CN205417753U - Moving platform of AGV robot and wheel driving mechanism thereof - Google Patents
Moving platform of AGV robot and wheel driving mechanism thereof Download PDFInfo
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- CN205417753U CN205417753U CN201620227351.0U CN201620227351U CN205417753U CN 205417753 U CN205417753 U CN 205417753U CN 201620227351 U CN201620227351 U CN 201620227351U CN 205417753 U CN205417753 U CN 205417753U
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Abstract
The utility model discloses a moving platform of AGV robot and wheel driving mechanism thereof, it includes and is used for driving the universal wheel that the automobile body removed and sets up drive universal wheel pivoted steering mechanism on the automobile body, the setting is held in the steering mechanism below to the universal wheel card, steering mechanism includes driving motor, screw rod, brake equipment and driver plate, screw rod one end is connected with driving motor, the drive motor drive screw rod rotates, the screw rod other end is connected with brake equipment, be provided with the rectangle tooth on the screw rod, the driver plate sets up with the screw rod cooperation, driver plate below both sides are fixed with the connecting block respectively, the universal wheel centre gripping is between two connecting blocks. The utility model discloses moving platform of AGV robot and wheel driving mechanism thereof passes through the screw rod and rotates the rotation of drive driver plate, and then drives the whole advancing direction who adjusts the automobile body that rotates of universal wheel, and the structure is ingenious, design scientific and reasonable, the ability even running, and the power of motor is saved to the while, practices thrift the cost.
Description
Technical field
This utility model relates to transport vehicle technical field, especially relates to a kind of AGV robot moving platform and drive mechanism for wheel thereof.
Background technology
(AutomatedGuidedVehicle; it is called for short AGV); also commonly referred to as AGV dolly; refer to that being equipped with electricity magnetically or optically waits homing guidance device; can travel along the guide path of regulation; there is safeguard protection and the transport vehicle of various transfer function, commercial Application is not required to the mover of driver, be its power resources with chargeable accumulator.Typically can control its course and behavior by computer, or utilize electromagnetic path (electromagneticpath-followingsystem) to set up its course, electromagnetic path is pasted on what floor, and the message that automatic guided vehicle then relies on electromagnetic path to be brought moves and action.
At present, the walking manner of AGV dolly is mainly unidirectional walking and bidirectional walking two kinds.The AGV dolly of unidirectional walking, is provided with two universal wheels at body structure two, and rear end is provided with two directional wheels, and in the middle part of vehicle body, lower section is provided with a driving means, and the advantage of this unidirectional AGV is that vehicle body is stable, radius of turn is little.The AGV dolly of bidirectional walking, traditional technique is to install two driver elements at body bottom, although this AGV dolly can realize bidirectional walking, but in view of being provided with two driver elements on vehicle body, structure is complicated, and manufacturing cost is high；Another AGV singly driving bidirectional walking is to install a non-rotatable driver element at body bottom, four universal wheels are installed bottom vehicle body front and back end, when AGV carriage walking, driving wheel drives four universal wheels to move together, dolly can be advanced by serpentine-like route in the process of walking, vehicle body can not balance and can not steadily keep straight on, the power of motor consumed compared with unidirectional AGV in the case of same load-carrying is bigger, and this driver element singly driving two-way type AGV of the prior art is fixing relative to vehicle body, when AGV dolly is turned, driver element need to drive whole vehicle body to turn together, make required torque bigger than normal, so that power of motor consumes bigger than normal, cost increases.
Utility model content
Based on this, it is necessary to for the deficiencies in the prior art, it is provided that a kind of AGV robot moving platform and drive mechanism for wheel thereof, structure is ingenious, design science is reasonable, and power of motor is saved in energy even running simultaneously, cost-effective.
For solving above-mentioned technical problem, this utility model be the technical scheme is that a kind of AGV robot moving platform, it includes car body, the drive mechanism for wheel being arranged on vehicle bottom, the control system being arranged on car body and oil hydraulic cylinder mechanism, described drive mechanism for wheel is connected with control system, described car body upper surface is provided with gripper shoe, described oil hydraulic cylinder mechanism is fixing with gripper shoe to be connected, and described oil hydraulic cylinder mechanism is for shifting gripper shoe up and down；Described drive mechanism for wheel is separately positioned on the corner of car body, and described drive mechanism for wheel includes the universal wheel driving car body to move and the steering mechanism being arranged on car body driving universal wheel rotation, and described universal wheel clamping is arranged on below steering mechanism；Described steering mechanism includes driving motor, screw rod, brake gear and driving disk, described screw rod one end is connected with driving motor, described driving driven by motor screw rod rotates, the described screw rod other end is connected with brake gear, rectangle tooth it is provided with on described screw rod, described driving disk is equipped with screw rod, and below described driving disk, both sides are respectively fixed with contiguous block, and described universal wheel is clamped between two contiguous blocks.
Wherein in an embodiment, described driving disk includes the first disk follower and the second disk follower cooperating and being installed in same rotating shaft, described first disk follower and the second disk follower are respectively arranged with the first corresponding roller and the second roller, and described screw rod is embedded in by rectangle tooth between the first roller and second roller of the second disk follower of described first disk follower.
Wherein in an embodiment, described universal wheel includes wheel body, described wheel body medial wall uniformly offers driven gear, the internal clamping of described wheel body is provided with shaft core, described shaft core two ends are separately fixed between contiguous block, being fixedly installed driving gear in described shaft core, between described driving gear and driven gear, spacing card is equipped with at least one reduction gearing, and described reduction gearing is POM material structure.
Wherein in an embodiment, described wheel body is drum wheel structure.
Wherein in an embodiment, described car body four side is respectively arranged with collision-proof alarm panel and charging panel, and described collision-proof alarm panel and charging panel are electrically connected with control system respectively.
Wherein in an embodiment, described brake gear is electromagnetic brake structure, and described brake gear is provided with brake block, and described brake block is fixing with screw rod to be connected.
Wherein in an embodiment, described oil hydraulic cylinder mechanism includes oil hydraulic cylinder and oil pressure pump, and described oil hydraulic cylinder is fixing with gripper shoe to be connected, and described oil pressure pump is connected by pipeline with oil hydraulic cylinder, and described pipeline is provided with choke valve at oil hydraulic cylinder.
A kind of drive mechanism for wheel, its universal wheel including driving car body to move and be arranged on car body the steering mechanism driving universal wheel to rotate, described universal wheel clamping is arranged on below steering mechanism；Described steering mechanism includes driving motor, screw rod, brake gear and driving disk, described screw rod one end is connected with driving motor, described driving driven by motor screw rod rotates, the described screw rod other end is connected with brake gear, rectangle tooth it is provided with on described screw rod, described driving disk is equipped with screw rod, and below described driving disk, both sides are respectively fixed with contiguous block, and described universal wheel is clamped between two contiguous blocks.
Wherein in an embodiment, described driving disk includes the first disk follower and the second disk follower cooperating and being installed in same rotating shaft, described first disk follower and the second disk follower are respectively arranged with the first corresponding roller and the second roller, and described screw rod is embedded in by rectangle tooth between the first roller and second roller of the second disk follower of described first disk follower.
Wherein in an embodiment, described universal wheel includes wheel body, described wheel body medial wall uniformly offers driven gear, the internal clamping of described wheel body is provided with shaft core, described shaft core two ends are separately fixed between contiguous block, being fixedly installed driving gear in described shaft core, between described driving gear and driven gear, spacing card is equipped with at least one reduction gearing, and described reduction gearing is POM material structure
In sum, this utility model AGV robot moving platform and drive mechanism for wheel thereof rotate to drive by screw rod and drive disk rotational, and then drive universal wheel entirety to carry out rotating the direct of travel adjusting car body, structure is ingenious, design science is reasonable, energy even running, save power of motor simultaneously, cost-effective；Meanwhile, reduction gearing is set between driving gear and the driven gear within wheel body, utilizes the POM material structure of reduction gearing to reduce the use of lubricating oil, reduce noise jamming.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model AGV robot moving platform；
Fig. 2 is the structural representation after this utility model AGV robot moving platform hides gripper shoe；
Fig. 3 is the structural representation of this utility model drive mechanism for wheel；
Fig. 4 is the structural representation of this utility model steering mechanism；
Fig. 5 is the structural representation of this utility model universal wheel.
Detailed description of the invention
By feature of the present utility model, technological means and the specific purposes reached, function can be further appreciated that, with detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figures 1 to 5, this utility model AGV robot moving platform includes car body 100, it is arranged on the drive mechanism for wheel 200 bottom car body 100, the control system 300 being arranged on car body 100 and oil hydraulic cylinder mechanism 400, described control system 300 is arranged on the middle part of described car body 100, described drive mechanism for wheel 200 is connected with control system 300, described car body 100 upper surface is provided with gripper shoe 500, in order to carry goods, described oil hydraulic cylinder mechanism 400 is fixing with gripper shoe 500 to be connected, described oil hydraulic cylinder mechanism 400 is in order to shift gripper shoe about 500, goods is transported through；Specifically, described oil hydraulic cylinder mechanism 400 includes oil hydraulic cylinder 410 and oil pressure pump 420, described oil hydraulic cylinder 410 is fixing with gripper shoe 500 to be connected, described oil pressure pump 420 is connected by pipeline with oil hydraulic cylinder 410, in order to provide oil hydraulic cylinder 410 power, described pipeline is provided with choke valve (not shown) at oil hydraulic cylinder 410, and described choke valve is consistent in order to the rising or falling speed ensureing each oil hydraulic cylinder 410 so that gripper shoe 500 ensures balance in lifting process as far as possible.
Described car body 100 is rectangular-shaped structure, described oil hydraulic cylinder 410 is installed in car body 100 4 side respectively, described drive mechanism for wheel 200 is separately positioned on the corner of car body 100, described drive mechanism for wheel 200 includes the universal wheel 210 driving car body 100 to move and the steering mechanism 220 being arranged on car body 100 driving universal wheel 210 rotation, described universal wheel 210 clamping is arranged on below steering mechanism 220, described steering mechanism 220 drives universal wheel 210 to rotate the direct of travel regulating car body 100, and described universal wheel 210 roll on themselves ensures that car body 100 moves forward.
Described steering mechanism 220 includes driving motor 221, screw rod 222, brake gear 223 and driving disk 224, described screw rod 222 is arranged in horizontal direction, described screw rod 222 one end is connected with driving motor 221, described driving motor 221 drives screw rod 222 to rotate, described screw rod 222 other end is connected with brake gear 223, the rectangle tooth 2221 of Unequal distance it is provided with on described screw rod 222, described brake gear 223 constructs for electromagnetic brake, described brake gear 223 is provided with brake block 2231, described brake block 2231 is fixing with screw rod 222 to be connected, stop screw rod 222 to rotate by the stopping function of brake block 2231 and then moment stops steering mechanism 220 and operates, to ensure the normal operation of steering mechanism 220；Described driving disk 224 is equipped with screw rod 222, described driving disk 224 includes the first disk follower 2241 and the second disk follower 2242 cooperating and being installed in same rotating shaft 2243, wherein, second disk follower 2242 is installed in described rotating shaft 2243 in adjustable assembling mode, and this first disk follower 2241 and the second disk follower 2242 are respectively arranged with the first corresponding roller 2244 and the second roller 2245；Below described driving disk 224, both sides are respectively fixed with contiguous block 2246, described universal wheel 210 is clamped between two contiguous blocks 2246, the described driving disk 224 rotational band block 2246 that is dynamically connected rotates, and then drives universal wheel 210 to rotate the traffic direction ensureing car body 100.
Described screw rod 222 is embedded in by rectangle tooth 2221 between first roller 2244 and second roller 2245 of the second disk follower 2242 of described first disk follower 2241, to form stable coordinating with driving disk 224, wherein, owing to the second disk follower 2242 can adjust the position relative to the first disk follower 2241, the first roller 2244 and the second roller 2245 rectangle tooth 2221 facing all the time with screw rod 222 is made to fit, can make to consistently form without back clearance transmission between screw rod 222 and driving disk 224, and then driving universal wheel 210 has been rotated to car body 100 with driving disk 224 and has turned to；Simultaneously, owing to the rectangle tooth 2221 of screw rod 222 constructs, screw rod 222 can only be driven to drive driving disk 224 to rotate by driving motor 221, when car body 100 runs into during advancing and jolts road surface, rectangle tooth 2221 can hinder driving disk 224 backwards rotation, even if then ensure that universal wheel 210 applies active force on road surface of jolting to driving disk 224 and still cannot drive disk 224 backwards rotation, and then make car body 100 more steady during advancing, it is ensured that the safety in goods transportation.
Described universal wheel 210 includes wheel body 211, and described wheel body 211 constructs for drum wheel, to reduce the universal wheel 210 frictional resistance during turning, promotes the motility of universal wheel 210 entirety；Described wheel body 211 medial wall uniformly offers driven gear 212, the internal clamping of described wheel body 211 is provided with shaft core 213, described shaft core 213 two ends are separately fixed between contiguous block 2246, driving gear 214 it is fixedly installed in described shaft core 213, between described driving gear 214 and driven gear 212, spacing card is equipped with at least one reduction gearing 215, so that driving gear 214 and driven gear 212 are carried out transmission；Described reduction gearing 215 is POMpolyformaldehyde, polyformaldehyde thermoplastic crystalline polymer's material structure, the use making reduction gearing 215 and drive gear 214 and driven gear 212 engagement place to reduce lubricating oil, greatly reduces the noise of generation when rotating between gear.
Wherein in an embodiment, described car body 100 4 side is respectively arranged with collision-proof alarm panel 110 and charging panel 120, described collision-proof alarm panel 110 and charging panel 120 are electrically connected with control system 300 respectively, described collision-proof alarm panel 110 is in order to detect periphery barrier to ensure that car body 100 will not collide with external object, described charging panel 120 is in order to carry out being charged car body 100 to fetching with external charging stake, described control system 300 provides the instruction of car body 100 operating control and drives power supply, specifically, described control system 300 controls to drive motor 221 respectively, shaft core 213 and brake gear 223 operate, and then control car body 100 is normally carried out running.
When this utility model is specifically used, control system 300 controls to drive motor 221 to rotate, and then drives driving disk 224 to rotate, and regulates the direct of travel of universal wheel 210；Meanwhile, control system 300 controls shaft core 213 and rotates, then drive gear 214 to drive driven gear 212 to rotate under the transmission of reduction gearing 215, and then wheel body 211 starts to roll, and car body 100 starts to advance forward；When car body 100 is made without turning to, control system 300 controls to drive motor 221 and brake gear 223 to be operated, and brake gear 223 stops screw rod 222 to be rotated further so that universal wheel 210 cannot rotate, become directional wheel, the direction that steady car body 100 is advanced；When car body 100 runs into during advancing and jolts road surface, rectangle tooth 2221 can hinder driving disk 224 backwards rotation, even if then ensure that universal wheel 210 applies active force on road surface of jolting to driving disk 224 and still cannot drive disk 224 backwards rotation, and then make car body 100 more steady during advancing, it is ensured that the safety in goods transportation.
In sum, this utility model AGV robot moving platform and drive mechanism for wheel thereof are rotated by screw rod 222 to drive and drive disk 224 to rotate, and then drive universal wheel 210 entirety to carry out rotating the direct of travel adjusting car body 100, structure is ingenious, design science is reasonable, energy even running, save power of motor simultaneously, cost-effective；Meanwhile, reduction gearing 215 is set between the driving gear 214 within wheel body 211 and driven gear 212, utilizes the POM material structure of reduction gearing 215 to reduce the use of lubricating oil, reduce noise jamming.
Embodiment described above only have expressed several embodiments of the present utility model, and it describes more concrete and detailed, but therefore can not be interpreted as the restriction to this utility model scope.It should be pointed out that, for the person of ordinary skill of the art, without departing from the concept of the premise utility, it is also possible to make some deformation and improvement, these broadly fall into protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with claims.
Claims (10)
1. an AGV robot moving platform, it is characterized in that: include car body (100), it is arranged on the drive mechanism for wheel (200) of car body (100) bottom, the control system (300) being arranged on car body (100) and oil hydraulic cylinder mechanism (400), described drive mechanism for wheel (200) is connected with control system (300), described car body (100) upper surface is provided with gripper shoe (500), described oil hydraulic cylinder mechanism (400) is fixing with gripper shoe (500) to be connected, described oil hydraulic cylinder mechanism (400) is for shifting gripper shoe (500) up and down；Described drive mechanism for wheel (200) is separately positioned on the corner of car body (100), universal wheel (210) that described drive mechanism for wheel (200) includes driving car body (100) movement and be arranged on car body (100) steering mechanism (220) driving universal wheel (210) to rotate, described universal wheel (210) clamping is arranged on steering mechanism (220) lower section；Described steering mechanism (220) includes driving motor (221), screw rod (222), brake gear (223) and driving disk (224), described screw rod (222) one end is connected with driving motor (221), described driving motor (221) drives screw rod (222) to rotate, described screw rod (222) other end is connected with brake gear (223), rectangle tooth (2221) it is provided with on described screw rod (222), described driving disk (224) is equipped with screw rod (222), both sides, described driving disk (224) lower section are respectively fixed with contiguous block (2246), described universal wheel (210) is clamped between two contiguous blocks (2246).
AGV robot moving platform the most according to claim 1, it is characterized in that: described driving disk (224) includes the first disk follower (2241) and the second disk follower (2242) cooperating and being installed in same rotating shaft (2243), described first disk follower (2241) and the second disk follower (2242) are respectively arranged with corresponding the first roller (2244) and the second roller (2245), described screw rod (222) is embedded in by rectangle tooth (2221) between the first roller (2244) and second roller (2245) of the second disk follower (2242) of described first disk follower (2241).
AGV robot moving platform the most according to claim 1, it is characterized in that: described universal wheel (210) includes wheel body (211), described wheel body (211) medial wall uniformly offers driven gear (212), the internal clamping of described wheel body (211) is provided with shaft core (213), described shaft core (213) two ends are separately fixed between contiguous block (2246), driving gear (214) it is fixedly installed in described shaft core (213), between described driving gear (214) and driven gear (212), spacing card is equipped with at least one reduction gearing (215), described reduction gearing (215) is POM material structure.
AGV robot moving platform the most according to claim 3, it is characterised in that: described wheel body (211) is drum wheel structure.
AGV robot moving platform the most according to claim 1, it is characterized in that: described car body (100) four side is respectively arranged with collision-proof alarm panel (110) and charging panel (120), described collision-proof alarm panel (110) and charging panel (120) are electrically connected with control system (300) respectively.
AGV robot moving platform the most according to claim 1, it is characterized in that: described brake gear (223) is electromagnetic brake structure, described brake gear (223) is provided with brake block (2231), and described brake block (2231) is fixing with screw rod (222) to be connected.
AGV robot moving platform the most according to claim 1, it is characterized in that: described oil hydraulic cylinder mechanism (400) includes oil hydraulic cylinder (410) and oil pressure pump (420), described oil hydraulic cylinder (410) is fixing with gripper shoe (500) to be connected, described oil pressure pump (420) is connected by pipeline with oil hydraulic cylinder (410), and described pipeline is provided with choke valve near oil hydraulic cylinder (410) place.
8. a drive mechanism for wheel, it is characterized in that: include driving the universal wheel (210) of car body (100) movement and be arranged on car body (100) steering mechanism (220) driving universal wheel (210) to rotate, described universal wheel (210) clamping is arranged on steering mechanism (220) lower section；Described steering mechanism (220) includes driving motor (221), screw rod (222), brake gear (223) and driving disk (224), described screw rod (222) one end is connected with driving motor (221), described driving motor (221) drives screw rod (222) to rotate, described screw rod (222) other end is connected with brake gear (223), rectangle tooth (2221) it is provided with on described screw rod (222), described driving disk (224) is equipped with screw rod (222), both sides, described driving disk (224) lower section are respectively fixed with contiguous block (2246), described universal wheel (210) is clamped between two contiguous blocks (2246).
Drive mechanism for wheel the most according to claim 8, it is characterized in that: described driving disk (224) includes the first disk follower (2241) and the second disk follower (2242) cooperating and being installed in same rotating shaft (2243), described first disk follower (2241) and the second disk follower (2242) are respectively arranged with corresponding the first roller (2244) and the second roller (2245), described screw rod (222) is embedded in by rectangle tooth (2221) between the first roller (2244) and second roller (2245) of the second disk follower (2242) of described first disk follower (2241).
Drive mechanism for wheel the most according to claim 8, it is characterized in that: described universal wheel (210) includes wheel body (211), described wheel body (211) medial wall uniformly offers driven gear (212), the internal clamping of described wheel body (211) is provided with shaft core (213), described shaft core (213) two ends are separately fixed between contiguous block (2246), driving gear (214) it is fixedly installed in described shaft core (213), between described driving gear (214) and driven gear (212), spacing card is equipped with at least one reduction gearing (215), described reduction gearing (215) is POM material structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620227351.0U CN205417753U (en) | 2016-03-22 | 2016-03-22 | Moving platform of AGV robot and wheel driving mechanism thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620227351.0U CN205417753U (en) | 2016-03-22 | 2016-03-22 | Moving platform of AGV robot and wheel driving mechanism thereof |
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| CN205417753U true CN205417753U (en) | 2016-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620227351.0U Withdrawn - After Issue CN205417753U (en) | 2016-03-22 | 2016-03-22 | Moving platform of AGV robot and wheel driving mechanism thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105730504A (en) * | 2016-03-22 | 2016-07-06 | 东莞市亚美精密机械配件有限公司 | Automated guided vehicle (AGV) robot mobile platform and wheel driving mechanisms thereof |
| CN106626978A (en) * | 2017-01-21 | 2017-05-10 | 陕西铁鹰特种车有限公司 | Universal wheel with direction induction mechanism |
| CN107672693A (en) * | 2017-06-19 | 2018-02-09 | 广东美的智能机器人有限公司 | Rotating-table apparatus and automatic guided vehicle for automatic guided vehicle |
| CN110091917A (en) * | 2019-04-09 | 2019-08-06 | 山东理工大学 | Hub motor electric vehicle with four-wheel independent steering function |
| CN113071572A (en) * | 2021-03-30 | 2021-07-06 | 深圳市江智工业技术有限公司 | Unmanned sightseeing interaction robot |
| TWI749139B (en) * | 2016-12-27 | 2021-12-11 | 日商納博特斯克股份有限公司 | Deceleration device for conveying trolley and driving device for conveying trolley |
-
2016
- 2016-03-22 CN CN201620227351.0U patent/CN205417753U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105730504A (en) * | 2016-03-22 | 2016-07-06 | 东莞市亚美精密机械配件有限公司 | Automated guided vehicle (AGV) robot mobile platform and wheel driving mechanisms thereof |
| TWI749139B (en) * | 2016-12-27 | 2021-12-11 | 日商納博特斯克股份有限公司 | Deceleration device for conveying trolley and driving device for conveying trolley |
| CN106626978A (en) * | 2017-01-21 | 2017-05-10 | 陕西铁鹰特种车有限公司 | Universal wheel with direction induction mechanism |
| CN106626978B (en) * | 2017-01-21 | 2024-04-26 | 陕西铁鹰特种车有限公司 | Universal wheel with direction inducing mechanism |
| CN107672693A (en) * | 2017-06-19 | 2018-02-09 | 广东美的智能机器人有限公司 | Rotating-table apparatus and automatic guided vehicle for automatic guided vehicle |
| CN107672693B (en) * | 2017-06-19 | 2023-09-19 | 库卡机器人(广东)有限公司 | Turntable device for unmanned carrier and unmanned carrier |
| CN110091917A (en) * | 2019-04-09 | 2019-08-06 | 山东理工大学 | Hub motor electric vehicle with four-wheel independent steering function |
| CN113071572A (en) * | 2021-03-30 | 2021-07-06 | 深圳市江智工业技术有限公司 | Unmanned sightseeing interaction robot |
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Granted publication date: 20160803 Effective date of abandoning: 20180327 |
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