CN205220269U - Liftable self -adaptation topography AGV dolly chassis - Google Patents

Liftable self -adaptation topography AGV dolly chassis Download PDF

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Publication number
CN205220269U
CN205220269U CN201520870217.8U CN201520870217U CN205220269U CN 205220269 U CN205220269 U CN 205220269U CN 201520870217 U CN201520870217 U CN 201520870217U CN 205220269 U CN205220269 U CN 205220269U
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China
Prior art keywords
drive wheel
vehicle frame
agv dolly
dolly chassis
self adaptation
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CN201520870217.8U
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Chinese (zh)
Inventor
占锐
余渊
姬卫东
孙迎卿
陈建中
何瑶瑶
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ELECTRIC SCIENTIFIC RESEARCH Co Ltd HUZHOU ELECTRIC DIVISION
SHANGHAI SAIJING ELECTROMECHANICAL EQUIPMENT ENGINEERING Co Ltd
Shanghai Electrical Apparatus Research Institute Group Co Ltd
Original Assignee
ELECTRIC SCIENTIFIC RESEARCH Co Ltd HUZHOU ELECTRIC DIVISION
SHANGHAI SAIJING ELECTROMECHANICAL EQUIPMENT ENGINEERING Co Ltd
Shanghai Electrical Apparatus Research Institute Group Co Ltd
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Priority to CN201520870217.8U priority Critical patent/CN205220269U/en
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Abstract

The utility model relates to an automatic conveyer field, in particular to liftable self -adaptation topography AGV dolly chassis. Its characterized in that: include the frame, install drive wheel module in the middle of the frame bottom, install frame bottom both ends from the driving wheel module. The drive wheel module including be used for with the drive wheel module is installed drive wheel support on the frame and be used for driving the drive wheel that the vehicle travel, the drive wheel passes through the connecting piece and rotates the connection the drive wheel support. The drive wheel sets up drive assembly and elastic adjustment subassembly. When the ground that meets unevenness, through the connecting piece with drive wheel rotate bracket connection's drive wheel can be relative the drive wheel support is terminal to rotate. And simultaneously, the elastic adjustment subassembly is right the restoring force that opposite direction was applyed to the drive wheel is with right the drive wheel carries on spacingly. Make the swing among a small circle of connecting piece realizes the automatic change that adapts to ground of drive wheel.

Description

A kind of liftable self adaptation landform AGV dolly chassis
Technical field
The utility model relates to automatic transportation device field, particularly a kind of liftable self adaptation landform AGV dolly chassis.
Background technology
Automatic tracking dolly (be called for short AGV) automatic guided vehicle (being called for short AGV dolly), adopts full automatic control mode to replace manually, saving manpower and easy to use, has been widely used in logistics transportation industry.Its chassis traveling mechanism has Three-wheel type, four-wheel-type, six wheeled, crawler type or McCrum wheel.Wherein Three-wheel type structure is simple, there is not the phenomenon occurring because of ground unfairness skidding, but less stable, and load-carrying capacity is limited.Four-wheel-type similar is in automobile chassis structures, and simple and stable structure is better, but turn radius is comparatively large, can not realize pivot turn, for the AGV with spin-lift system, must realize original place and rotate below shelf.Six wheeled constructions are chassis structures that existing most of AGV adopts, and the two-wheeled wherein on intermediate coaxial line is drive wheel, and adopt driven by servomotor, utilize differential to turn, four-wheel is cardan wheel in addition.Its advantage is that load-carrying capacity is high, controls simple, can realize pivot turn.But due to ground unfairness, six take turns can not simultaneously and earth surface, and drive wheel is easily maked somebody a mere figurehead, thus causes drive wheel to skid, and is thus badly in need of a kind of elasticity chassis.
Summary of the invention
Invention is in order to solve the deficiencies in the prior art, a kind of liftable self adaptation landform AGV dolly chassis is disclosed, a kind of liftable self adaptation landform AGV dolly chassis, is characterized in that: the flower wheel module comprising vehicle frame, be arranged on the middle drive wheel module of described bottom of frame, be arranged on described bottom of frame two ends.Described drive wheel module comprises for described drive wheel module being arranged on the drive wheel bracket on described vehicle frame and being used for the drive wheel that drives vehicle to travel, and described drive wheel is rotationally connected described drive wheel bracket by attaching parts.Described drive wheel arranges driven unit and flexible adjustment assembly; Described flexible adjustment assembly comprises regulating plate, adapter shaft and the first elastomeric element; Described regulating plate has through hole; One end of described adapter shaft arranges limiting stopper, and the other end of described adapter shaft is fixedly connected with described vehicle frame through described through hole; One end of described first elastomeric element is fixedly connected with described regulating plate, and the other end of described first elastomeric element is fixedly connected with described vehicle frame.One end of described drive wheel bracket is fixed on described bottom of frame, and the other end of described drive wheel bracket and one end of described attaching parts are rotationally connected.When running into broken terrain, the drive wheel be rotationally connected by described attaching parts and described drive wheel bracket can be rotated relative to described drive wheel bracket end, to adjust the height of described drive wheel, and dynamically adapting landform.Meanwhile, described flexible adjustment assembly applies rightabout restoring force to carry out spacing to described drive wheel to described drive wheel.What make described attaching parts swings the change realizing drive wheel and automatically adapt to ground among a small circle.
As preferably, described drive wheel module has two, and is symmetrically distributed in the left and right sides of described bottom of frame.Servo Control can be realized by the actuating speed of adjustment left and right sidesing driving wheel module.
As preferably, described drive wheel bracket is del support, and the limit at del top is fixedly connected with described vehicle frame, and the angle bottom del is provided with rotating shaft, one end of described attaching parts is fixedly connected with described drive wheel, and the other end of described attaching parts is connected with described axis of rotation; The activity space swung for attaching parts is set between the angle of the bottom of del and the limit at top.The del structure of described drive wheel bracket is the most stable, prevents deformation in compression in motion process.
As preferably, one end of described attaching parts arranges self lubrication bearing and described drive wheel bracket is rotationally connected.Make the swing of described attaching parts smooth and easy.
As preferably, described driven unit comprises motor, drop-gear box, commutator; Described motor and described retarder pass through Flange joint, by key transmitting torque; The output shaft of described retarder is connected by key with described input shaft of taking turns commutator; The output shaft of described commutator is connected by key with the wheel hub of described drive wheel.Described retarder makes the drive wheel module being distributed in the described bottom of frame left and right sides have different speed by the velocity of rotation adjusting described drive wheel, turns to control dolly.
As preferably, described commutator is finishing bevel gear cuter commutator.Transmission accuracy is high.
As preferably, described retarder is planetary reduction gear.There is lightweight, the feature such as volume is little, gear range is large, efficiency is high, smooth running, the low strong adaptability of noise.
As preferably, described flower wheel module comprises cardan wheel and is arranged on the second elastomeric element between described cardan wheel and vehicle frame 1.According to the change of landform, described in the second elastic portion dynamic conditioning of described flower wheel module, the height of flower wheel, prevents drive wheel from being maked somebody a mere figurehead.
As preferably, described vehicle frame comprising U-shaped base that steel make, being arranged on described U-shaped base rear and front end, for installing the horizontal steel plate of described flower wheel module.Vehicle frame is formed by rectangle steel and Plate Welding, improves the rigidity of vehicle frame, thus improves the load-carrying capacity of dolly.
As preferably, the bottom of described U-shaped base arranges the through hole for installing camera.
The present invention has following beneficial effect:
1. drive wheel and flower wheel all can according to landform dynamic conditioning, automatic adaptation to the ground, overcome six wheeled dolly chassis due to ground unfairness, six take turns can not simultaneously with the shortcoming of earth surface;
2., while realizing dolly straight line moving, pivot turn function, self adaptation landform, prevents drive wheel from being maked somebody a mere figurehead skidding;
3. drive wheel and flower wheel are provided with elastomeric element, can play the effect of vibration reduction and cushioning at broken terrain.
Accompanying drawing explanation
Fig. 1 liftable self adaptation landform AGV dolly chassis structural representation;
Fig. 2 body frame structure for automotive schematic diagram;
Fig. 3 drive wheel modular construction schematic diagram;
Fig. 4 drive wheel module cutaway view;
Fig. 5 flower wheel modular construction schematic diagram;
Wherein, 1-vehicle frame, 2,3-drive wheel module, 4-flower wheel module, 11-U type base, 12-horizontal steel plate, 21-drive wheel, 22-drive wheel bracket, 23-attaching parts, 41-flower wheel, 42-second elastomeric element, 221-rotating shaft, 421-bolt, 422-spring, 2121-regulating plate, 2122-adapter shaft, 2123-first elastomeric element, 21211-through hole, 21221-limiting stopper.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention are described in detail.As Figure 1-5, liftable self adaptation landform AGV chassis of the present invention comprise vehicle frame 1, drive wheel module 2,3, flower wheel module 4.Its concrete structure is as follows:
Vehicle frame 1 is formed by rectangle steel and Plate Welding, and wherein rectangle steel is all in the same plane, and there is horizontal steel plate 12 front and back in order to install flower wheel module 4.Middle part has U-shaped base 11, and in order to install other mechanisms of AGV, middle part also has through hole for installing camera.
Driver module is divided into left driver module 2 and right driver module 3, is arranged symmetrically with and part is all interchangeable.Be described in detail for left driver module 2.Left driver module comprises drive wheel 21 and drive wheel bracket 22, and drive wheel 21 is rotationally connected drive wheel bracket 22 by attaching parts 23.Drive wheel bracket 22 is del support, the limit at del top is fixedly connected with vehicle frame 1 by bolt, angle bottom del is provided with rotating shaft 221, one end of attaching parts 23 is fixedly connected with drive wheel 21, the other end of attaching parts 23 and self lubrication bearing interference fit, self lubrication bearing is connected with rotating shaft 221.Rotating shaft 221 one end has locating flange, adopts bolt to be connected with drive wheel bracket 22.The activity space swung for attaching parts 23 is set between the angle of the bottom of del and the limit at top.
Drive wheel 21 arranges driven unit and flexible adjustment assembly.Driven unit comprises: motor, retarder, finishing bevel gear cuter commutator.Motor and retarder pass through Flange joint, by key transmitting torque.Retarder adopts planetary reduction gear, retarder and finishing bevel gear cuter commutator pass through Flange joint, reducer output shaft is connected by key with finishing bevel gear cuter commutator input shaft, finishing bevel gear cuter commutator input shaft is hollow and is supported by bearing, bearing is compressed by bearing cap shim, seal ring is housed in bearing cap shim and seals.Finishing bevel gear cuter commutator output shaft is supported by bearing and is located by output flange, and is provided with seal ring and seals.Output flange is connected with attaching parts 23 by bolt, finishing bevel gear cuter commutator output shaft is connected by key with wheel hub one end, and wheel hub is supported by hub bearing, and hub bearing is fixed by drive wheel axle sleeve, drive wheel axle sleeve is fixed by bolt and attaching parts 23, and the wheel hub other end is connected with drive wheel by flange.Previous key connects all employing holes and is connected with the form of the cooperation of axle.
Flexible adjustment assembly comprises regulating plate 2121, adapter shaft 2122 and the first elastomeric element 2123.Regulating plate 2121 has through hole 21211, one end of adapter shaft 2122 arranges limiting stopper 21221, and the other end of adapter shaft 2122 is fixedly connected with vehicle frame 1 through through hole 21211.First elastomeric element 2123 comprises spring and locating dowel pin, spring 1 be set in be fixedly connected with regulating plate 2121 and vehicle frame 1 locating dowel pin on.
When AGV dolly drives to protruding ground, drive wheel 21 is squeezed upward movement, and band follower link 23 rotates relative to drive wheel bracket 22 for axle with rotating shaft 221.In drive wheel 21 upward movement process, the spring of the first elastomeric element 2123 receives extruding and produces downward restoring force, to ensure drive wheel 21 and the contact on ground, dolly also can be driven to make drive wheel after adjusting in position normally to travel.Drive wheel is in the motion process of vertical direction, and the through hole 21211 adapter shaft 2122 motion in the vertical direction slip relatively of regulating plate 2121, adapter shaft 2122 carries out spacing in the horizontal direction to regulating plate in the process of regulating plate vertical motion.
When AGV dolly drives to pit floor, the restoring force that drive wheel 21 is subject to the first elastomeric element 2123 downward moves downward.Drive wheel is in the motion process of vertical direction, and the through hole 21211 adapter shaft 2122 motion in the vertical direction slip relatively of regulating plate 2121, adapter shaft 2122 carries out spacing in the horizontal direction to regulating plate in the process of regulating plate vertical motion.Follower link 23 is with to rotate relative to drive wheel bracket 22 for axle with rotating shaft 221 in drive wheel 21 motion process.
Flower wheel module 4 has four groups, is distributed on vehicle frame 1 bottom surface and distributes about drive wheel module symmetry.Flower wheel module 4 comprises cardan wheel 41, be arranged on the second elastomeric element 42 between vehicle frame 1 and cardan wheel 41.Cardan wheel 41 end face corner has circular port, and bolt 421 one end is arranged in the circular port of cardan wheel 41, and the other end and vehicle frame 1 base plate are fixed.Have spring 422 outside bolt 421, spring 422 is main load parts, forms the second elastomeric element, and cardan wheel 41 can vertically be fluctuated.
Embodiment recited above is only be described preferred implementation of the present utility model, not limits design of the present utility model and scope.Under the prerequisite not departing from the utility model design concept; the various modification that this area ordinary person makes the technical solution of the utility model and improvement; protection domain of the present utility model all should be dropped into; the technology contents of the utility model request protection, all records in detail in the claims.

Claims (10)

1. a liftable self adaptation landform AGV dolly chassis, is characterized in that: the flower wheel module (4) comprising vehicle frame (1), be arranged on the middle drive wheel module (2) in described vehicle frame (1) bottom, be arranged on two ends, described vehicle frame (1) bottom;
Described drive wheel module comprises for described drive wheel module being arranged on the drive wheel bracket (22) on described vehicle frame (1) and the drive wheel (21) for driving vehicle to travel, and described drive wheel (21) is rotationally connected described drive wheel bracket (22) by attaching parts (23);
Described drive wheel (21) arranges driven unit and flexible adjustment assembly; Described flexible adjustment assembly comprises regulating plate (2121), adapter shaft (2122) and the first elastomeric element (2123); Described regulating plate (2121) has through hole (21211); One end of described adapter shaft (2122) arranges limiting stopper (21221), and the other end of described adapter shaft (2122) is fixedly connected with described vehicle frame (1) through described through hole (21211); One end of described first elastomeric element (2123) is fixedly connected with described regulating plate (2121), and the other end of described first elastomeric element (2123) is fixedly connected with described vehicle frame (1).
2. a kind of liftable self adaptation landform AGV dolly chassis according to claim 1, is characterized in that: described drive wheel module has two, and is symmetrically distributed in the left and right sides of described vehicle frame (1) bottom.
3. a kind of liftable self adaptation landform AGV dolly chassis according to claim 2, it is characterized in that: described drive wheel bracket (22) is del support, the limit at del top is fixedly connected with described vehicle frame (1), angle bottom del is provided with rotating shaft (221), one end of described attaching parts (23) is fixedly connected with described drive wheel (21), and the other end and the described rotating shaft (221) of described attaching parts (23) are rotationally connected; The activity space swung for attaching parts (23) is set between the angle of the bottom of del and the limit at top.
4. a kind of liftable self adaptation landform AGV dolly chassis according to claim 2, is characterized in that: one end of described attaching parts (23) arranges self lubrication bearing and described drive wheel bracket (22) is rotationally connected.
5. a kind of liftable self adaptation landform AGV dolly chassis according to claim 2, is characterized in that: described driven unit comprises motor, retarder, commutator; Described motor and described retarder by Flange joint, and pass through key transmitting torque; The output shaft of described retarder is connected by key with the input shaft of described commutator; The output shaft of described commutator is connected by key with the wheel hub of described drive wheel (21).
6. a kind of liftable self adaptation landform AGV dolly chassis according to claim 5, is characterized in that: described commutator is finishing bevel gear cuter commutator.
7. a kind of liftable self adaptation landform AGV dolly chassis according to claim 5, is characterized in that: described retarder is planetary reduction gear.
8. a kind of liftable self adaptation landform AGV dolly chassis according to claim 2, is characterized in that: described flower wheel module (4) comprises cardan wheel and is arranged on the second elastomeric element (42) between described cardan wheel and vehicle frame (1).
9. a kind of liftable self adaptation landform AGV dolly chassis according to claim 2, is characterized in that: described vehicle frame (1) comprising U-shaped base that steel make, being arranged on described U-shaped base rear and front end, for installing the horizontal steel plate of described flower wheel module (4).
10. a kind of liftable self adaptation landform AGV dolly chassis according to claim 9, is characterized in that: the bottom of described U-shaped base arranges the through hole (21211) for installing camera.
CN201520870217.8U 2015-11-04 2015-11-04 Liftable self -adaptation topography AGV dolly chassis Active CN205220269U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105774457A (en) * 2015-11-04 2016-07-20 上海电器科学研究所(集团)有限公司 Lifting terrain-adaptive AGV trolley chassis
CN106184472A (en) * 2016-09-30 2016-12-07 宁波介量机器人技术有限公司 A kind of pair is driven coaxial-type AGV chassis
CN106275125A (en) * 2016-09-07 2017-01-04 武汉萝卜兔科技有限公司 A kind of AGV dolly with obstacle crossing function
CN106627833A (en) * 2016-11-17 2017-05-10 深圳市佳都实业发展有限公司 Wheeled movement chassis system and movement device
CN107225926A (en) * 2017-06-14 2017-10-03 电子科技大学 Suspension

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105774457A (en) * 2015-11-04 2016-07-20 上海电器科学研究所(集团)有限公司 Lifting terrain-adaptive AGV trolley chassis
CN106275125A (en) * 2016-09-07 2017-01-04 武汉萝卜兔科技有限公司 A kind of AGV dolly with obstacle crossing function
CN106184472A (en) * 2016-09-30 2016-12-07 宁波介量机器人技术有限公司 A kind of pair is driven coaxial-type AGV chassis
CN106627833A (en) * 2016-11-17 2017-05-10 深圳市佳都实业发展有限公司 Wheeled movement chassis system and movement device
CN107225926A (en) * 2017-06-14 2017-10-03 电子科技大学 Suspension

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