CN208036478U - Running gear and automated guided vehicle - Google Patents
Running gear and automated guided vehicle Download PDFInfo
- Publication number
- CN208036478U CN208036478U CN201820458541.2U CN201820458541U CN208036478U CN 208036478 U CN208036478 U CN 208036478U CN 201820458541 U CN201820458541 U CN 201820458541U CN 208036478 U CN208036478 U CN 208036478U
- Authority
- CN
- China
- Prior art keywords
- guiding axis
- running gear
- pressing plate
- walking
- component
- 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
- 230000033001 locomotion Effects 0.000 claims description 31
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Abstract
The utility model is related to automated guided vehicle field, discloses a kind of running gear and automated guided vehicle, the running gear include：Frame body (10), guiding axis (20) and walking wheel assembly (30), the guiding axis (20) is fixed on the frame body (10), the walking wheel assembly (30) is set to the guiding axis (20), and can adjust position in real time along the axial direction of the guiding axis (20).Through the above technical solutions, walking wheel assembly 30 can change position according to the situation on road surface, to avoid the problem that automated guided vehicle can not walk when encountering roughness pavement.
Description
Technical field
The utility model is related to automated guided vehicle fields, are transported more particularly to a kind of running gear and homing guidance
Vehicle.
Background technology
AGV (Automated Guided Vehicle, automated guided vehicle) refers to magnetically or optically being waited certainly equipped with electricity
Dynamic guiding device, can travel along defined guide path, the transport vehicle with safeguard protection and various transfer functions, AGV
The artificial automatic transporting for realizing article can be replaced, the basins such as logistics, storage are gradually applied to.Practical service environment in factory
Complexity, AGV may need to travel on broken terrain.On the one hand the road environment of out-of-flatness can cause driving wheel can not
Close proximity to ground causes AGV can't continue to exercise to provide driving force；Vibrations in another aspect motion process can influence
The quality for transporting article, can also destroy AGV internal structures, reduce the service life.
Utility model content
The problem of cannot landing in real time the purpose of this utility model is to overcome traveling wheel of the existing technology.
To achieve the goals above, on the one hand the utility model provides a kind of running gear, including：Frame body, guiding axis with
And walking wheel assembly,
The guiding axis is fixed on the frame body, and the walking wheel assembly is set to the guiding axis, and can be along described
The axial direction of guiding axis adjusts position in real time.
Preferably, the walking wheel assembly includes：Walking component and resilient movement component, the resilient movement component setting
It in the guiding axis, and can be moved along the axial elasticity of the guiding axis, the walking component is set to the resilient movement
Component.
Preferably, the resilient movement component includes：Spring, linear bearing and mounting base, the spring and described straight
Spool holds and is sheathed on the guiding axis successively, and the mounting base is fixed on the linear bearing, and the walking component is set to institute
State mounting base.
Preferably, the resilient movement component further includes the adjusting sleeve of the position for adjusting the spring, the tune
Section sleeve is sheathed on the guiding axis.
Preferably, the frame body includes：One end of first pressing plate and the second pressing plate, the guiding axis is fixed on described first
The other end of pressing plate, the guiding axis is fixed on second pressing plate.
Preferably, first pressing plate is located above second pressing plate, spring described in the adjusting sleeve and described
Linear bearing is set to by sequence from high to low between first pressing plate and second pressing plate.
Preferably, the running gear further includes buffer body, and the buffer body is set to the linear bearing and described the
Between two pressing plates.
Preferably, the both ends of the guiding axis are separately provided for the both ends of the guiding axis being individually fixed in described
The fixed seat of first pressing plate and the second pressing plate.
Preferably, the walking component includes traveling wheel and the driving motor for driving the traveling wheel rotation.
Preferably, the walking component further includes the encoder rotated synchronously with the traveling wheel.
Preferably, the walking component further includes synchronous belt, the traveling wheel, the driving motor and the encoder
Pass through the toothed belt transmission.
Preferably, the running gear includes two guiding axis and two resilient movement components, each described
Guiding axis corresponds to a resilient movement component, and the walking component is between described two guiding axis.
The utility model second aspect provides a kind of automated guided vehicle, has Running System provided by the utility model
System.
Through the above technical solutions, walking wheel assembly 30 can change position according to the situation on road surface, it is automatic to avoid
The problem of guide transport lorry can not walk when encountering roughness pavement.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of running gear in one embodiment of the utility model；
Fig. 2 is the front view of running gear in one embodiment of the utility model；
Fig. 3 is the left view of running gear in one embodiment of the utility model；
Fig. 4 be in Fig. 3 running gear along the cross section view of A-A；
Fig. 5 be in Fig. 3 running gear along the cross section view of drive motor shaft and traveling wheel axis.
Reference sign
10- frame bodies；The first pressing plates of 11-；The second pressing plates of 12-；13- fixed seats；
20- guiding axis；
30- walking wheel assemblies；31- walking components；311- traveling wheels；312- driving motors；313- encoders；314- is synchronized
Band；315- synchronizing wheels；32- resilient movement components；321- springs；322- linear bearings；323- mounting bases；324- adjusts sleeve；
325- buffer bodies.
Specific implementation mode
Specific embodiment of the present utility model is described in detail below in conjunction with attached drawing.It should be understood that herein
Described specific implementation mode is only used for describing and explaining the present invention, and is not intended to limit the utility model.
The core concept of the utility model is to solve automated guided vehicle when roughness pavement is walked because of part row
Walking wheel can not land, thus the problem of can not walking, and this is solved the problems, such as by the traveling wheel of Telescopic movable.In this thought
Guidance under, present embodiment provides a kind of running gear, and-Fig. 5, the running gear include refering to fig. 1：Frame body 10 is oriented to
Axis 20 and walking wheel assembly 30, the guiding axis 20 are fixed on the frame body 10, and the walking wheel assembly 30 is set to described
Guiding axis 20, and position can be adjusted in real time along the axial direction of the guiding axis 20.That is walking wheel assembly 30 being capable of root
Change position according to the situation on road surface, for example, when wherein one one, 30 tunnel of walking wheel assembly pit in automated guided vehicle
When road surface, wheel assembly 30 of changing one's profession away can extend automatically, to keep contacting with ground, to avoid the row in walking wheel assembly 30
Walk 311 idle running of wheel.
Motor may be used for the regulative mode of 30 position of walking wheel assembly or associated drives component directly drives traveling wheel group
Part 30 moves up and down, and for the ease of setting, used motor can be linear motor.For more flexible control traveling wheel group
Part 30 moves up and down, and the regulative mode of 30 position of walking wheel assembly is preferably in the following way：
The walking wheel assembly 30 includes：Walking component 31 and resilient movement component 32, the resilient movement component 32 are set
It is placed in the guiding axis 20, and can be moved along the axial elasticity of the guiding axis 20, the walking component 31 is set to described
Resilient movement component 32.The resilient movement mode of resilient movement component 32 can enable walking component 31 more flexible up and down
It is mobile, and driving part need not be set, it is cost-effective.Realize that spring can be used in the resilient movement of resilient movement component 32
Setting, specifically, referring to Fig. 4, the resilient movement component 32 includes：Spring 321, linear bearing 322 and mounting base
323, the spring 321 and the linear bearing 322 are sheathed on the guiding axis 20 successively, and the mounting base 323 is fixed on institute
Linear bearing 322 is stated, the walking component 31 is set to the mounting base 323.Wherein, linear bearing 322 plays guiding role,
The elastic acting force of spring 321 acts on linear bearing 322, to enable linear bearing 322 in the elastic reaction of spring 321
Resilient movement up and down is realized under power, and mounting base 323 and row have also been driven during about 322 resilient movement of linear bearing
Walk moving up and down for component 31.The effect of mounting base 323 is to provide installation site for walking component 31, convenient for walking component 31
Installation.
Further, for the ease of adjustment spring 321 to the elastic acting force intensity of linear bearing 322, the resilient movement
Component 32 further includes the adjusting sleeve 324 of the position for adjusting the spring 321, and the adjusting sleeve 324 is sheathed on described
Guiding axis 20.Spring 321 is squeezed by adjusting sleeve 324, so that the position of 321 upper end of spring is moved down, spring can be increased
321 decrement, further increases elastic acting force.Preferably, the spring 321, which can be arranged, is adjusting sleeve 324 and straight
Spool is held between 322.
With continued reference to Fig. 4, in order to improve the structural stability of running gear, the running gear includes two guiding
Axis 20 and two resilient movement components 32, each guiding axis 20 correspond to a resilient movement component 32, the row
Component 31 is walked between described two guiding axis 20.It should be noted that described here, " walking component 31 is located at two
Between a guiding axis 20 " component 31 that is not limited to entirely to walk is entirely located between two guiding axis 20, also include
The part body of walking component 31 is located between two guiding axis 20, such as shown in Fig. 4, the driving electricity for component 31 of walking
Machine 312 is located between two guiding axis 20.
Frame body 10 primarily serves the effect of structural support, and present embodiment provides a kind of concrete structure of frame body 10, described
Frame body 10 includes：First pressing plate 11 is fixed in one end of first pressing plate 11 and the second pressing plate 12, the guiding axis 20, described
The other end of guiding axis 20 is fixed on second pressing plate 12.First pressing plate 11 can be as the installation base of automated guided vehicle
Plinth.
Preferably, first pressing plate 11 is located above second pressing plate 12, spring described in the adjusting sleeve 324
321 and the linear bearing 322 by sequence from high to low be set to first pressing plate 11 and second pressing plate 12 it
Between.
When linear bearing 322 moves down, in order to slow down the collision between linear bearing 322 and the second pressing plate 12, institute
It further includes buffer body 325 to state running gear, and the buffer body 325 is set to the linear bearing 322 and second pressing plate 12
Between, wherein rubber material may be used in buffer body 325.
Further, the both ends of the guiding axis 20 are separately provided for the both ends of the guiding axis 20 being individually fixed in
The fixed seat 13 of first pressing plate, 11 and second pressing plate 12.Anchor ear or similar component can be used in fixed seat 13.
Further, the walking component 31 includes traveling wheel 311 and the driving electricity for driving the traveling wheel 311 to rotate
Machine 312.
For the ease of obtaining speed, the acceleration parameter of traveling wheel 311, the walking component 31 further includes and the walking
The encoder 313 that wheel 311 rotates synchronously.Wherein, it may be used between traveling wheel 311, driving motor 312 and encoder 313
The mode of belt driving band connects, and specifically, the walking component 31 further includes synchronous belt 314, the traveling wheel 311, described
Driving motor 312 and the encoder 313 are driven by the synchronous belt 314.The shaft end of traveling wheel 311, driving motor 312
Shaft end and the shaft end of encoder 313 be both provided with synchronizing wheel 315, synchronous belt 314 is tensioned by three synchronizing wheels 315, and
Realize the synchronous rotary of traveling wheel 311, driving motor 312 and encoder 313.Certainly, the synchronous rotation between three may be used also
To use other similar kinds of drive, such as the transmission of gear drive chain etc..
In addition present embodiment also provides a kind of automated guided vehicle, the automated guided vehicle has this embodiment party
The running gear that formula provides.The automated guided vehicle is at the position for running to Uneven road, 32 energy of resilient movement component
It is enough to implement ground resilient movement, to make the traveling wheel 311 in walking component 31 contact ground always, traveling wheel 311 is avoided to dally,
To ensure the normally travel of automated guided vehicle.
Preferred embodiments of the present invention, still, the utility model and unlimited are described in detail above in association with attached drawing
In this.In the range of the technology design of the utility model, a variety of simple variants can be carried out to the technical solution of the utility model.
It is combined in any suitable manner including each particular technique feature.In order to avoid unnecessary repetition, the utility model
Various combinations of possible ways are no longer separately illustrated.But these simple variants and combination equally should be considered as the utility model institute
Disclosure belongs to the scope of protection of the utility model.
Claims (13)
1. a kind of running gear, which is characterized in that including：Frame body (10), guiding axis (20) and walking wheel assembly (30),
The guiding axis (20) is fixed on the frame body (10), and the walking wheel assembly (30) is set to the guiding axis (20),
And position can be adjusted in real time along the axial direction of the guiding axis (20).
2. running gear according to claim 1, which is characterized in that the walking wheel assembly (30) includes：Walking component
(31) and resilient movement component (32), the resilient movement component (32) are set to the guiding axis (20), and can be along described
The axial elasticity of guiding axis (20) moves, and the walking component (31) is set to the resilient movement component (32).
3. running gear according to claim 2, which is characterized in that the resilient movement component (32) includes：Spring
(321), linear bearing (322) and mounting base (323), the spring (321) and the linear bearing (322) are sheathed on successively
The guiding axis (20), the mounting base (323) are fixed on the linear bearing (322), and the walking component (31) is set to
The mounting base (323).
4. running gear according to claim 3, which is characterized in that the resilient movement component (32) further includes for adjusting
The adjusting sleeve (324) of the position of the spring (321) is saved, the adjusting sleeve (324) is sheathed on the guiding axis (20).
5. running gear according to claim 4, which is characterized in that the frame body (10) includes：First pressing plate (11) and
First pressing plate (11) is fixed in second pressing plate (12), one end of the guiding axis (20), the guiding axis (20) it is another
Second pressing plate (12) is fixed at end.
6. running gear according to claim 5, which is characterized in that first pressing plate (11) is located at second pressing plate
(12) top, sleeve (324) described spring (321) and the linear bearing (322) of adjusting is by sequence from high to low
It is set between first pressing plate (11) and second pressing plate (12).
7. running gear according to claim 6, which is characterized in that the running gear further includes buffer body (325), institute
Buffer body (325) is stated to be set between the linear bearing (322) and second pressing plate (12).
8. running gear according to claim 5, which is characterized in that the both ends of the guiding axis (20) are respectively set useful
In the fixed seat (13) that the both ends of the guiding axis (20) are individually fixed in first pressing plate (11) and the second pressing plate (12).
9. running gear according to claim 2, which is characterized in that the walking component (31) includes traveling wheel (311)
With the driving motor (312) for driving the traveling wheel (311) to rotate.
10. running gear according to claim 9, which is characterized in that the walking component (31) further includes and the row
Walk the encoder (313) that wheel (311) rotates synchronously.
11. running gear according to claim 10, which is characterized in that the walking component (31) further includes synchronous belt
(314), the traveling wheel (311), the driving motor (312) and the encoder (313) pass through the synchronous belt (314)
Transmission.
12. running gear according to claim 2, which is characterized in that the running gear includes two guiding axis
(20) and two resilient movement components (32), each guiding axis (20) correspond to a resilient movement component (32),
The walking component (31) is between described two guiding axis (20).
13. a kind of automated guided vehicle, which is characterized in that have the Running System as described in claim 1-12 any one
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820458541.2U CN208036478U (en) | 2018-04-03 | 2018-04-03 | Running gear and automated guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820458541.2U CN208036478U (en) | 2018-04-03 | 2018-04-03 | Running gear and automated guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208036478U true CN208036478U (en) | 2018-11-02 |
Family
ID=63946679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820458541.2U Active CN208036478U (en) | 2018-04-03 | 2018-04-03 | Running gear and automated guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208036478U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171738A (en) * | 2019-05-24 | 2019-08-27 | 天津海迈医用科技有限公司 | A kind of portable medical tourniquet storage box |
| CN114701586A (en) * | 2021-11-04 | 2022-07-05 | 广州高新兴机器人有限公司 | AGV chassis and mobile robot |
-
2018
- 2018-04-03 CN CN201820458541.2U patent/CN208036478U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171738A (en) * | 2019-05-24 | 2019-08-27 | 天津海迈医用科技有限公司 | A kind of portable medical tourniquet storage box |
| CN114701586A (en) * | 2021-11-04 | 2022-07-05 | 广州高新兴机器人有限公司 | AGV chassis and mobile robot |
| CN114701586B (en) * | 2021-11-04 | 2023-08-25 | 广州高新兴机器人有限公司 | AGV chassis and mobile robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208036478U (en) | Running gear and automated guided vehicle | |
| CN102826135B (en) | Crawler type omni-directional moving platform | |
| CN103395457B (en) | A kind of polypody mobile device based on hybrid drive | |
| CN102092428B (en) | Four-bar mechanism based wheel-type hopping mechanism | |
| CN203332261U (en) | Multi-foot moving device based on hybrid driving mechanism | |
| AU7674501A (en) | Mobile agricultural machinery | |
| ATE499486T1 (en) | SELF-PROPELLED MACHINE FOR MAKING ROADS | |
| CN110539811A (en) | Crawler wheel capable of realizing mutual conversion between wheel type state and crawler type state | |
| CN103569230A (en) | Omni-directionally moving platform | |
| CN103043128B (en) | All-around mobile crawler belt | |
| CN103600631B (en) | A kind of amphibious wheel mechanism based on eccentric paddle mechanism | |
| CN107780393A (en) | A kind of intelligent deicing equipment and automatic trash ice method | |
| CN207480577U (en) | A kind of track machine people turning device | |
| CN102114876B (en) | Wheel-tracked obstacle crossing mechanism | |
| CN104760628A (en) | Triangular crawler wheel device | |
| CN108357294A (en) | A kind of broad-adjustable railcar walking mechanism | |
| CN110077481B (en) | Gravity robot capable of preventing magnetic field interference | |
| CN201566714U (en) | Caterpillar obstacle-surmounting mechanism | |
| CN104875797B (en) | Linear motor controlled retractable obstacle-crossing support arm and obstacle-crossing robot | |
| KR101247765B1 (en) | Moving device | |
| CN211568134U (en) | Crawler-type climbing device and rehabilitation vehicle | |
| CN207142311U (en) | Maglev transferring structure | |
| CN210083380U (en) | High bearing capacity engineering excavator walking device | |
| RU2452647C1 (en) | Walking gear and self-propelled machine based thereon | |
| KR102085524B1 (en) | Sweeping device and sweeper robot comprising the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100011 Beijing, Dongcheng District Anwai Binhe West Road No. 22 Shenhua building Co-patentee after: Shenhua Railway Equipment Co.,Ltd. Patentee after: China Shenhua Energy Co.,Ltd. Address before: 100011 Beijing, Dongcheng District Anwai Binhe West Road No. 22 Shenhua building Co-patentee before: SHENHUA RAIL AND FREIGHT WAGONS TRANSPORT Co.,Ltd. Patentee before: China Shenhua Energy Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |