CN207157335U - A kind of four motorized wheels dolly - Google Patents
A kind of four motorized wheels dolly Download PDFInfo
- Publication number
- CN207157335U CN207157335U CN201720812830.3U CN201720812830U CN207157335U CN 207157335 U CN207157335 U CN 207157335U CN 201720812830 U CN201720812830 U CN 201720812830U CN 207157335 U CN207157335 U CN 207157335U
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- China
- Prior art keywords
- driving
- driving part
- hinged
- plate
- damper
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Abstract
The utility model discloses a kind of four motorized wheels dolly, including compartment and driving part, driving part is arranged on car bottom, the driving part is made up of four independent driving parts, independent driving part is located at four edges of car bottom, vertical shock-absorbers are provided with inside independent driving part, axial vibration damper is provided between the independent driving part, there can be certain up-and-down surfaced road to carry out Accurate Position Control.
Description
Technical field
AGV platforms field is the utility model is related to, more particularly to a kind of four motorized wheels dolly.
Background technology
Automatic Guided Vehicle (AGV) is mainly used in workshop, relatively flat because mill floor typically passes through specially treated
And coefficient of friction is higher, while AGV speed is slow, and trolley travelling is typically more steady, but in some outdoor occasions,
Because specially treated is not passed through on ground, there are some fluctuatings on ground, while friction system is also than relatively low, straight with vehicle body using wheel
When meeting the AGV of connected structure and being run on this road surface, unstable state just occurs.Patent No. CN201510378830- is a kind of
The Mecanum wheel dolly suspended structure on adaptive ground, it is proposed that a kind of suspended structure, this structure can be perpendicular to the ground
Certain cushioning effect is played in direction, but can not play balanced action in lateral force direction.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of four motorized wheels dolly, can have certain rise
Lie prostrate road surface and carry out Accurate Position Control.To solve caused above-mentioned multinomial defect in the prior art.
To achieve the above object, the utility model provides following technical scheme：A kind of four motorized wheels dolly, including
Compartment and driving part, driving part are arranged on car bottom, and the driving part is made up of four independent driving parts, independent
Driving part is located at four edges of car bottom, and vertical shock-absorbers, the independent drive division are provided with inside independent driving part
Axial vibration damper is provided between part.
Preferably, the independent driving part includes driving upper mounted plate, driving bottom plate, axle support member, Mai Kena
Nurse wheel, servomotor and decelerator, the vertical shock-absorbers are arranged between driving upper mounted plate and driving bottom plate, the drive
Dynamic upper mounted plate is fixed on car bottom, and the axle support member is arranged on driving bottom plate bottom, and the axis perpendicular to compartment is set
Put, Mecanum wheel is arranged on the outer end of rotating shaft inside axle support member, servomotor by decelerator drive shaft support member inside
Axis of rotation.
Preferably, the vertical shock-absorbers include connection rod set and spring-damper, and connection rod set includes two groups of linkages, should
Linkage is formed by the bottom of short connecting rod and long connecting rod is be hinged, is driven the lower surface of upper mounted plate and is driven the upper of bottom plate
Surface is provided with hinge seat in four edges respectively, and the bottom hinged end of linkage and the hinged seat of bottom are hinged, connecting rod machine
Hinged seat of the top both ends of structure respectively with top is hinged, the hinged seat hinge of the bottom of spring-damper and the bottom of opposite side
Connect, the hinged seat at the top of spring-damper and the top of homonymy is hinged.
Preferably, the decelerator is L-type planetary reduction gear.
Preferably, the axial vibration damper includes axial fixing plate and is symmetricly set on the spring resistance of axial fixing plate both sides
Buddhist nun's device, axial fixing plate are fixed on car bottom, and axial fixing plate is arranged between two independent driving parts, axial fixing plate
Both sides be provided with universal bearing on Mecanum wheel axis direction, driving bottom plate is set on Mecanum wheel axis direction
There is universal bearing, spring-damper is arranged between two universal bearings.
Beneficial effect using above technical scheme is：The four motorized wheels dolly of the utility model structure, take solely
Vertical drive mechanism, vertical shock-absorbers and axial vibration damper, certain cushioning effect is played in direction perpendicular to the ground, but in side force
Balanced action is played in direction, can have certain up-and-down surfaced road to carry out Accurate Position Control.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the overall structure chart of driving part
Fig. 3 is the linkage structure schematic diagram of two independent driving part compositions；
Fig. 4 is the structural representation of independent driving part；
Fig. 5 is the block diagram of the dolly location control；
Fig. 6 is the block diagram of the dolly controlled in wireless；
Fig. 7 is the dolly vehicle body sensor distribution map.
Wherein, 1-- compartments, 2-- driving parts, 3-- driving upper mounted plate, 4-- axial fixing plates, 5-- servomotors,
6-- Mecanum wheels, 7-- drivings bottom plate, 8-- axles support member, 9-- decelerators, 10-- spring-dampers, 11-- hinges
Seat, 12-- connecting rods, 13-- universal bearings, 14-- independences driving part, 15-- vertical shock-absorbers, 16-- axial vibration dampers.
Embodiment
Describe preferred embodiment of the present utility model in detail below in conjunction with the accompanying drawings.
Fig. 1 and Fig. 2 show specific embodiment of the present utility model：A kind of four motorized wheels dolly, including the He of compartment 1
Driving part 2, driving part 2 are arranged on the bottom of compartment 1, and the driving part 2 is made up of four independent driving parts 14, independent
Driving part 14 is located at compartment 1 bottom four edge, and the independent inside of driving part 14 is provided with vertical shock-absorbers 15, the independence
Driving part 14 in the axial direction between be provided with axial vibration damper 16.
With reference to Fig. 3 and Fig. 4, independent driving part 14 include driving upper mounted plate 3, driving bottom plate 7, axle support member 8,
Mecanum wheel 6, servomotor 5 and decelerator 9, the vertical shock-absorbers 15 are arranged on driving upper mounted plate 3 and driving is lower solid
Between fixed board 7, the driving upper mounted plate 3 is fixed on the bottom of compartment 1, and the axle support member 8 is arranged on driving bottom plate 7 bottom,
Axis perpendicular to compartment 1 is set, and Mecanum wheel 6 is arranged on the outer end of the inside rotating shaft of axle support member 8, and servomotor 5 passes through
The inside axis of rotation of 9 drive shaft support member of decelerator 8, servomotor 5 are fixed on the lateral wall of decelerator 9 by connector.
Vertical shock-absorbers 15 include connection rod set and spring-damper 10, and connection rod set includes two groups of linkages 12, the connecting rod
Mechanism 12 is formed by the bottom of short connecting rod and long connecting rod is be hinged, is driven the lower surface of upper mounted plate 3 and is driven the upper of bottom plate 7
Surface is provided with hinge seat 11 in four edges respectively, and the bottom hinged end of linkage 12 and the hinged seat of bottom are hinged, even
Hinged seat of the top both ends of linkage 12 respectively with top is hinged, the hinge of the bottom of spring-damper 10 and the bottom of opposite side
Joint chair is hinged, and the hinged seat at the top of spring-damper 10 and the top of homonymy is hinged；Decelerator 9 is L-type planetary reduction gear 9.
Axial vibration damper 16 includes axial fixing plate 4 and is symmetricly set on the spring-damper 10 of the both sides of axial fixing plate 4,
Axial fixing plate is fixed on car bottom, and axial fixing plate 4 is arranged between two independent driving parts 14, axial fixing plate 4
Both sides be provided with universal bearing 13 on the axis direction of Mecanum wheel 6, driving bottom plate 7 is in the axis side of Mecanum wheel 6
Universal bearing 13 is provided with upwards, spring-damper 10 is arranged between two universal bearings 13.
Upper mounted plate 3 is driven to pass through two linkages 12, two spring-dampers 14, eight hinge seats 11 and lower driving
Bottom plate 7 is connected, and forms a drive component mounting platform, and the driving bottom plate of this mounting platform can be cut with scissors with one of which
The rotation of certain angle is done in the axial direction of chain, and this rotation will cause the change of the axial displacement of spring-damper 10.This displacement
Change the change for influencing whether on device driving bottom plate that female wheel axle of Mike on 7 in direction top offset perpendicular to the ground, so as to
Ensure that vehicle walking when there is certain concave-convex road surface operating mode, is unlikely to any one independent driving wheel and run out of steam.
Servomotor 5 imparts power to that female wheel 6 of Mike by L-type planetary reduction gear, shaft coupling.It is fixed under driving
Along Mike, that female wheel axis direction fills a universal bearing to plate 7；One universal bearing is also installed on axial fixing plate 4；At this
One spring-damper 10 is installed, for balancing Mike that female wheel suffered power in its axial direction between two universal bearings.
Using two universal bearings spring-damper 10 can be ensured with driving bottom plate gyration.
With reference to Fig. 4-Fig. 6, the dolly also includes vehicle-mounted master control, Vehicular video terminal and onboard sensor, and outside is provided with prison
Control room terminal.It is connected between Control Room terminal, vehicle-mounted master control and Vehicular video terminal by wireless network, vehicle-mounted master control includes
SCM system, SCM system include Siemens S7-1200PLC and its digital quantity expansion module and communication expansion module, watched
Take motor and use Panasonic A6 series of servo motor drivers.
Control Room terminal refers to one program based on Windows of operation on PC, passes through this program, it can be seen that
The running environment of dolly, technical support is provided for PC ends path planning, the next moved further for controlling dolly for operating personnel provides
Decision support.Operating personnel can be sent to dolly by this terminal program and be instructed simultaneously.The monitor terminal can also be APP,
Run based on Android platform or ios platform.
Vehicular video terminal includes a network shooting camera function, and image scene is sent to Control Room terminal, connect simultaneously
The order that Control Room terminal is sent is received, then the order received is transmitted to SCM system by serial ports, by SCM system
Driving part motion is controlled according to the order of reception.
Wireless network environment, realize that mobile interchange penetrates with internet using cloud through-transmission technique, there is provided information exchange is put down
Platform, 3G is realized, 4G, WIFI are compatible.
SCM system controls driving part, realizes driving, and target performs.
Onboard sensor detects to trolley travelling environment, and GNSS signal receiver receives satellite positioning signal, sends
To vehicle-mounted master control；Vehicle-mounted master control will send relevant information to earth station by 3G network, and earth station is Control Room terminal；Simultaneously
Vehicle-mounted master control sends to driving part according to information fusion result and performs order.
The four motorized wheels dolly of the utility model structure, take independent driving mechanism, vertical shock-absorbers and axially subtract
Device is shaken, certain cushioning effect is played in direction perpendicular to the ground, but balanced action is played in lateral force direction, can had necessarily
Up-and-down surfaced road carries out Accurate Position Control.
Above-described is only preferred embodiment of the present utility model, it is noted that for the ordinary skill of this area
For personnel, on the premise of not departing from the utility model and creating design, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.
Claims (5)
1. a kind of four motorized wheels dolly, including compartment and driving part, driving part are arranged on car bottom, its feature exists
In the driving part is made up of four independent driving parts, and independent driving part is located at four edges of car bottom, independent
Vertical shock-absorbers are provided with inside driving part, axial vibration damper is provided between the independent driving part.
2. four motorized wheels dolly according to claim 1, it is characterised in that the independent driving part includes driving
Upper mounted plate, driving bottom plate, axle support member, Mecanum wheel, servomotor and decelerator, the vertical shock-absorbers are set
Between driving upper mounted plate and driving bottom plate, the driving upper mounted plate is fixed on car bottom, and the axle support member is set
In driving bottom plate bottom, the axis perpendicular to compartment is set, and Mecanum wheel is arranged on the outer of axle support member inside rotating shaft
End, servomotor pass through axis of rotation inside decelerator drive shaft support member.
3. four motorized wheels dolly according to claim 1, it is characterised in that the vertical shock-absorbers include connection rod set
And spring-damper, connection rod set include two groups of linkages, the linkage is formed by the bottom of short connecting rod and long connecting rod is be hinged,
The lower surface of upper mounted plate and the upper surface of driving bottom plate is driven to be provided with hinge seat, linkage in four edges respectively
Bottom hinged end and the hinged seat of bottom be hinged, the hinged seat of the top both ends of linkage respectively with top is hinged, spring
The hinged seat of the bottom of damper and the bottom of opposite side is hinged, the hinged seat hinge at the top of spring-damper and the top of homonymy
Connect.
4. four motorized wheels dolly according to claim 2, it is characterised in that the decelerator is L-type planetary reduction gear
Device.
5. four motorized wheels dolly according to claim 2, it is characterised in that the axial vibration damper includes axially solid
Fixed board and the spring-damper for being symmetricly set on axial fixing plate both sides, axial fixing plate are fixed on car bottom, axial restraint
Plate is arranged between two independent driving parts, and the both sides of axial fixing plate are provided with universal drive shaft on Mecanum wheel axis direction
Hold, driving bottom plate is provided with universal bearing on Mecanum wheel axis direction, and spring-damper is arranged on two universal drive shafts
Between holding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720812830.3U CN207157335U (en) | 2017-07-06 | 2017-07-06 | A kind of four motorized wheels dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720812830.3U CN207157335U (en) | 2017-07-06 | 2017-07-06 | A kind of four motorized wheels dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207157335U true CN207157335U (en) | 2018-03-30 |
Family
ID=61712047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720812830.3U Expired - Fee Related CN207157335U (en) | 2017-07-06 | 2017-07-06 | A kind of four motorized wheels dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207157335U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215410A (en) * | 2017-07-06 | 2017-09-29 | 安徽工程大学 | A kind of four motorized wheels dolly and its curve tracking |
| CN110605947A (en) * | 2019-09-23 | 2019-12-24 | 安徽工程大学 | ROS (reactive oxygen species) scheduling system-based all-terrain independent suspension mobile robot for farm |
-
2017
- 2017-07-06 CN CN201720812830.3U patent/CN207157335U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215410A (en) * | 2017-07-06 | 2017-09-29 | 安徽工程大学 | A kind of four motorized wheels dolly and its curve tracking |
| CN107215410B (en) * | 2017-07-06 | 2023-07-25 | 安徽工程大学 | Four-wheel independent driving trolley and curve tracking method thereof |
| CN110605947A (en) * | 2019-09-23 | 2019-12-24 | 安徽工程大学 | ROS (reactive oxygen species) scheduling system-based all-terrain independent suspension mobile robot for farm |
| CN110605947B (en) * | 2019-09-23 | 2024-03-12 | 安徽工程大学 | All-terrain independent suspension mobile robot for farm based on ROS scheduling system |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180330 Termination date: 20190706 |