CN206749961U - A kind of omnidirectional backpack AGV cars - Google Patents
A kind of omnidirectional backpack AGV cars Download PDFInfo
- Publication number
- CN206749961U CN206749961U CN201720249027.3U CN201720249027U CN206749961U CN 206749961 U CN206749961 U CN 206749961U CN 201720249027 U CN201720249027 U CN 201720249027U CN 206749961 U CN206749961 U CN 206749961U
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- China
- Prior art keywords
- shock
- wheel
- absorbing
- omnidirectional
- car body
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Abstract
A kind of omnidirectional backpack AGV cars, multiple wheels including car body and on car body, the wheel is Mecanum wheel, each wheel includes a shockproof mechanism, the shockproof mechanism includes the shock-absorbing support being connected on car body, spring suspension is installed in front of the shock-absorbing support, base is provided with below shock-absorbing support, shock-absorbing arms is installed in the rotation shaft of wheel, the shock-absorbing arms end is connected with the spring suspension by spring, and the shock-absorbing arms front end is connected with the base shaft below shock-absorbing support.Using omnidirectional backpack AGV cars described in the utility model, the front and rear walking and steering of wheel are realized by using Mecanum wheel, influence and course deviation of the ground injustice to dolly direct of travel are reduced using shockproof mechanism, improve production efficiency.
Description
Technical field
The utility model belongs to mechanical field, is related to materials vehicle inside a kind of plant area, and in particular to a kind of omnidirectional backpack
AGV cars.
Background technology
(Automated Guided Vehicle, abbreviation AGV), also commonly referred to as AGV dollies, refer to equipped with electricity magnetically or optically
Etc. homing guidance device, can travel along defined guide path, have safeguard protection and the transport of various transfer functions
Car, the carrier of driver is not required in commercial Application, using chargeable battery as its power resources.Typically can by computer come
Its course and behavior are controlled, or utilizes electromagnetic path (electromagnetic path-following system)
To set up its course, electromagnetic path is pasted on what floor, and automatic guided vehicle is then moved and acted by electromagnetic path.
The wheel of AGV dollies is connected with rigidity of vehicle body in the prior art, is difficult to realize and is turned in narrow space region, this
Outside, contact of the wheel with ground is influenceed greatly by ground flat degree so that AGV courses shift.
Utility model content
It is difficult to turn to existing for existing AGV dollies to overcome, contact of the wheel with ground is influenceed greatly, easily by ground flat degree
The technological deficiency to shift, the utility model discloses a kind of omnidirectional backpack AGV cars.
Omnidirectional backpack AGV cars described in the utility model, including car body and multiple wheels on car body, the car
Take turns includes a shockproof mechanism for Mecanum wheel, each wheel, and the shockproof mechanism includes the shock-absorbing branch being connected on car body
Frame, the shock-absorbing support front are provided with spring suspension, are provided with base below shock-absorbing support, are provided with the rotation shaft of wheel
Shock-absorbing arms, the shock-absorbing arms end are connected with the spring suspension by spring, the shock-absorbing arms front end and shock-absorbing support lower section
Base shaft connection.
Preferably, it is connected with power drive unit in each rotation shaft of wheel.
Preferably, the car body is rectangular cubic, and the car body top is provided with electric pallet.
Preferably in the spring suspension includes a cantilever being pointed in front of shock-absorbing support, and horizontal stroke is connected between cantilever
Beam, the spring are connected on crossbeam.
Using omnidirectional backpack AGV cars described in the utility model, before realizing wheel by using Mecanum wheel
Walk and turn to afterwards, influence and course deviation of the ground injustice to dolly direct of travel are reduced using shockproof mechanism, improved
Production efficiency.
Brief description of the drawings
Fig. 1 is a kind of embodiment structural representation of omnidirectional backpack AGV cars described in the utility model, and Fig. 2 is
A kind of embodiment structural representation of spring suspension described in the utility model, the entitled 1- power of reference drives in figure
Dynamic device, 2- Mecanum wheels, 3- shock-absorbing supports, 4- cantilevers, 5- crossbeams, 6- springs, 7- car bodies, 8- electric pallets.
Embodiment
Below in conjunction with the accompanying drawings, specific embodiment of the present utility model is described in further detail.
Omnidirectional backpack AGV cars described in the utility model, including car body 7 and multiple wheels on car body, it is described
Wheel is Mecanum wheel 2, and each wheel includes a shockproof mechanism, and the shockproof mechanism includes the shock-absorbing being connected on car body
Support 3, the shock-absorbing support front are provided with spring suspension, are provided with base below shock-absorbing support, pacify in the rotation shaft of wheel
Equipped with shock-absorbing arms, the shock-absorbing arms end is connected with the spring suspension by spring 6, the shock-absorbing arms front end and shock-absorbing support
The base shaft connection of lower section.
An embodiment is provided as shown in Figure 1, shock-absorbing support is fixed on the bottom of car body, and each wheel passes through only
Vertical power drive unit is driven, even if wherein indivedual power drive unit failures, the rotation of other wheels remain to drive
Car body advances.
Mecanum wheel is a kind of wheel of Mecanum company of Sweden exploitation, has many to be located at wheel based on one
The principle of the centre wheel of the wheel shaft on periphery, the wheel steering force of a part is transformed into above a wheel normal force.By each
From the direction of wheel and speed, the final synthesis of these power produces a resultant force vector on the direction of any requirement, so as to protect
Having demonstrate,proved can move freely through on the direction of final resultant force vector, the direction without changing wheel itself.
Not usually, because shock-absorbing arms is connected with shock-absorbing bracket base by rotating shaft, shock-absorbing arms can rotate along base on ground,
Spring in vertical direction can produce deformation so that shock-absorbing arms rises or falls, and is jolted so as to absorb ground.Shown in Fig. 2
In embodiment, a kind of embodiment of spring suspension is provided, before spring suspension is pointed to shock-absorbing support including one
The cantilever 4 of side, crossbeam 5 is connected between cantilever, the spring is connected on crossbeam.
The car body is preferably flat rectangular cubic, is not easy to topple and translates into, and is also beneficial to park, in the car body top
Electric pallet 8 can be installed, the equipment that can be loaded with automatic lifting.
Using omnidirectional backpack AGV cars described in the utility model, before realizing wheel by using Mecanum wheel
Walk and turn to afterwards, influence and course deviation of the ground injustice to dolly direct of travel are reduced using shockproof mechanism, improved
Production efficiency.
Previously described is each preferred embodiment of the present utility model, the preferred embodiment in each preferred embodiment
If not obvious contradictory or premised on a certain preferred embodiment, each preferred embodiment can be arbitrarily superimposed
It is applied in combination, the design parameter in the embodiment and embodiment is merely to clearly state the utility model of utility model people
Verification process, and be not used to limit scope of patent protection of the present utility model, scope of patent protection of the present utility model still with
Its claims is defined, every equivalent structure change made with specification of the present utility model and accompanying drawing content, similarly
It should be included in the scope of protection of the utility model.
Claims (4)
1. a kind of omnidirectional backpack AGV cars, including car body and multiple wheels on car body, it is characterised in that：The car
Take turns includes a shockproof mechanism for Mecanum wheel, each wheel, and the shockproof mechanism includes the shock-absorbing branch being connected on car body
Frame, the shock-absorbing support front are provided with spring suspension, are provided with base below shock-absorbing support, are provided with the rotation shaft of wheel
Shock-absorbing arms, the shock-absorbing arms end are connected with the spring suspension by spring, the shock-absorbing arms front end and shock-absorbing support lower section
Base shaft connection.
2. omnidirectional backpack AGV cars as claimed in claim 1, it is characterised in that be connected with each rotation shaft of wheel dynamic
Force driving device.
3. omnidirectional backpack AGV cars as claimed in claim 1, it is characterised in that the car body is rectangular cubic, the car
Electric pallet is installed at the top of body.
4. omnidirectional backpack AGV cars as claimed in claim 1, it is characterised in that the spring suspension is pointed to keep away including one
The cantilever in front of support is shaken, is connected with crossbeam between cantilever, the spring is connected on crossbeam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720249027.3U CN206749961U (en) | 2017-03-15 | 2017-03-15 | A kind of omnidirectional backpack AGV cars |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720249027.3U CN206749961U (en) | 2017-03-15 | 2017-03-15 | A kind of omnidirectional backpack AGV cars |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206749961U true CN206749961U (en) | 2017-12-15 |
Family
ID=60609271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720249027.3U Expired - Fee Related CN206749961U (en) | 2017-03-15 | 2017-03-15 | A kind of omnidirectional backpack AGV cars |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206749961U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131640A (en) * | 2018-10-16 | 2019-01-04 | 深圳市今天国际智能机器人有限公司 | Omnidirectional's steering wheel |
| TWI724405B (en) * | 2019-04-25 | 2021-04-11 | 日商Ａｉ Ｒｏｂｏｔ股份有限公司 | Walking mechanism and autonomous mobile handling robot |
-
2017
- 2017-03-15 CN CN201720249027.3U patent/CN206749961U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131640A (en) * | 2018-10-16 | 2019-01-04 | 深圳市今天国际智能机器人有限公司 | Omnidirectional's steering wheel |
| TWI724405B (en) * | 2019-04-25 | 2021-04-11 | 日商Ａｉ Ｒｏｂｏｔ股份有限公司 | Walking mechanism and autonomous mobile handling robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171215 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |