CN207257828U - Floating type driving device and agv - Google Patents
Floating type driving device and agv Download PDFInfo
- Publication number
- CN207257828U CN207257828U CN201721309964.XU CN201721309964U CN207257828U CN 207257828 U CN207257828 U CN 207257828U CN 201721309964 U CN201721309964 U CN 201721309964U CN 207257828 U CN207257828 U CN 207257828U
- Authority
- CN
- China
- Prior art keywords
- guide rod
- floating type
- driving device
- type driving
- pendulum guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Motorcycle And Bicycle Frame (AREA)
Abstract
A kind of floating type driving device of disclosure, including compression spring, installation pedestal and one end are articulated with the drive component in the installation pedestal；The floating type driving device further includes the pendulum guide rod that one end is articulated with the installation pedestal；The other end of the driving component is provided with connector, and connecting hole is provided with the connector；The connecting hole is slidably set on the pendulum guide rod, and the driving component drives the pendulum guide rod to be swung relative to the installation pedestal relative to the floating of the installation pedestal；The compression spring is set on the pendulum guide rod, and is located between the other end and the connector of the pendulum guide rod.The problem of compression spring that such scheme can solve current floating type driving device is bent in location free procedure, and caused service life is shorter.A kind of AGV is also disclosed in the utility model.
Description
Technical field
This application involves drive assembly design technical field, more particularly to a kind of floating type driving device and AGV.
Background technology
AGV (abbreviation of Automated Guided Vehicle, automated guided vehicle), refers to be equipped with homing guidance
The transport vehicle of device, which can be along defined route, and has safeguard protection and transfer function.Driving device is
The power-equipment of AGV travelings, according to whether being provided with spring, the driving device of AGV can be divided into fixed driving device and floating
Formula driving device.
In order to enable AGV can be in the ground stable operation of out-of-flatness, the driving device of AGV is mostly floating type drive at present
Dynamic device.The wheel of floating type driving device can adapt to the height on ground and realize floating type operation, and then stablize row
The purpose sailed.
At present, floating type driving device generally use single-point support structure, single-point support structure have it is simple in structure, low into
This advantages that.One end of single-point support structure is hinged end, and the other end is provided with the floating end of compression spring, in the process of traveling
In, the flexible floating end that can realize driving device for compressing spring is swung around hinged end, and then realizes floating end band motor car wheel
Float.But during floating, floating end is rotated equivalent to around hinged end in certain scope, this can cause to compress
Spring bends.Compression spring is bent, and can influence the service life of spring.
Inventor has found that not only AGV is there are the above problem, as long as using above during the invention is researched and developed
How the mobile equipment of the floating type driving device there are corresponding problem, overcomes compression spring curved in location free procedure
The problem of song, caused service life is shorter, be the important directions researched and developed at present.
Utility model content
The application provides a kind of floating type driving device, to solve the compression spring of current floating type driving device floating
Bent during dynamic, the problem of caused service life is shorter.
To solve the above-mentioned problems, the application uses following technical proposals：
Floating type driving device, including compression spring, installation pedestal and one end are articulated with the drive in the installation pedestal
Dynamic component；The floating type driving device further includes the pendulum guide rod that one end is articulated with the installation pedestal；The driving group
The other end of part is provided with connector, and connecting hole is provided with the connector；The connecting hole is slidably set in the pendulum
On dynamic guide rod, the driving component drives the pendulum guide rod relative to the installation base relative to the floating of the installation pedestal
Seat is swung；The compression spring is set on the pendulum guide rod, and the other end positioned at the pendulum guide rod and the connection
Between part.
Preferably, in above-mentioned floating type driving device, the first fixing axle, the driving group are provided with the installation pedestal
Part is rotatably assorted by the bearing being set in first fixing axle with first fixing axle.
Preferably, in above-mentioned floating type driving device, the driving component includes power-equipment and retarding device；It is described dynamic
Power equipment, the retarding device are driven successively with the driving wheel of the floating type driving device to be connected, the power-equipment and institute
State driving wheel to be arranged on the retarding device, pass through the bearing phase between the retarding device and first fixing axle
Even.
Preferably, in above-mentioned floating type driving device, the retarding device includes at least two and is driven subtracting for cooperation successively
Fast device, is gear reduction unit with the retarder that is connected of driving wheel transmission, the babinet of the gear reduction unit with it is described
It is connected between first fixing axle by the bearing.
Preferably, in above-mentioned floating type driving device, the second fixing axle, the swing guide are provided with the installation pedestal
The end of bar is rotationally connected in second fixing axle.
Preferably, in above-mentioned floating type driving device, the other end of the pendulum guide rod is provided with positioning protrusion, the pressure
Contracting spring is arranged between the positioning protrusion and the connector.
Preferably, in above-mentioned floating type driving device, the connecting hole is elongated hole, the length direction of the elongated hole with
The swaying direction of the pendulum guide rod is consistent.
Preferably, in above-mentioned floating type driving device, the pendulum guide rod is provided with limiting section, and the limiting section can be with institute
State axis direction spacing cooperation of the connector in the pendulum guide rod；The limiting section is located at the connector and the swing guide
Between the other end of bar.
Preferably, in above-mentioned floating type driving device, the pendulum guide rod includes first segment and second segment, the first segment
It is hinged with the installation pedestal, the first segment has guide surface, and the second segment is cylindrical section, the guide surface and institute
The joining place for stating the cylindrical surface of second segment forms the limiting section.
AGV, including the as above floating type driving device of any one of them.
Above-mentioned at least one technical solution that the application uses can reach following beneficial effect：
In floating type driving device disclosed in the present application, the connecting hole on connector is slidably set on pendulum guide rod,
And compress spring and be set between connector and the other end of pendulum guide rod, during mobile equipment traveling, drive component
Swing can the swing with follower link, connector swings the effect that power can be produced to compression spring, and because spring can be resisted
Flexural deformation, therefore pendulum guide rod can be driven to swing, it is always to be mutually perpendicular to state with connector to make pendulum guide rod；Also protect at the same time
It is axial consistent with compression spring the force direction of compression spring is demonstrate,proved, so that each position of compression spring can be along its axis
Line is balanced flexible, is finally avoided that compression spring is bent in location free procedure.It is as it can be seen that floating type disclosed in the embodiment of the present application
The compression spring that driving device can solve current floating type driving device is bent in location free procedure, and caused uses the longevity
The problem of life is shorter.
Brief description of the drawings
Attached drawing described herein is used for providing further understanding of the present application, forms the part of the application, this Shen
Schematic description and description please is used to explain the application, does not form the improper restriction to the application.In the accompanying drawings：
Fig. 1 is structure diagram of the floating type driving device under a visual angle disclosed in the embodiment of the present application；
Fig. 2 is structure diagram of the floating type driving device under another visual angle disclosed in the embodiment of the present application；
Fig. 3 is the part-structure schematic diagram of floating type driving device disclosed in the embodiment of the present application.
Description of reference numerals：
100- installation pedestals, the first fixing axles of 110-, 120- bearings, the second fixing axles of 130-, 200- drive components, 210-
Connector, 211- connecting holes, 220- power-equipments, 230- retarding devices, the first retarders of 231-, the second retarders of 232-,
300- pendulum guide rods, 310- positioning protrusion, 320- first segments, 321- guide surfaces, 322- limiting sections, 330- second segments, 400-
Compress spring, 500- driving wheels.
Embodiment
To make the purpose, technical scheme and advantage of the application clearer, below in conjunction with the application specific embodiment and
Technical scheme is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the application one
Section Example, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing
Go out all other embodiments obtained under the premise of creative work, shall fall in the protection scope of this application.
Below in conjunction with attached drawing, the technical solution that each embodiment of the application provides is described in detail.
- 3 are please referred to Fig.1, the embodiment of the present application discloses a kind of floating type driving device, disclosed floating type driving device
Including installation pedestal 100, drive component 200, pendulum guide rod 300 and compression spring 400.
Installation pedestal 100 is the installing component that whole floating type driving device is installed on mobile equipment (such as AGV), at the same time
Also installation foundation is provided for other compositions of floating type driving device.In a kind of specific embodiment, installation pedestal 100 is usual
For plate-like piece, as shown in Fig. 1 or 3.
Drive component 200 is the drive part of floating type driving device, drive component 200 and the drive of floating type driving device
The transmission of driving wheel 500 is connected, and driving wheel 500 can be driven to roll, and then realizes the traveling of mobile equipment.The one of drive component 200
End is articulated with installation pedestal 100, so that the other end of drive component 200 can be swung around hinged one end.Driving group
The swing of part 200 can drive driving wheel 500 to move together, and then realize the floating of drive component 200 and driving wheel 500.This
In application, the other end of drive component 200 is provided with connector 210, and connecting hole 211 is provided with connector 210.
One end of pendulum guide rod 300 is articulated with installation pedestal 100, so that pendulum guide rod 300 can be swung.Connection
Hole 211 is slidably set on pendulum guide rod 300, and drive component 200 can move swing guide relative to the floating band of installation pedestal 100
Bar 300 is swung relative to installation pedestal 100.Certainly, connecting hole 211 can give the space that pendulum guide rod 300 freely swings.
Compression spring 400 is usually set on pendulum guide rod 300, and compression spring 400 is arranged on the another of pendulum guide rod 300
Between end and connector 210, with the swing of drive component 200 dilatation can occur for compression spring 400, and then realize driving
Wheel 500 floats.When mobile equipment on rough road surface when driving, compression spring 400 can be all the time by drive component 200
The pressure that driving wheel 500 is affixed to ground is given, ensures that driving wheel 500 is constantly in contact condition with ground, it is existing not to produce skidding
As.
In floating type driving device disclosed in the embodiment of the present application, the connecting hole 211 on connector 210 is slidably set in
On pendulum guide rod 300, and compress spring 400 and be set between the other end of connector 210 and pendulum guide rod 300, set in movement
During standby traveling, drive component 200 swing can the swing with follower link 210, the swing of connector 210 can be to compression
Spring 400 produces the effect of power, and because spring can resist flexural deformation, therefore pendulum guide rod 300 can be driven to swing, make swing guide
Bar 300 is always to be mutually perpendicular to state with connector 210；It also ensure that the force direction and compression bullet of compression spring 400 at the same time
Spring 400 it is axial consistent so that each position of compression spring 400 can be balanced flexible along its axis, be finally avoided that pressure
Contracting spring 400 is bent in location free procedure.As it can be seen that floating type driving device disclosed in the embodiment of the present application can solve it is current
The problem of compression spring 400 of floating type driving device is bent in location free procedure, and caused service life is shorter.
Preferably, the other end of pendulum guide rod 300 and connector 210 are respectively provided with positioning plane, and compression spring 400 is arranged on
Between the positioning plane of pendulum guide rod 300 and the positioning plane of connector 210.During mobile equipment traveling, swing guide
The swing of bar 300 can drive compression spring 400 to adjust its axis direction in time, so that the positioning plane of pendulum guide rod 300
With the positioning plane of connector 210 with the axis perpendicular for compressing spring 400, and then it can cause the another of pendulum guide rod 300
End and connector 210 are axial consistent with compression spring 400 to the force direction for compressing spring 400, finally can be so that compression bullet
Each position of spring 400 can delay, and axis is balanced to be stretched.
In the embodiment of the present application, the other end of pendulum guide rod 300 can set positioning protrusion 310, and compression spring 400 can be with
It is arranged between positioning protrusion 310 and connector 210, and then realizes installation.Connector 210 can be plate-like connecting member.
Referring again to Fig. 1-3, in a kind of specific embodiment, the first fixation can be provided with installation pedestal 100
Axis 110, drive component 200 are rotatably assorted by the bearing 120 being set in the first fixing axle 110 with the first fixing axle 110.
It is of course also possible to use in the following manner realizes the above-mentioned rotation relation of drive component 200 and installation pedestal 100, specifically, driving
Shaft can be fixed with component 200, bearing block can be provided with installation pedestal 100, bearing, shaft are installed in bearing block
With bearing fit so that one end of shaft and drive component 200 is rotated by bearing relative to installation pedestal 100 together.
Realize that the mode that one end of drive component 200 is articulated with installation pedestal 100 has a variety of, then no longer enumerated at this.Pass through bearing 120
Realize being rotatably assorted between installation pedestal 100 and drive component 200, it can be ensured that the stabilization of rotation.At the same time, compared to
In the prior art directly by shaft hole matching for, the abrasion between two parts of relative rotation can be reduced.
Drive component 200 is the power section of floating type driving device, and the driving wheel 500 of floating type driving device is arranged on
On drive component 200, it can be swung with drive component 200, and then realize the floating of driving wheel 500.
In a kind of specific embodiment, drive component 200 can include power-equipment 220 and retarding device 230.Power
Equipment 220, retarding device 230 are driven successively with driving wheel 500 to be connected, and power-equipment 220 and driving wheel 500 can be arranged on and subtract
In fast equipment 230, retarding device 230 is hinged with installation pedestal 100.Preferably, 230 and first fixing axle 110 of retarding device it
Between can be rotatably assorted by bearing 120.
In preferable scheme, the retarder coordinated with the transmission of driving wheel 500 can be gear reduction unit.The gear deceleration utensil
Have the advantages that small control accuracy height, good reliability, long lifespan, return difference, stable transmission, speed reducing ratio are easily adjusted, can be so that driving
Wheel 500 more stably travels.In order to avoid the interference of external environment.The babinet of gear reduction unit can by bearing 120 with
First fixing axle 110 is rotatably assorted, and then realizes being rotatably assorted for whole drive component 200 and installation pedestal 100.
In preferable scheme, retarding device 230 can include at least two retarders for being driven cooperation successively, and at least two
Retarder enables to the adjustment of speed reducing ratio more flexible.Referring again to Fig. 1-3, in a kind of specific embodiment, slow down
Equipment 230 includes the first retarder 231 and the second retarder 232, the first retarder 231, the second retarder 232 and driving wheel
500 are sequentially connected successively.Second retarder 232 is gear reduction unit.One end of the reduction box of second retarder 232 and installation base
Seat 100 is hinged, to realize being hinged between whole drive component 200 and installation pedestal 100.Preferably, the first retarder 231
It is gear reduction unit with the second retarder 232.
Pendulum guide rod 300 can be swung relative to installation pedestal 100, in a kind of specific embodiment, installation pedestal 100
On be provided with the second fixing axle 130, the end of pendulum guide rod 300 is rotatably arranged in the second fixing axle 130.Specifically, pendulum
The end of dynamic guide rod 300 can be provided with connecting hole, and connecting hole is set in the second fixing axle 130 and forms rotating mechanism.It is preferred that
, it can be realized and be rotatablely connected by bearing between 300 and second fixing axle 130 of pendulum guide rod.
Connecting hole 211 is slidably matched with pendulum guide rod 300, and cooperation between the two can drive pendulum guide rod 300 with drive
Dynamic component 200 is swung, it is necessary to illustrate, swing of the connecting hole 211 without limitation on pendulum guide rod 300.In order to realize preferably
Driving, while the stuck phenomenon between connecting hole 211 and pendulum guide rod 300 is avoided, in preferable scheme, connecting hole 211 is length
Shape hole, the length direction of elongated hole is consistent with the swaying direction of pendulum guide rod 300, and then preferable avoidance effect.Certainly,
Pendulum guide rod 300 can be realized with other positions of connecting hole 211 and is slidably matched.It should be noted that elongated hole refers to
The size of connecting hole in one direction is more than the size in other directions, such as slot.
During swing, connecting hole 211 can slide drive component 200 relative to pendulum guide rod 300, be driven to limit
The amplitude of fluctuation of dynamic component 200 and driving wheel 500 so that the floating of floating type driving device is excellent in safely controllable scope
In the scheme of choosing, pendulum guide rod 300 is provided with limiting section, and limiting section is located at the other end of connector 210 and pendulum guide rod 300
Between (i.e. one end of arrangement compression spring 400), limiting section can be spacing in the axis direction of pendulum guide rod 300 with connector 210
Coordinate, that is to say, that limiting section is the swing ceiling of drive component 200, and connector 210 and the cooperation of limiting section can limit drive
Dynamic component 200 continues upper pendulum.
Referring again to Fig. 1-3, in a kind of preferable scheme, pendulum guide rod 300 includes first segment 320 and second segment 330,
First segment 320 is connected with installation pedestal 100, and first segment 320 has a guide surface 321, and second segment 330 is cylindrical section, guide flat
Face 321 and the joining place on the cylindrical surface of second segment 330 form limiting section 322.
Based on floating type driving device disclosed in the embodiment of the present application, the embodiment of the present application discloses a kind of AGV, disclosed
AGV has the floating type driving device any one of foregoing embodiments.
Herein, as long as the technical characteristic non-contradiction in each preferred solution can be combined to form scheme, these schemes
In the range of disclosure.
Herein, only emphasis describes difference with other preferred solutions, each preferred solution to each preferred solution
As long as not conflicting, it can be combined, the embodiment formed after combination also within category disclosed in this specification, is examined
Consider that text is succinct, herein with regard to no longer individually being described to combining formed embodiment.
The foregoing is merely embodiments herein, is not limited to the application.For those skilled in the art
For, the application can have various modifications and variations.All any modifications made within spirit herein and principle, be equal
Replace, improve etc., it should be included within the scope of claims hereof.
Claims (10)
1. floating type driving device, including compression spring, installation pedestal and one end are articulated with the driving in the installation pedestal
Component；It is characterized in that, the floating type driving device further includes the pendulum guide rod that one end is articulated with the installation pedestal；Institute
The other end for stating drive component is provided with connector, and connecting hole is provided with the connector；The connecting hole is slidably arranged
On the pendulum guide rod, the driving component drives the pendulum guide rod relative to institute relative to the floating of the installation pedestal
State installation pedestal swing；It is described compression spring be set on the pendulum guide rod, and positioned at the pendulum guide rod the other end with
Between the connector.
2. floating type driving device according to claim 1, it is characterised in that it is solid that first is provided with the installation pedestal
Dead axle, the driving component are rotatably assorted by the bearing being set in first fixing axle with first fixing axle.
3. floating type driving device according to claim 2, it is characterised in that the driving component include power-equipment and
Retarding device；The power-equipment, the retarding device are driven successively with the driving wheel of the floating type driving device to be connected, institute
State power-equipment and the driving wheel is arranged on the retarding device, between the retarding device and first fixing axle
It is connected by the bearing.
4. floating type driving device according to claim 3, it is characterised in that the retarding device include at least two according to
The retarder that secondary transmission coordinates, is gear reduction unit with the retarder that is connected of driving wheel transmission, the The gear deceleration
It is connected between the babinet of device and first fixing axle by the bearing.
5. floating type driving device according to claim 1, it is characterised in that it is solid that second is provided with the installation pedestal
Dead axle, the end of the pendulum guide rod are rotationally connected in second fixing axle.
6. floating type driving device according to claim 1, it is characterised in that the other end of the pendulum guide rod is provided with
Positioning protrusion, the compression spring are arranged between the positioning protrusion and the connector.
7. floating type driving device according to claim 1, it is characterised in that the connecting hole is elongated hole, the length
The length direction in shape hole is consistent with the swaying direction of the pendulum guide rod.
8. floating type driving device according to claim 1, it is characterised in that the pendulum guide rod is provided with limiting section,
The limiting section can with the connector the pendulum guide rod the spacing cooperation of axis direction；The limiting section is located at the company
Between the other end of fitting and the pendulum guide rod.
9. floating type driving device according to claim 8, it is characterised in that the pendulum guide rod includes first segment and the
Two sections, the first segment is hinged with the installation pedestal, and the first segment has guide surface, and the second segment is cylindrical section,
The guide surface and the joining place on the cylindrical surface of the second segment form the limiting section.
10.AGV, it is characterised in that the floating type driving device any one of including claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721309964.XU CN207257828U (en) | 2017-10-11 | 2017-10-11 | Floating type driving device and agv |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721309964.XU CN207257828U (en) | 2017-10-11 | 2017-10-11 | Floating type driving device and agv |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207257828U true CN207257828U (en) | 2018-04-20 |
Family
ID=61917371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721309964.XU Active CN207257828U (en) | 2017-10-11 | 2017-10-11 | Floating type driving device and agv |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207257828U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703649A (en) * | 2019-01-15 | 2019-05-03 | 哈工大机器人（昆山）有限公司 | A kind of AGV transport vehicle of Novel transmission and suspension and its load 500kG compact |
-
2017
- 2017-10-11 CN CN201721309964.XU patent/CN207257828U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703649A (en) * | 2019-01-15 | 2019-05-03 | 哈工大机器人（昆山）有限公司 | A kind of AGV transport vehicle of Novel transmission and suspension and its load 500kG compact |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102963454B (en) | Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) | |
| CN205098267U (en) | Shock attenuation walking steering mechanism | |
| CN202016407U (en) | Forced steering mechanism | |
| CN204845427U (en) | A ground self -adaptation mechanism for AGV actuating mechanism | |
| CN207257828U (en) | Floating type driving device and agv | |
| CN206327380U (en) | Quick roller bearing adapter stabilizer bar with torsion bar mechanism for preventing side rolling of train carriage | |
| CN205365137U (en) | Damping and buffering device of single round drive travelling bogie | |
| CN210971085U (en) | Direct-drive type track walking device | |
| CN109357104B (en) | Pipeline detection robot | |
| CN105128942A (en) | Damping device and AGV frame using same | |
| CN104565099A (en) | Rigid universal joint | |
| CN201300848Y (en) | Suspension guide device of transport tramcar | |
| CN207758797U (en) | Bogie and its adaptive tumbler location device | |
| CN205207531U (en) | Differential drive assembly | |
| CN204368177U (en) | Chain tipping device prevented by ball socket bearing formula train | |
| CN205998530U (en) | A kind of chain push rod | |
| CN202301589U (en) | Braking device of automobile | |
| CN204998616U (en) | Damping device and applied this damping device's AGV frame | |
| CN208484494U (en) | A kind of tiltedly hanging accessible elevating platform guiding mechanism | |
| WO2021082750A1 (en) | Maglev train guiding method and guide wheel device | |
| CN208993693U (en) | A kind of engineering truck self steering bogie | |
| CN103925443A (en) | Single hinged type ripple compensator | |
| CN210047283U (en) | Shock-absorbing suspension | |
| CN112975898A (en) | Circular track type inspection robot walking device and robot | |
| CN207890175U (en) | Folding-type box |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |