CN206012330U - Can be along the AGV dollies of any angular orientation walking - Google Patents
Can be along the AGV dollies of any angular orientation walking Download PDFInfo
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- CN206012330U CN206012330U CN201620958601.8U CN201620958601U CN206012330U CN 206012330 U CN206012330 U CN 206012330U CN 201620958601 U CN201620958601 U CN 201620958601U CN 206012330 U CN206012330 U CN 206012330U
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- agv dollies
- driving wheel
- drive motor
- angular orientation
- bearing
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Abstract
This utility model belongs to automatic guided vehicle field, specifically provides a kind of AGV dollies that can be walked along any angular orientation.This utility model aims to solve the problem that traditional AGV dollies cause operation inconvenience in the small space due to there are min. turning radius.The AGV dollies that can be walked along any angular orientation of the present utility model include car body and four driver elements being fixedly connected with the vehicle body by crossed roller bearing, driver element is made up of the drive motor for being provided with driving wheel on two groups of output shafts, and two driving wheels are symmetricly set on the both sides of BEARING SHAFT, when two side drive wheel, one rotating forward, one reversion, driver element can be around bearing rotary；When two driving wheel rotating in same direction, driver element drives the movement of AGV dollies.AGV dollies of the present utility model can be walked along any angular orientation, therefore, it is possible to operation in very narrow space, with very strong spatial adaptation ability.
Description
Technical field
This utility model belongs to automatic guided vehicle field, specifically provide a kind of can along any angular orientation walking AGV little
Car.
Background technology
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to that being equipped with electricity magnetically or optically waits certainly
Dynamic guiding device, can travel along the guide path of regulation, the transport vehicle with safeguard protection and various transfer functions.In work
In industry application, mover is not required to driver, with chargeable accumulator as its power resources.Typically which can be controlled by computer
Course and behavior, or its course is set using electromagnetic path, generally electromagnetic path is pasted on floor, nobody
Mover follows the message that electromagnetic path sends to move and action.
AGV is characterized with wheel type mobile, than walking, is creeped or other non-wheeled mobile robots have action fast
Victory, high working efficiency, simple structure, the advantage such as controllability is strong, safety is good.With the other equipment phase that commonly uses in material conveying
Than the fixing devices such as track, support saddle frame need not be laid in the zone of action of AGV, not limited by place, road and space.Therefore,
In automatic Material Handling System, most its automaticity and flexibility can be fully embodied, realize efficient, economic, neatly unmanned metaplasia
Produce.
But, traditional four-wheel differentia AGV structures have min. turning radius when turning so that AGV dollies exist
Inevitably occupy more work spaces during turning, for the relatively narrow and small handling situations in space very inconvenient.
Correspondingly, this area needs a kind of new AGV dollies to solve the above problems.
Utility model content
In order to solve the problems referred to above of the prior art, solution tradition AGV dollies have been due to there is minimum turning partly
Footpath causes the problem of operation inconvenience in the small space, this utility model provide a kind of can be along any angular orientation walking
AGV dollies, it is characterised in that the driver element that the AGV dollies include car body and are fixed on the car body, the driving list
Unit includes that drive motor and the driving wheel being fixed in the drive motor, the drive motor are fixedly connected with the car body,
Driving wheel rotation described in the drive motor, and then drive the AGV carriage walkings；The drive motor includes parallel connection
First drive motor and the second drive motor, the driving wheel include the first driving wheel and the second driving wheel, and described first drives
Wheel is fixedly connected with the projecting shaft of first drive motor, the projecting shaft of second driving wheel and second drive motor
It is fixedly connected, first driving wheel and second driving wheel are symmetrically disposed in the company of the driver element and the car body
The both sides of contact.
In the preferred implementation of above-mentioned AGV dollies, the driver element also includes bearing, one end of the bearing with
The drive motor is fixedly connected, and the other end of the bearing is fixedly connected with the car body, first driving wheel and described
Second driving wheel is symmetrically disposed in the both sides of the bearing, and the driver element can be around the bearing relative to the car body
Rotation.
In the preferred implementation of above-mentioned AGV dollies, on the bearing, encoder is provided with, the encoder is used for supervising
Survey the anglec of rotation of the driver element.
In the preferred implementation of above-mentioned AGV dollies, the AGV dollies include four driver elements, and described four
Individual driver element is circumferentially evenly arranged around the center of gravity of the car body.
In the preferred implementation of above-mentioned AGV dollies, the AGV dollies also include fixed plate, the one of the fixed plate
End is fixedly connected with the car body, and the other end of the fixed plate is fixedly connected with the other end of the bearing.
In the preferred implementation of above-mentioned AGV dollies, the bearing is crossed roller bearing.
In the preferred implementation of above-mentioned AGV dollies, the drive motor is servomotor or hydraulic motor.
In the preferred implementation of above-mentioned AGV dollies, the AGV dollies are additionally provided with driven pulley, and the driven pulley is
Universal wheel.
In the preferred implementation of above-mentioned AGV dollies, the hydraulic motor is two-way hydraulic motor.
It will be appreciated to those of skill in the art that in optimal technical scheme of the present utility model, by crossed roller
Bearing is rotatably fixed to driver element on car body, is provided with two drive motors on driver element, drives horse per platform
It is both provided with a driving wheel on the projecting shaft for reaching, and two driving wheels is symmetrically arranged at the both sides of bearing.When two drives
During driving wheel rotating in same direction, AGV dollies are moved；When the steering of two driving wheels is contrary, driver element is around bearing rotary, and passes through
The angle that the encoders monitor driver element being arranged on bearing is turned over.AGV dollies of the present utility model are not only by each
Differential between driver element is turned, it is often more important that, which can pass through driver element around respective bearing rotary, make
AGV dollies can be moved along any angular orientation, therefore, it is possible to operation in very narrow space, suitable with very strong space
Should be able to power.
Description of the drawings
Fig. 1 is the principle schematic of AGV dollies in prior art；
Fig. 2 is the top view of AGV vehicle structures of the present utility model；
Fig. 3 is the front view of AGV vehicle structures of the present utility model；
Fig. 4 is the front view of driver element of the present utility model；
Fig. 5 is the top view of driver element of the present utility model.
Specific embodiment
With reference to the accompanying drawings describing preferred implementation of the present utility model.Skilled artisan would appreciate that
It is that these embodiments are used only for explaining know-why of the present utility model, it is not intended that limit protection of the present utility model
Scope.For example, although description combines accompanying drawing and AGV dollies are described, but this driver element can be used in any
On wheel group dolly, those skilled in the art can make adjustment to which as needed, to adapt to specific application scenario.
It should be noted that in description of the present utility model, term " " center ", " on ", D score, "left", "right", " perpendicular
Directly ", the direction of instruction such as " level ", " interior ", " outward " or the term of position relationship are closed based on direction shown in the drawings or position
System, this are intended merely to facilitate description, rather than indicate or imply that described device or element must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or hint relative importance.
In addition it is also necessary to illustrate, in description of the present utility model, unless otherwise clearly defined and limited, art
Language " installation ", " being connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or
It is integrally connected；Can be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to by between intermediary
Connect connected, can be the connection of two element internals.To those skilled in the art, can understand as the case may be above-mentioned
Concrete meaning of the term in this utility model.
As shown in figure 1, Fig. 1 shows a kind of AGV dollies of the prior art, the dolly include car body 11, driving wheel 12,
Driven pulley 13 and rotating mechanism 14, driving wheel 12, driven pulley 13 and rotating mechanism 14 are respectively fixed on car body 11.When AGV little
When car is moved, by two driving wheels 12 and the whole car body 11 of two 13 common supports of driven pulley, 12 output torque of driving wheel drives
Car body 11 is moved；When AGV dollies are turned, driving wheel 12 is first rotated by 90 ° (or other respective angles) by rotating mechanism 14, and then
Car body 11 is turned to by the differential between two driving wheels 12.But as car body 11 is not circular so that car body 11
Can be there is a least radius when rotating so that AGV dollies are operated inconvenience when less space turns.
With reference to Fig. 2 to Fig. 5 being preferable to carry out to the AGV dollies that can be walked along any angular orientation of the present utility model
Mode is described in detail.
As shown in Figures 2 and 3, the AGV dollies that can be walked along any angular orientation of the present utility model include car body 2, four
Individual driver element 3 and the fixed plate 4 for connection body 2 and driver element 3.Driver element 3 is symmetrically arranged on car body 2,
To share the weight of goods on car body 2 and car body 2 as homogeneously as possible.
As shown in Figure 4 and Figure 5, driver element 3 includes：First drive motor 31, the first driving wheel 32, the second drive motor
33rd, the second driving wheel 34, bearing 35 and encoder 36.The projecting shaft of the first driving wheel 32 and the first drive motor 31 is fixed and is connected
Connect；Second driving wheel 34 is fixedly connected with the projecting shaft of the second drive motor 33；First drive motor 31 and the second drive motor
33 are arranged in parallel as shown in Figure 5 up and down, and the projecting shaft of the first drive motor 31 is to the left, the projecting shaft of the second drive motor 33
To the right, it is preferable that the shell of the first drive motor 31 and the second drive motor 33 is arranged to an entirety, or this area skill
The shell of the first drive motor 31 and the second drive motor 33 can be fixed together by art personnel by other means, example
Such as, two drive motors are fixedly mounted on a connecting plate by bolt.It is pointed out that above-mentioned " being arranged in parallel " is
Refer to that the first drive motor 31 and the output shaft of the second drive motor 33 are substantially parallel with each other arranged, this set is caused when the
When one drive motor 31 and the second drive motor 33 are rotated in mutually opposite directions, torque on bearing 35, can be applied in.
With continued reference to Fig. 4 and Fig. 5, the lower end (lower end of Fig. 4 middle (center) bearings 35) of bearing 35 and the first drive motor 31 and the
Two drive motors 33 are fixedly connected and bearing 35 is arranged between the first drive motor 31 and the second drive motor 33 (in Fig. 5
The position of shown bearing 3)；The upper end (upper end of Fig. 4 middle (center) bearings 35) of bearing 35 is fixedly connected with fixed plate 4 by bolt.Excellent
Selection of land, bearing 3 adopt crossed roller bearing.The upper end of bearing 35 is additionally provided with encoder 36, and encoder 36 is used for monitoring bearing
35 angles for turning over.
As shown in Figure 5, the first driving wheel 32 and the second driving wheel 34 are symmetrically arranged at the both sides of 35 axis of bearing, with
Be easy to the first driving wheel 32 and the second driving wheel 34 around bearing 35 rotate when two driving wheels 32,34 rotating speed identical.
It should be noted that can according to the difference of the little vehicle loads of AGV, to driver element size different require and
Cost considers, from servomotor or hydraulic motor as drive motor.Here preferably by hydraulic motor conduct
Drive motor.As shown in Figure 5, hydraulic oil each leads into inlet 311 and second drive motor 33 of the first drive motor 31
Inlet 331, liquid outlet 332 and liquid outlet 312 connect oil back chamber respectively.It is highly preferred that the first drive motor 31 and second
Drive motor 33 adopts two-way hydraulic motor, in order to meet rotating and reverse for the first driving wheel 32 and the second driving wheel 34,
Now the inlet and liquid outlet of two drive motors 31,33 can rotate and reverse mutually conversion according to driving wheel 32,34.
In sum, when AGV dolly straight line movings, the direction of rotation of all driving wheels of four driver elements 3 and
Rotating speed is identical, and the direction of advance of all driving wheels is identical；When AGV dollies need to turn, by AGV trolley control system controls
The first drive motor 31 for making each driver element 3 drives the first driving wheel 32 and the second drive motor 33 to drive the second driving wheel
34 are rotated towards different rotation directions with identical rotating speed so that driver element 3 is rotated around bearing 35, and monitor axle by encoder 36
Hold the angle that 35 angles for turning over and then monitoring driving unit 3 are turned over, when driver element 3 turns to precalculated position, encoder
36 will send message to AGV trolley control systems, and control system controls the first drive motor 31 and the second drive motor 33 then
Stopping is rotated in mutually opposite directions, and now, each drive motor drives the driving wheel being fixed to the upper to rotate respectively, and all drivings
The direction of rotation of wheel and rotating speed are identical, and then drive the movement of AGV dollies.
It will be appreciated to those of skill in the art that AGV dollies can according to the size of 3 anglec of rotation of driver element along and its
The length direction of car body 2 is moved into direction at any angle, then so that AGV dollies disclosure satisfy that more complicated working environment.
Those skilled in the art it is also understood that, in the case where working environment is more satisfactory, can also be by each drive
The car body 2 of AGV dollies is carried out rotating, is turned around its center by the differential between moving cell 3.
Those skilled in the art it is also understood that, the quantity of the driver element 3 of AGV dollies is not limited only to four, can
To be any amount, however it is necessary that ensure that all driver elements 3 are axially evenly arranged along 2 center of gravity of car body, so as to 3 energy of driver element
The enough weight for fifty-fifty distributing goods on car body 2 and car body 2 as far as possible.And work as 3 negligible amounts of driver element (such as 2)
When, the weight that a number of universal wheel is used for undertaking goods on car body 2 and car body 2 can be set on car body 2.
Those skilled in the art it is also understood that, car body 2 is with driver element 3 except being fixedly connected by fixed plate 4
Mode outside, it is evident that other connected modes can also be adopted, for example, the bearing 35 of driver element 3 is fixed to car directly
On body 2.
So far, the technical solution of the utility model is described already in connection with preferred implementation shown in the drawings, but, this
Art personnel are it is easily understood that protection domain of the present utility model is expressly not limited to these specific embodiments.?
On the premise of without departing from principle of the present utility model, those skilled in the art can make the change of equivalent to correlation technique feature
Or replace, the technical scheme after these are changed or replace it is fallen within protection domain of the present utility model.
Claims (9)
1. a kind of can along any angular orientation walking AGV dollies, it is characterised in that the AGV dollies include car body and fixation
Driver element on the car body,
The driver element includes drive motor and the driving wheel being fixed in the drive motor, the drive motor with described
Car body is fixedly connected, driving wheel rotation described in the drive motor, and then drives the AGV carriage walkings；
The drive motor includes that first drive motor and the second drive motor of parallel connection, the driving wheel include the first driving wheel
With the second driving wheel, first driving wheel is fixedly connected with the projecting shaft of first drive motor, second driving wheel
It is fixedly connected with the projecting shaft of second drive motor, first driving wheel and second driving wheel are symmetrically disposed in
The both sides of the driver element and the junction point of the car body.
2. according to claim 1 can along any angular orientation walking AGV dollies, it is characterised in that the driving list
Unit also includes that bearing, one end of the bearing are fixedly connected with the drive motor, the other end of the bearing and the car body
It is fixedly connected, first driving wheel and second driving wheel are symmetrically disposed in the both sides of the bearing, the driving list
Unit can be rotated relative to the car body around the bearing.
3. according to claim 2 can along any angular orientation walking AGV dollies, it is characterised in that on the bearing
Encoder is provided with, the encoder is used for the anglec of rotation for monitoring the driver element.
4. according to claim 3 can along any angular orientation walking AGV dollies, it is characterised in that the AGV dollies
Including four driver elements, and four driver elements are circumferentially evenly arranged around the center of gravity of the car body.
5. according to claim 4 can along any angular orientation walking AGV dollies, it is characterised in that the AGV dollies
Also include that fixed plate, one end of the fixed plate are fixedly connected with the car body, the other end of the fixed plate and the bearing
The other end be fixedly connected.
6. according to any one of claim 2 to 5 can along any angular orientation walking AGV dollies, it is characterised in that
The bearing is crossed roller bearing.
7. according to claim 6 can along any angular orientation walking AGV dollies, it is characterised in that the driving horse
It is servomotor or hydraulic motor to reach.
8. according to claim 7 can along any angular orientation walking AGV dollies, it is characterised in that the AGV dollies
Driven pulley is additionally provided with, the driven pulley is universal wheel.
9. according to claim 8 can along any angular orientation walking AGV dollies, it is characterised in that the hydraulic pressure horse
It is two-way hydraulic motor to reach.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620958601.8U CN206012330U (en) | 2016-08-26 | 2016-08-26 | Can be along the AGV dollies of any angular orientation walking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620958601.8U CN206012330U (en) | 2016-08-26 | 2016-08-26 | Can be along the AGV dollies of any angular orientation walking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206012330U true CN206012330U (en) | 2017-03-15 |
Family
ID=58251883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620958601.8U Active CN206012330U (en) | 2016-08-26 | 2016-08-26 | Can be along the AGV dollies of any angular orientation walking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206012330U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314129A (en) * | 2016-08-26 | 2017-01-11 | 北京超同步伺服股份有限公司 | AGV (Automatic Guided Vehicle) trolley capable of walking in any angle direction |
-
2016
- 2016-08-26 CN CN201620958601.8U patent/CN206012330U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314129A (en) * | 2016-08-26 | 2017-01-11 | 北京超同步伺服股份有限公司 | AGV (Automatic Guided Vehicle) trolley capable of walking in any angle direction |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 101500 No. 9 Yunxi Sixth Street, Miyun District Economic Development Zone, Beijing Patentee after: Super Synchronization Co., Ltd. Address before: 101500, 200 meters West Village, ten Li village, Beijing, Miyun Patentee before: BEIJING CHAOTONGBU SERVO CO., LTD. |