CN206900511U - The transfer robot that comprehensive full landform guides automatically - Google Patents
The transfer robot that comprehensive full landform guides automatically Download PDFInfo
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- CN206900511U CN206900511U CN201720414804.5U CN201720414804U CN206900511U CN 206900511 U CN206900511 U CN 206900511U CN 201720414804 U CN201720414804 U CN 201720414804U CN 206900511 U CN206900511 U CN 206900511U
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Abstract
The utility model discloses the transfer robot that a kind of comprehensive full landform guides automatically, including vehicle frame, cart base plate, four Mecanum wheels and the motor device for driving Mecanum wheel, vehicle frame is engaged with bottom plate, the correspondence position of each motor device is respectively provided with a damping, damping includes spring bearer plate, guide pillar, one-level damping spring and two level damping spring, spring bearer plate is fixed on above cart base plate, the one-level damping spring passes through via on cart base plate, both ends offset with spring bearer plate and motor device respectively, the bottom of the guide pillar is fixed on motor device, top stretches out spring bearer plate and is provided with Spring retention features on top, two level damping spring is set between the Spring retention features and the upper surface of spring bearer plate.One-level damping spring can carry out damping at initial stage to car body, meet to carry out damping for Different Ground situation, two level damping spring jolts and influenceed caused by can offsetting resonance.
Description
Technical field
The present invention relates to AGV technical fields, and in particular to the transfer robot that a kind of comprehensive full landform guides automatically.
Background technology
Number of patent application is that CN201621018981.3 patent discloses a kind of damping and damping drive wheel assemblies
And AGV dollies, damping include being used for the connecting seat being assemblied on driving wheel body, are located at driving wheel sheet on the connecting seat
The opposite sides of body is respectively provided with supporting surface upward, and elastic support unit is equipped with each supporting surface；Elastic support unit bag
Include the damping spring for bearing body being arranged on the supporting surface.The present invention utilizes better simply structure, to AGV dollies
Each driving wheel on be both provided with the damping, when AGV dollies are advanced on broken terrain, each driving wheel
The flexible of damping spring can be relied on, driving wheel is stretched relative to car body, to ensure that each driving wheel can be reliable
Contact ground, and then maintain dolly car body stability, reduce requirement of the dolly to ground flat degree, improve dolly
Service life.The damping is a damping, is jolted in the case where road conditions are poor still more serious.
The content of the invention
The technical problem to be solved in the present invention is that solve above-mentioned the deficiencies in the prior art, there is provided one kind has two level damping effect
The AGV dolly dampings of fruit.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：A kind of comprehensive full landform guides automatically
Transfer robot, including vehicle frame, cart base plate, four Mecanum wheels and drive Mecanum wheel motor device, car
Frame is engaged with bottom plate, and motor device is arranged on below cart base plate, and each Mecanum configures an individual motor equipment, often
The correspondence position of individual motor device is respectively provided with a damping, and four vias, damping are provided with the cart base plate
Including spring bearer plate, guide pillar, one-level damping spring and two level damping spring, the spring bearer plate is fixed on cart base plate
Side, through via on cart base plate, both ends offset the one-level damping spring with spring bearer plate and motor device respectively, described to lead
The bottom of post is fixed on motor device, and top stretches out spring bearer plate and is provided with Spring retention features on top, consolidates in the spring
Determine to set two level damping spring between mechanism and the upper surface of spring bearer plate.
Further, each damping includes two one-level damping springs, respectively positioned at the both sides of guide pillar, spring bearer plate
The fixed column being engaged is provided with motor device to be used to fix one-level damping spring.
Further, the two level damping spring is sleeved on guide pillar, and screw thread is provided with the top of guide pillar, and spring fixes machine
Structure is also sleeved on guide pillar, and is coordinated with the screw thread on guide pillar for moving up and down regulation spring.
Further, two jacking linkages are also set up on the vehicle frame, jacking linkage includes push rod, flap and floated
Dynamic plate, float plate lower section set spring, set an eccentric shaft to be engaged with float plate on flap.
Further, the height of position sensor detection elevating lever is also connected with the float plate.
Further, the vehicle frame front end is placed obstacles thing sensor, sensor internal set first order laser scanner and
Two level laser scanner, the scanning area of two level laser scanner are included in the scanning area of two level laser scanner.
Further, a circle anti-collision adhesive tape is additionally provided with the frame shell.
From above-mentioned technical proposal it can be seen that the present invention has advantages below：One-level damping spring can be carried out just to car body
Phase damping, meet to carry out damping for Different Ground situation, after foundation shock absorption, because each damping can all cause car body to be total to
Shake, therefore jolt and influence caused by two level damping spring can offset resonance；Jacking linkage can stretch into fixture vehicle, drag
Fixture vehicle；Two-stage detection of obstacles is set, first slows down and confirms that barrier whether there is again, is hindered after second of accurate scan confirms
Thing is hindered to carry out stopping the operation of dolly after being implicitly present in again, dolly caused by avoiding wrong identification is stopped transport；And preliminary scan can
To give certain deceleration distance, the generation of collision accident is effectively reduced.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of damping in the present invention；
The structural representation of linkage is jacked in the present invention of Fig. 3 positions.
Embodiment
The embodiment of the present invention is elaborated below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2, the transfer robot that comprehensive full landform of the invention guides automatically, including vehicle frame, dolly
Bottom plate, four Mecanum wheels and the motor device for driving Mecanum wheel, vehicle frame are engaged with bottom plate, motor device installation
Below cart base plate, each Mecanum configures an individual motor equipment, and the correspondence position of each motor device is respectively provided with
One damping, four vias are provided with the cart base plate, and damping includes spring bearer plate 5, guide pillar 4, one-level and subtracted
Spring 7 and two level damping spring 3 are shaken, the spring bearer plate 5 is fixed on the top of cart base plate 6, and one-level damping spring 7 passes through small
Via on car bottom plate 6, both ends offset with spring bearer plate 5 and motor device 6 respectively, and the bottom of the guide pillar 4 is fixed on motor
In equipment 8, top stretches out spring bearer plate 5 and is provided with Spring retention features on top, in the Spring retention features and spring bearer plate
Upper surface between two level damping spring 3 is set.
Each damping includes two one-level damping springs 7, respectively positioned at the both sides of guide pillar 4, spring bearer plate 5 and motor
Equipment 6 is provided with the fixed column 1 being engaged and is used to fix one-level damping spring 7.
Two level damping spring 3 is sleeved on guide pillar, and the top of guide pillar 4 is provided with screw thread, and Spring retention features are also sleeved on
On guide pillar, and coordinate with the screw thread on guide pillar for moving up and down regulation spring, Spring retention features can by an annulus and
Rotating disk 2 is formed, and two level damping spring offsets with annulus, and annulus sets internal thread to match with guide pillar, and rotating disk 2 is arranged on annulus
Side, the height of annulus can be adjusted by rotating rotating disk 2, so as to which two level damping spring be adjusted.
One-level damping spring can carry out damping at initial stage to car body, meet to carry out damping for Different Ground situation, in base
After plinth damping, because each damping can all cause car body to resonate, therefore jolted caused by two level damping spring can offset resonance
And influence.
Also set up on vehicle frame two jacking linkages, as shown in figure 3, jacking linkage include push rod 15, flap 17 and
Float plate 14, the lower section of float plate 14 set spring 19, and flap 17 sets an eccentric shaft 16 to be engaged with float plate 17, described
The height that position sensor 20 detects elevating lever is also connected with float plate, flap 17 has rotary electric machine 18 to drive rotation, lifting pin
Mechanism can stretch into fixture vehicle, drag fixture vehicle.A circle anti-collision adhesive tape 13 is additionally provided with the frame shell.
The vehicle frame front end is placed obstacles thing sensor 12, and sensor internal sets first order laser scanner and two level laser
Scanner, the scanning area of two level laser scanner are included in the scanning area of two level laser scanner.Using laser obstacle
Sensor detects barrier；Laser obstacle sensor is provided with two-stage scan region, when obstacle being present in first order scanning area
Thing, master control system reduces operational objective linear velocity by controlled motor, if barrier is persistently present, when second level scanning area
When inside also synchronously there is the barrier, master control system control dolly triggering cutoff command, dolly jerk, while by target linear velocity
Set to 0, in the scope of the second scanning area the scope of the first scanning area is contained in synchronization；Deng barrier from second scanning
After zones vanishes, master control system controlled motor makes dolly accelerate since 0 m/min, acceleration a1, waits barrier from first
After scanning area disappears, master control system controlled motor makes dolly continue to accelerate, until accelerating to the target velocity of setting, acceleration
It is more than a1 for a2, wherein a2.Two-stage detection of obstacles is set, first slows down and confirms that barrier whether there is again, it is accurate at second
Scanning confirms that obstruction carries out stopping the operation of dolly again after being implicitly present in, and dolly caused by avoiding wrong identification is stopped transport；
And preliminary scan can give certain deceleration distance, the generation of collision accident is effectively reduced.
Claims (7)
1. the transfer robot that a kind of comprehensive full landform guides automatically, including vehicle frame, cart base plate, four Mecanum wheels with
And the motor device of driving Mecanum wheel, vehicle frame are engaged with bottom plate, motor device is arranged on below cart base plate, Mei Gemai
Ke Namu configures an individual motor equipment, and the correspondence position of each motor device is respectively provided with a damping, and its feature exists
In：Four vias are provided with the cart base plate, damping includes spring bearer plate, guide pillar, one-level damping spring and two
Level damping spring, the spring bearer plate are fixed on above cart base plate, and the one-level damping spring passes through via on cart base plate,
Both ends are offseted with spring bearer plate and motor device respectively, and the bottom of the guide pillar is fixed on motor device, and spring is stretched out on top
Pressing plate and Spring retention features are provided with top, set two level to subtract between the Spring retention features and the upper surface of spring bearer plate
Shake spring.
2. the transfer robot that comprehensive full landform according to claim 1 guides automatically, it is characterised in that：Each damping
Mechanism includes two one-level damping springs, is provided with what is be engaged positioned at the both sides of guide pillar, spring bearer plate and motor device respectively
Fixed column is used to fix one-level damping spring.
3. the transfer robot that the comprehensive full landform according to claims 1 or 2 guides automatically, it is characterised in that：Institute
To state two level damping spring to be sleeved on guide pillar, screw thread is provided with the top of guide pillar, Spring retention features are also sleeved on guide pillar, and
Coordinate with the screw thread on guide pillar for moving up and down regulation spring.
4. the transfer robot that the comprehensive full landform according to claims 1 or 2 guides automatically, it is characterised in that：Institute
State and two jacking linkages are also set up on vehicle frame, jacking linkage includes push rod, flap and float plate, set below float plate
Spring, an eccentric shaft is set to be engaged with float plate on flap.
5. the transfer robot that comprehensive full landform according to claim 4 guides automatically, it is characterised in that：The floating
The height of position sensor detection elevating lever is also connected with plate.
6. the transfer robot that the comprehensive full landform according to claims 1 or 2 guides automatically, it is characterised in that：Institute
State vehicle frame front end to place obstacles thing sensor, sensor internal sets first order laser scanner and two level laser scanner, two level
The scanning area of laser scanner is included in the scanning area of two level laser scanner.
7. the transfer robot that the comprehensive full landform according to claims 1 or 2 guides automatically, it is characterised in that：It is described
A circle anti-collision adhesive tape is additionally provided with frame shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720414804.5U CN206900511U (en) | 2017-04-19 | 2017-04-19 | The transfer robot that comprehensive full landform guides automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720414804.5U CN206900511U (en) | 2017-04-19 | 2017-04-19 | The transfer robot that comprehensive full landform guides automatically |
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| Publication Number | Publication Date |
|---|---|
| CN206900511U true CN206900511U (en) | 2018-01-19 |
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ID=61289965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720414804.5U Active CN206900511U (en) | 2017-04-19 | 2017-04-19 | The transfer robot that comprehensive full landform guides automatically |
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| CN (1) | CN206900511U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107021148A (en) * | 2017-04-19 | 2017-08-08 | 无锡新创力工业设备有限公司 | The transfer robot that comprehensive full landform is guided automatically |
| CN108749482A (en) * | 2018-06-12 | 2018-11-06 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and helping robot |
| CN110254154A (en) * | 2019-06-21 | 2019-09-20 | 上海灵至科技有限公司 | A kind of suspension arrangement, movement chassis and robot |
-
2017
- 2017-04-19 CN CN201720414804.5U patent/CN206900511U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107021148A (en) * | 2017-04-19 | 2017-08-08 | 无锡新创力工业设备有限公司 | The transfer robot that comprehensive full landform is guided automatically |
| CN107021148B (en) * | 2017-04-19 | 2023-08-15 | 无锡新创力工业设备有限公司 | All-round all-terrain automatic guided transfer robot |
| CN108749482A (en) * | 2018-06-12 | 2018-11-06 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and helping robot |
| CN108749482B (en) * | 2018-06-12 | 2024-02-20 | 杭州程天科技发展有限公司 | Mecanum wheel, chassis and assisting robot |
| CN110254154A (en) * | 2019-06-21 | 2019-09-20 | 上海灵至科技有限公司 | A kind of suspension arrangement, movement chassis and robot |
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