wheel, a wheel shaft, a first bearing, a jacking mechanism, a driving motor, a transmission mechanism, a car connecting seat cover plate, a connecting cylinder, a first pin shaft and a first split pin;the left side and the right side of each driving wheel are respectively connected with the corresponding driving motors, the two driving motors are respectively arranged on the left side and the right side of the car connecting seat, a motor shaft is connected with the wheel shaft through a transmission mechanism, the lower end of the jacking mechanism is connected with the wheel shaft through a first bearing, the upper end of the jacking mechanism is connected with the car connecting seat and the upper top plate of the bottom box through bolts, the upper top plate of the bottom box is positioned between the car connecting seat and the car connecting seat cover plate, the bottom box connecting plate, the car connecting seat and the car connecting seat cover plate are connected through common bolts, the connecting cylinder is positioned in the middle of the car connecting seat and matched with a round hole in the middle of the car connecting seat cover plate, and the lower end of the connecting cylinder is contacted with the upper;the shock-absorbing unit includes: the vertical shaft, the frame fixing plate, the compression spring, the upright column, the frame connecting plate, the buffer piece, the second bearing, the middle partition plate, the second pin shaft and the second split pin;the frame fixing plate is connected with the upper end of the connecting cylinder through a common bolt, the lower end of the vertical shaft is provided with a through hole, the lower end of the vertical shaft is locked with the lower end of the car connecting seat through a first pin shaft and a first cotter pin, the upper part of the vertical shaft penetrates through a central round hole of the frame fixing plate, the upper end of the vertical shaft is superposed with the upper surface of the middle part of the frame fixing plate, the lower surfaces of two sides of the frame connecting plate are jointed with the upper surfaces of two sides of the frame fixing plate through the common bolt, the compression spring is sleeved on the outer surface of the upright post, the lower end of the compression spring is abutted against the upper end surface of the vertical shaft, the upper end of the compression spring is abutted against the lower end surface of a hollow boss of the middle part of the frame connecting plate, the second bearing is arranged in a, the buffer piece is positioned between the middle partition board and the frame fixing plate and symmetrically arranged on the left side and the right side, so that the middle partition board can swing up and down within the range of 30 degrees in the vertical plane.
- 2. The AGV drive of claim 1, wherein the roof pressure mechanism comprises: base, first push rod, first spring, second spring, third spring, second push rod, the hollow rod internal surface in base upper end is equipped with the rectangle recess, and the base lower extreme is equipped with the go-between, and the go-between cooperatees with first bearing, and base lower extreme upper surface is equipped with spacing annular, the second spring is fixed at second push rod lower surface, second push rod surface is equipped with first bead, and the first bead of second push rod cooperatees with the rectangle recess of the hollow rod internal surface in base upper end, first spring lower extreme is fixed at second push rod top surface, and the bottom surface at first push rod is fixed to first spring upper end, first push rod surface is equipped with the second bead, first push rod top erection joint boss, the restraint of third spring lower extreme is in the spacing annular of base, the lower surface contact of the boss is connected to upper end and first push rod.
- 3. The AGV drive of claim 1, wherein the transmission comprises: the universal joint driving fork, the universal joint driven fork, the clamp spring, the locking pin, the driven fork end cover, the cross reversing shaft, the first straight rod and the second straight rod;the outer surface of the first straight rod is a hexagonal prism, the lower end of the first straight rod is provided with a limiting boss with a hexagonal prism-shaped outer surface, the inner surface of the second straight rod is a hexagonal prism, the upper side of the inner surface is provided with a limiting concave table, the hexagonal prism-shaped inner surface of the second straight rod is matched with the side surface of the limiting boss at the lower end of the first straight rod, and the first straight rod slides relative to the second straight rod to realize the vertical and horizontal movement of the two ends of the transmission mechanism;the universal joint driving fork and the universal joint driven fork are connected through a cross reversing shaft, and the universal joint driven fork can do rotary motion relative to the universal joint driving fork by taking a left shaft lever and a right shaft lever of the cross reversing shaft as axes, so that the vertical and transverse movement of two ends of the transmission mechanism is realized;one end of the transmission mechanism is connected with the wheel shaft through a pin, the other end of the transmission mechanism is connected with the driving motor through a pin, when the driving wheel moves up and down, the transmission mechanism realizes the up-and-down movement of the driving wheel relative to a single plane without transverse displacement of the driving motor through the synergistic effect of the rotation movement generated by the universal joint driven fork and the universal joint driving fork and the relative sliding of the first straight rod and the second straight rod.
- 4. The AGV driving device according to claim 3, wherein the upper ends of the driving fork of the universal joint are provided with fork pieces, the fork pieces are provided with through holes, the lower ends of the fork pieces are provided with pin holes, the through holes and the pin holes are arranged at 90 degrees, the upper ends of the driven fork of the universal joint are provided with fork pieces, the fork pieces are provided with semi-circular holes, two ends of the semi-circular holes are symmetrically provided with two threaded holes, the lower ends of the fork pieces are provided with pin holes, the semi-circular holes and the pin holes are arranged at 90 degrees, the edge of the end cover of the driven fork is provided with through holes, the through holes correspond to the threaded holes of the driven fork of the universal joint, the driven fork of the universal joint is connected with the end cover of the driven fork through bolts, the end cover of the driven fork is also provided with semi-circular holes, the two semi-circular holes correspond in size to form a complete circular hole, the upper shaft lever, the lower shaft lever, the left shaft lever and the right shaft lever of the shaft lever of, the clamp springs are arranged on the outer sides of the shaft rods, the left shaft rod, the right shaft rod and the semicircular holes of the universal joint driven forks are matched, the clamp springs are arranged on the outer sides of the shaft rods, and the universal joint driven forks, the cross reversing shaft and the driven fork end covers are installed in a left-right matching mode in the transmission device.
- 5. The AGV driving device according to claim 1, wherein the AGV comprises a frame, a driven wheel assembly body and an AGV driving device, the AGV driving device is mounted at the front end of the bottom of the frame, the driven wheel assembly body is located at the rear end of the bottom of the frame, the driven wheel assembly body comprises a driven wheel and an elevating mechanism, and the driven wheel is connected with the frame through the elevating mechanism.
- 6. The AGV driving device according to claim 1 or 5, wherein the buffer members are four spring members, and the four spring members are located between the middle partition plate and the frame fixing plate and symmetrically arranged on the left side and the right side to achieve a buffering and damping effect of the middle partition plate relative to the frame fixing plate;the first spring is arranged between the first push rod and the second push rod to realize a first heavy damping and jacking effect, the second spring is a plurality of springs and is fixed on the bottom surface of the second push rod to realize a second damping and jacking effect, the third spring is arranged between the first push rod and the base to realize a third heavy damping and jacking effect, and the whole damping process is mutually limited and carried out, so that the respective extrusion length is reduced, and the respective service life is prolonged;the third spring has the advantages that the radius of the circular ring formed by the closed cross section from the upper end to the middle part of the third spring is gradually increased, and the radius of the circular ring formed by the closed cross section from the middle part to the lower end of the third spring is gradually decreased.
- 7. An AGV driving apparatus according to claim 1 or 5, wherein the driving wheel is connected to the driving motor through a transmission mechanism to move the driving wheel vertically relative to the driving apparatus, and a pressing mechanism is provided between the wheel shaft and the car connecting seat to apply vertical pressure to the driving wheel to press the driving wheel against the ground.
- 8. An AGV driving apparatus according to claim 1 or 5, further comprising a guide unit provided at a front end of the driving unit, the guide unit including: a navigator frame, a navigator; the navigator frame is arranged on the front side of the outer frame of the bottom box and is connected with the outer frame of the bottom box through a common bolt, and the navigator is arranged on the navigator frame.
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| CN202010202640.6A CN111267999B (en) | 2020-03-20 | 2020-03-20 | AGV driving device |
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| CN202010202640.6A CN111267999B (en) | 2020-03-20 | 2020-03-20 | AGV driving device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20100078232A1 (en) * | 2008-09-26 | 2010-04-01 | Aichikikai Techno System Co., Ltd. | Automatic guided vehicle drive device |
| CN206537140U (en) * | 2017-03-20 | 2017-10-03 | 郑州大河智信科技股份公司 | A kind of AGV dollies independent-suspension damping formula driver element |
| CN207942896U (en) * | 2017-12-19 | 2018-10-09 | 合肥中导机器人科技有限公司 | AGV driving units damping device, AGV driving devices and AGV trolleies |
| CN110143163A (en) * | 2019-04-25 | 2019-08-20 | 潍坊路加精工有限公司 | AGV trolley and its automatic transporting method |
| CN211893461U (en) * | 2020-03-20 | 2020-11-10 | 西华大学 | AGV driving device |
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2020
- 2020-03-20 CN CN202010202640.6A patent/CN111267999B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100078232A1 (en) * | 2008-09-26 | 2010-04-01 | Aichikikai Techno System Co., Ltd. | Automatic guided vehicle drive device |
| CN206537140U (en) * | 2017-03-20 | 2017-10-03 | 郑州大河智信科技股份公司 | A kind of AGV dollies independent-suspension damping formula driver element |
| CN207942896U (en) * | 2017-12-19 | 2018-10-09 | 合肥中导机器人科技有限公司 | AGV driving units damping device, AGV driving devices and AGV trolleies |
| CN110143163A (en) * | 2019-04-25 | 2019-08-20 | 潍坊路加精工有限公司 | AGV trolley and its automatic transporting method |
| CN211893461U (en) * | 2020-03-20 | 2020-11-10 | 西华大学 | AGV driving device |
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