CN202879184U - Floating base mechanism used for automatic guided vehicle (AGV) and AGV motor tractor - Google Patents
Floating base mechanism used for automatic guided vehicle (AGV) and AGV motor tractor Download PDFInfo
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- CN202879184U CN202879184U CN 201220520567 CN201220520567U CN202879184U CN 202879184 U CN202879184 U CN 202879184U CN 201220520567 CN201220520567 CN 201220520567 CN 201220520567 U CN201220520567 U CN 201220520567U CN 202879184 U CN202879184 U CN 202879184U
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Abstract
The utility model discloses a floating base mechanism used for an automatic guided vehicle (AGV) and an AGV motor tractor. The floating base mechanism used for the AGV is arranged between a vehicle body mounting support and a vehicle body underpan and comprises a linear bearing seat, a swing support floating seat, a spring, a swing support fixing seat and a swing support shaft. The swing support floating seat is rotatably connected with the swing support fixing seat through the swing support shaft. The bottom of the linear bearing seat is fixed on the swing support floating seat, and the top of the linear bearing seat is fixed with the vehicle body mounting support. The spring is connected with the linear bearing seat in a sleeved mode. One end of the spring is abutted against the swing support floating seat, and the other end of the spring is abutted against the vehicle body mounting support. According to the floating base mechanism used for the AGV and the AGV motor tractor, a detecting face of a magnetic navigation sensor in the AGV motor tractor is enabled to be kept parallel to a pavement, the vertical detection distance is maintained at the same height, accurate detection of the magnetic navigation sensor to a guide path is convenient, and driving accuracy is ensured.
Description
Technical field
The utility model relates to AGV transport trolley field, relates in particular to a kind of unsteady foundation means for AGV and AGV tractor truck.
Background technology
AGV is the english abbreviation of magnetic navigation automatic guided vehicle (Automated Guided Vehicle), and AGV is usually take storage battery as prime power, and noncontact guidance device and other robot control system(RCS)s are housed.Its radical function shows as: under the control of Vehicle Controller and system computer, finish specific job task.Such as: planning and job requirements are walked the AGV tractor truck exactly by path, accurately stop and finish by the given order of computing machine the action of appointment.The load carrying ability of AGV tractor truck is generally in the 50KG-20000KG scope, and wherein with middle-size and small-size in the majority, 300kg accounts for about 40% of market demand AGV total amount with the AGV tractor truck of subordinate.So the AGV of different load carrying abilities, its Structural Design Requirement to the bearing part is also different.
AGV tractor truck of the prior art, comprise support chassis, car body rotating shaft, two motors, two sets of transmission mechanism, two pairs of Wheel bearings and two wheels, two motors, two sets of transmission mechanism, two pairs of Wheel bearing symmetries are packed in the upper surface of support chassis, two motors are positioned at car body rotating shaft both sides, two wheels lay respectively at the other both sides of car body rotating shaft, one end of two motors is connected with separately transmission device respectively, and two cover drive mechanisms link together with separately wheel respectively; Car body rotating shaft upper end is sleeved in the car body shaft bearing, and this car body shaft bearing is solidly installed by car body terminal pad and car body.Above-mentioned tractor truck lacks shock-damping structure, and causes its effectiveness in vibration suppression poor, and the poor stability of vehicle body is high to the planeness requirement on ground, is not suitable for the environment at Uneven road.For this reason, be necessary the structure in the above-mentioned tractor truck is improved.
The utility model content
For solving the problems of the technologies described above, the utility model provides a kind of unsteady foundation means for AGV and AGV tractor truck, AGV tractor truck with this unsteady foundation means, can guarantee that the magnetic navigation sensor detection faces maintains sustained height with road surface keeping parallelism and vertical detection distance all the time, be convenient to magnetic navigation sensor to the accurate detection of guide path, guarantee the accuracy of travelling.Wherein, unsteady foundation means has preferably shock absorbing characteristics effect, grab ground effective, can obtain splendid carrying and traction effect.
The technical scheme that the utility model adopts is: a kind of unsteady foundation means for AGV is provided, the unsteady foundation means that is used for AGV, described unsteady foundation means is installed between car body mounting bracket and the chassis of vehicle body, and described unsteady foundation means comprises the linear axis bearing, waves the support floating seat, spring, wave the supporting permanent seat and wave bolster; The described support floating seat that waves is rotationally connected by waving bolster and waving the supporting permanent seat; The bottom of described linear axis bearing is fixed in and is waved on the support floating seat, and its top and car body mounting bracket are fixed; Described spring housing is connected on the linear axis bearing, and an end of spring is supported and waved the support floating seat, and its other end is supported the car body mounting bracket.
Preferably, an end of described spring is fixed in and waves on the support floating seat.
Another technical scheme that the utility model adopts is: a kind of AGV tractor truck is provided, comprises car body mounting bracket, car body rotating shaft, wheel, magnetic navigation sensor, actuating device and chassis of vehicle body; Described car body rotating shaft is rotatably installed on the car body mounting bracket, and described wheel is by the rotating both sides of being fixed in chassis of vehicle body of bearing, and described actuating device drives vehicle wheel rotation; Described magnetic navigation sensor be installed on the chassis of vehicle body and with the residing plane parallel of chassis of vehicle body, described AGV tractor truck comprises the above-mentioned support floating seat mechanism that waves.
Preferably, also comprise jam nut, described car body rotating shaft is fixed in the car body rotating shaft rotationally by jam nut.
Useful technique effect of the present utility model is: the utility model provides a kind of unsteady foundation means for AGV, comprise and wave the support floating seat, wave the supporting permanent seat and wave bolster, waving the support floating seat is rotationally connected by waving bolster and waving the supporting permanent seat, wave the supporting permanent seat when being subjected to external force, waving the support floating seat can move reciprocatingly around waving bolster, to cushion external force to waving the effect of support floating seat; Be socketed on the spring on the linear axis bearing, one end is supported and is waved the support floating seat, its other end is supported the car body mounting bracket, can play buffering and wave the up-and-down movement of support floating seat and linear axis bearing, can play better damping effect and grab the ground effect, can obtain splendid carrying and traction effect.
The utility model also provides a kind of AGV tractor truck, employing will be waved the support floating seat mechanism and will be installed between car body mounting bracket and the chassis of vehicle body, and will wave the supporting permanent seat and be fixed on the hull base and with the linear axis bearing and be fixed in the car body mounting bracket, when the AGV tractor truck at the uniform velocity travels on uneven road surface, the state of kinematic motion of hull base can change, and then make and wave the supporting permanent seat and be rotationally connected and wave the stressed of support floating seat and change, waving the support floating seat moves reciprocatingly around waving bolster, to cushion external force to waving the left and right sides application force of support floating seat, in addition, the spring that is socketed on the linear axis bearing, one end is resisted against and waves the support floating seat, its other end is supported the car body mounting bracket, can play the rotating shaft of buffering car body, car body mounting bracket and wave the up-and-down movement of support floating seat, can make the vertical distance on magnetic navigation sensor and road surface maintain sustained height, be convenient to the detection of magnetic navigation sensor road pavement, can guarantee the accuracy of driving path; And can play better damping effect, can make at irregular road traveling, grab ground effective.
Description of drawings
Fig. 1 is the structural representation that the utility model is used for the unsteady foundation means of AGV;
Fig. 2 is the cross section structure scheme drawing of A-A among Fig. 1.
Label declaration:
The rotating shaft of 1-car body, 2-jam nut, 3-car body mounting bracket, 4-linear axis bearing, 5-spring, 6-wave the support floating seat, 7-waves the supporting permanent seat, 8-chassis of vehicle body, 9-magnetic navigation sensor, H-detects distance, the 11-wheel, 12-waves bolster, the 13-drive sprocket, the 14-chain drive-belt, the 15-drive motor.
The specific embodiment
By describing technology contents of the present utility model, structural attitude in detail, realized purpose and effect, below in conjunction with embodiment and cooperate that accompanying drawing is detailed to give explanation.
See also Fig. 1 and Fig. 2, the utility model provides a kind of unsteady foundation means for AGV, described unsteady foundation means is installed between car body mounting bracket 3 and the chassis of vehicle body 8, and described unsteady foundation means comprises linear axis bearing 4, waves support floating seat 6, spring 5, wave supporting permanent seat 7 and wave bolster 12; The described support floating seat 6 that waves is rotationally connected by waving bolster 12 and waving supporting permanent seat 7; The bottom of described linear axis bearing 4 is fixed in and is waved on the support floating seat 6, and its top and car body mounting bracket 3 are fixing; Described spring 5 is socketed on the linear axis bearing 4, and an end of spring 5 is supported and waved support floating seat 6, and its other end is supported car body mounting bracket 3.
When waving supporting permanent seat 7 when being subjected to external force, waving support floating seat 6 can move reciprocatingly around waving bolster 12, with buffering external force to waving the effect of support floating seat 6; Be socketed on spring 5, one ends on the linear axis bearing 4 and support and wave support floating seat 6, its other end is supported car body mounting bracket 3, can play the up-and-down movement that buffering is waved support floating seat 6 and straight support axle, can play better damping effect.
In a specific embodiment, an end of described spring 5 is fixed in and waves on the support floating seat 6.When being conducive to prevent from dismantling spring 5, the coming off of spring 5.
The utility model also provides a kind of AGV tractor truck, comprises car body mounting bracket 3, car body rotating shaft 1, wheel 11, magnetic navigation sensor 9, actuating device and chassis of vehicle body 8; Described car body rotating shaft 1 is rotatably installed on the car body mounting bracket 3, described wheel 11 is by the rotating both sides of being fixed in chassis of vehicle body 8 of bearing, described actuating device comprises drive sprocket 13, chain drive-belt 14 and drive motor 15, be fixed with drive sprocket 13 in the rotating shaft of described drive motor 15, described chain drive-belt 14 is around on drive sprocket 13 and the wheel 11, rotates by drive motor 15 band motor car wheels 11; Described magnetic navigation sensor 9 be installed on the chassis of vehicle body 8 and with chassis of vehicle body 8 residing plane parallel, and its detection distance H to ground is constant altitude.This AGV tractor truck also comprises unsteady foundation means, described unsteady foundation means is installed between car body mounting bracket 3 and the chassis of vehicle body 8, and described unsteady foundation means comprises linear axis bearing 4, waves support floating seat 6, spring 5, wave supporting permanent seat 7 and wave bolster 12; The described support floating seat 6 that waves is rotationally connected by waving bolster 12 and waving supporting permanent seat 7; The bottom of described linear axis bearing 4 is fixed in and is waved on the support floating seat 6, and its top and car body mounting bracket 3 are fixing; Described spring 5 is socketed on the linear axis bearing 4, and an end of spring 5 is supported and waved support floating seat 6, and its other end is supported car body mounting bracket 3.
When the AGV tractor truck at the uniform velocity travels on uneven road surface, the state of kinematic motion of hull base can change, and then make and wave supporting permanent seat 7 and be rotationally connected and wave the stressed of support floating seat 6 and change, waving support floating seat 6 moves reciprocatingly around waving bolster 12, to cushion external force to waving the left and right sides application force of support floating seat 6, in addition, the spring 5 of socket on the linear axis bearing 4, one end is resisted against and waves support floating seat 6, its other end is supported car body mounting bracket 3, can play buffering car body rotating shaft 1, car body mounting bracket 3 and wave the up-and-down movement of support floating seat 6, can play better damping effect, can make at irregular road traveling, it is effective to grab ground, and can make magnetic navigation sensor 9 and the vertical distance on road surface maintain sustained height, be convenient to the detection of magnetic navigation sensor 9 road pavement, can guarantee the accuracy of driving path.
In a concrete scheme, drive motor 15 comprises the first drive motor and the second drive motor, and described chain drive-belt 14 comprises the first chain drive-belt and the second chain drive-belt, and described drive sprocket 13 comprises the first drive sprocket and the second drive sprocket; Described the first chain drive-belt is around in the upper of the first drive sprocket and wheel 11, rotates by the first drive motor band motor car wheel 11, and described the second chain drive-belt is around in the upper of the second drive sprocket and wheel 11, rotates by the second drive motor band motor car wheel 11.Can improve the accuracy that the AGV tractor truck travels, and be convenient to turn.
In a preferred scheme, also comprise jam nut 2, described car body rotating shaft 1 is fixed in the car body rotating shaft 1 rotationally by jam nut 2.Can make the rotation of car body rotating shaft 1 fixing more steady.
The above only is embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model specification sheets and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.
Claims (4)
1. unsteady foundation means that is used for AGV, described unsteady foundation means is installed between car body mounting bracket and the chassis of vehicle body, it is characterized in that described unsteady foundation means comprises the linear axis bearing, waves the support floating seat, spring, wave the supporting permanent seat and wave bolster;
The described support floating seat that waves is rotationally connected by waving bolster and waving the supporting permanent seat; The bottom of described linear axis bearing is fixed in and is waved on the support floating seat, and its top and car body mounting bracket are fixed; Described spring housing is connected on the linear axis bearing, and an end of spring is supported and waved the support floating seat, and its other end is supported the car body mounting bracket.
2. the unsteady foundation means for AGV according to claim 1 is characterized in that, an end of described spring is fixed in and waves on the support floating seat.
3. an AGV tractor truck comprises car body mounting bracket, car body rotating shaft, wheel, magnetic navigation sensor, actuating device and chassis of vehicle body; Described car body rotating shaft is rotatably installed on the car body mounting bracket, and described wheel is by the rotating both sides of being fixed in chassis of vehicle body of bearing, and described actuating device drives vehicle wheel rotation; Described magnetic navigation sensor be installed on the chassis of vehicle body and with the residing plane parallel of chassis of vehicle body, it is characterized in that described AGV tractor truck also comprises unsteady foundation means as claimed in claim 1 or 2.
4. AGV tractor truck according to claim 3 is characterized in that, also comprises jam nut, and described car body rotating shaft is fixed in the car body rotating shaft rotationally by jam nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220520567 CN202879184U (en) | 2012-10-11 | 2012-10-11 | Floating base mechanism used for automatic guided vehicle (AGV) and AGV motor tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220520567 CN202879184U (en) | 2012-10-11 | 2012-10-11 | Floating base mechanism used for automatic guided vehicle (AGV) and AGV motor tractor |
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| Publication Number | Publication Date |
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| CN202879184U true CN202879184U (en) | 2013-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220520567 Expired - Lifetime CN202879184U (en) | 2012-10-11 | 2012-10-11 | Floating base mechanism used for automatic guided vehicle (AGV) and AGV motor tractor |
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| CN (1) | CN202879184U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104163217A (en) * | 2013-05-16 | 2014-11-26 | 泰金宝电通股份有限公司 | Automatic guided vehicle device |
| CN104724204A (en) * | 2013-12-23 | 2015-06-24 | 鸿富锦精密工业（深圳）有限公司 | AGV drive mechanism |
| CN107284170A (en) * | 2017-05-27 | 2017-10-24 | 芜湖星途机器人科技有限公司 | The robot chassis drive wheel group of many springs |
| CN107284169A (en) * | 2017-05-27 | 2017-10-24 | 芜湖星途机器人科技有限公司 | Robot chassis drive wheel group |
| CN107521579A (en) * | 2017-09-06 | 2017-12-29 | 天津朗誉科技发展有限公司 | A kind of AGV transport vehicles swing-tray |
| CN107985448A (en) * | 2017-12-04 | 2018-05-04 | 苏州艾吉威机器人有限公司 | A kind of AGV driving hoisting mechanisms and AGV trolleies |
| CN109050196A (en) * | 2018-08-22 | 2018-12-21 | 山东临工工程机械有限公司 | The highly automated regulating device of the magnetic navigation sensor of AGV trolley |
| CN109720437A (en) * | 2019-01-29 | 2019-05-07 | 浙江瑞华康源科技有限公司 | A kind of driving chassis |
| CN110194231A (en) * | 2019-06-17 | 2019-09-03 | 珠海格力智能装备有限公司 | Mobile carrier |
| CN110466303A (en) * | 2019-07-11 | 2019-11-19 | 安徽江淮银联重型工程机械有限公司 | A kind of AGV trolley driving mechanism |
-
2012
- 2012-10-11 CN CN 201220520567 patent/CN202879184U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104163217A (en) * | 2013-05-16 | 2014-11-26 | 泰金宝电通股份有限公司 | Automatic guided vehicle device |
| CN104724204A (en) * | 2013-12-23 | 2015-06-24 | 鸿富锦精密工业（深圳）有限公司 | AGV drive mechanism |
| CN107284170A (en) * | 2017-05-27 | 2017-10-24 | 芜湖星途机器人科技有限公司 | The robot chassis drive wheel group of many springs |
| CN107284169A (en) * | 2017-05-27 | 2017-10-24 | 芜湖星途机器人科技有限公司 | Robot chassis drive wheel group |
| CN107521579A (en) * | 2017-09-06 | 2017-12-29 | 天津朗誉科技发展有限公司 | A kind of AGV transport vehicles swing-tray |
| CN107985448A (en) * | 2017-12-04 | 2018-05-04 | 苏州艾吉威机器人有限公司 | A kind of AGV driving hoisting mechanisms and AGV trolleies |
| CN109050196A (en) * | 2018-08-22 | 2018-12-21 | 山东临工工程机械有限公司 | The highly automated regulating device of the magnetic navigation sensor of AGV trolley |
| CN109050196B (en) * | 2018-08-22 | 2020-07-14 | 临沂临工智能信息科技有限公司 | Automatic height adjusting device for magnetic navigation sensor of AGV (automatic guided vehicle) |
| CN109720437A (en) * | 2019-01-29 | 2019-05-07 | 浙江瑞华康源科技有限公司 | A kind of driving chassis |
| CN110194231A (en) * | 2019-06-17 | 2019-09-03 | 珠海格力智能装备有限公司 | Mobile carrier |
| CN110466303A (en) * | 2019-07-11 | 2019-11-19 | 安徽江淮银联重型工程机械有限公司 | A kind of AGV trolley driving mechanism |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130417 |
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| CX01 | Expiry of patent term |