CN208344199U - A kind of vehicle conveying AGV - Google Patents
A kind of vehicle conveying AGV Download PDFInfo
- Publication number
- CN208344199U CN208344199U CN201820656749.5U CN201820656749U CN208344199U CN 208344199 U CN208344199 U CN 208344199U CN 201820656749 U CN201820656749 U CN 201820656749U CN 208344199 U CN208344199 U CN 208344199U
- Authority
- CN
- China
- Prior art keywords
- steering
- driven gear
- walking
- wheel
- bearing
- 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
- 239000000758 substrate Substances 0.000 claims description 36
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Landscapes
- Handcart (AREA)
Abstract
A kind of vehicle conveying AGV, including carrier frame (24), navigation system further include at least two sets of steering wheel devices (31), two sets of arm devices；Wherein, at least two sets of steering wheel devices (31) are separately positioned on carrier frame (24), and be symmetrical set with carrier frame (24) center, two sets of arm devices are separately mounted to the left and right sides of carrier frame (24).Since the application uses two sets of arm devices on embracing clamp-wheel type vehicle conveying AVG, each AGV embraces two wheels of folder, length over ends of body shortens, simultaneously using steering wheel system as driving wheel, keep walking and the rotation of AGV more flexible, the efficiency of vehicle conveying is improved, and armful clamp-wheel type vehicle conveying AGV is not high to positioning accuracy request, to realize the vehicle conveying of low cost.
Description
Technical field
The invention belongs to stopping technical fields, more particularly to a kind of vehicle conveying AGV trolley.
Background technique
AGV(Automated Guided Vehicle at present) it has begun into parking lot, it is used to currently on the market
The AGV for form that there are mainly three types of carrying vehicles, i.e. carrier vehicle is board-like, and comb-tooth-type and an armful clamp-wheel type, wherein the board-like AGV of carrier vehicle is to fixed
Position required precision is not high, but needs and the comparable vehicle-carrying plate of parking stall quantity, and cost is very high, and since the presence of vehicle-carrying plate can be led
Cause the efficiency of Transport Vehicle relatively low；Though comb-tooth-type AGV is not necessarily to vehicle-carrying plate, each parking stall very high to positioning accuracy request
Need fixed comb teeth frame, layer height comparatively highest；It is not high to positioning accuracy request to embrace clamp-wheel type AGV, but usually each
AGV embraces four wheels of folder simultaneously, and AGV car body is longer, walks and rotates inflexible when idle running.
Summary of the invention
For the above technical problems, the embodiment of the invention provides a kind of vehicle conveying AGV, pass through two sets of setting
Arm device, each AGV embraces two wheels of folder, while compares the walking of AGV and rotation as driving wheel using steering wheel system
Flexibly.
The purpose of the present invention is achieved through the following technical solutions:
A kind of vehicle conveying AGV, including carrier frame, navigation system further include at least two sets of steering wheel devices, two sets of clamp arm
Device；Wherein, at least two sets of steering wheel devices are separately positioned on carrier frame, and are in symmetrically to set with carrier frame center
It sets, two sets of arm devices are separately mounted to the left and right sides of carrier frame.
Optionally, at least one set of universal wheel is equipped on the carrier frame, universal wheel described in every group is respectively with chassis frame
Frame center is symmetrical set.
Optionally, the steering wheel device include steering motor, movable motor, wheel module, steering bearing, walking bearing,
Turn to driven gear, the first walking driven gear, the second walking driven gear；
The steering bearing is disposed on the substrate, the inner ring for turning to driven gear and the steering bearing being arranged in；
The outer ring of the walking bearing is arranged on the steering driven gear, and the first walking driven gear setting exists
The inner ring of the walking bearing, the second walking driven gear setting is on the first walking driven gear and with described the
One walking driven gear rotates together；
The steering motor and the movable motor are separately fixed on substrate, are arranged on the output shaft of the steering motor
There is the diversion driving-gear engaged with the steering driven gear, is provided with and described first on the output shaft of the movable motor
The walking driving gear that driven gear of walking engages；
The wheel that the wheel module includes gear shaft and is arranged on gear shaft, the wheel module are arranged in the steering
It on driven gear and rotates with it, the gear teeth of the gear shaft are engaged with the second walking driven gear.
Optionally, the steering bearing is embedded in the substrate, and passes through the first pressing plate for the outer ring of the steering bearing
It fixes on the substrate.
Optionally, it is provided with opening on the substrate, matched for accommodating the steering driven gear with the steering bearing
One end of conjunction.
Optionally, described one end for turning to driven gear and steering bearing cooperation is equipped with top surface, the wheel module
It is arranged on the top surface for turning to driven gear.
Optionally, the end face center for turning to driven gear is gap structure, and the top of the wheel is revealed from the gap
Out, and it is tangent with the top surface of substrate.
Optionally, the outer ring for bearing of walking is fixed on the steering driven gear by third pressing plate by the walking bearing
On, the inner ring for bearing of walking is fixed on the first walking driven gear by the 4th pressing plate.
Optionally, the arm device includes decelerating motor, left-right rotary ball-screw, linear guide, slideway and clamp arm group
Part；The left-right rotary ball-screw prolongs front-rear direction and is arranged on carrier frame, and the decelerating motor is fixed on carrier frame,
The output shaft of decelerating motor is connect with one end of left-right rotary ball-screw by shaft coupling；The linear guide is prolonged front-rear direction and is set
It sets on the outside of left-right rotary ball-screw, sets that there are two the sliding block that is slidably connected with linear guide, the cunnings in the linear guide
The sliding panel that can be slided together with sliding block is provided on block, the sliding panel connects with the nut being arranged on left-right rotary ball screw
It connects；The slideway is arranged in the outside of carrier frame, and the clamp arm component includes two clamp arm, one end of the clamp arm simultaneously with
Sliding panel is rotatably connected and is slidably connected with slideway, and the other end is free end.
Optionally, the free end of the clamp arm is equipped with the universal wheel with ground face contact.
Technical solution provided by the embodiment of the present invention has the beneficial effect that
Since this programme uses two sets of arm devices on embracing clamp-wheel type vehicle conveying AVG, each AGV embraces two vehicles of folder
Wheel, length over ends of body shorten, while being kept the walking of AGV and rotation more flexible as driving wheel using steering wheel system, improving vehicle
Carry efficiency, and embrace clamp-wheel type vehicle conveying AGV it is not high to positioning accuracy request, thus realize low cost vehicle remove
Fortune.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of vehicle conveying AGV shown according to an exemplary embodiment a kind of.
Fig. 2 is the schematic view of the mounting position of the support wheel of the vehicle conveying AGV of Fig. 1.
Fig. 3 is a kind of structural schematic diagram of the steering wheel device of the vehicle conveying AGV shown according to another exemplary embodiment.
Fig. 4 is a kind of substrate top surface structural schematic diagram of steering wheel device shown in Fig. 3.
Fig. 5 is diagrammatic cross-section of the top view shown in Fig. 4 along the direction B-B.
Fig. 6 is the train component structure diagram of the steering wheel device shown in Fig. 3.
Fig. 7 is a kind of structural schematic diagram of the steering wheel device of vehicle conveying AGV shown according to another exemplary embodiment.
Fig. 8 is the structural schematic diagram according to the arm device of vehicle conveying AGV shown in the 4th exemplary embodiment a kind of.
In figure:
1. 2. steering motor mounting base of steering motor, 3. movable motor, 4. movable motor mounting base
The walking of driving gear 7. first driven gear 5. diversion driving-gear 6. is walked
8. the second walking driven gear 9. turns to 10. first pressing plate 11. of driven gear wheel
12. 13. bearing block of gear shaft, 14. 15. second pressing plate of substrate, 16. third pressing plate
19. steering bearing of bearing, 20. bearing, 21. axle sleeve 17. the 4th pressing plate 18. is walked
22. 26. clamp arm of baffle 23. key, 24. carrier frame, 25. decelerating motor, 27. shaft coupling
28. 31. steering wheel device of sliding panel 29. slideway, 30. left-right rotary ball-screw, 32. battery
33. 34. linear guide of sliding block, 35. charging panel, 36. universal wheel.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.It ties below
Drawings and examples are closed the application is described in detail.
The application is described in detail with reference to the accompanying drawings and examples to the present invention with reference to the accompanying drawings and examples
It is described in detail.
Fig. 1 is a kind of vehicle conveying AGV(hereinafter referred to as AGV shown according to an exemplary embodiment) structural representation
Figure.As shown in Figure 1, the AGV of the present embodiment includes carrier frame 24, navigation system (not shown), it further include at least two sets
31, two sets of arm devices of steering wheel device；Wherein, at least two sets of steering wheel devices 31 are separately mounted on carrier frame 24, and
It is symmetrical set with 24 center of carrier frame, two sets of arm devices are separately mounted to the left and right sides of carrier frame.
It is understood that the AGV of the present embodiment, is by the way that at least two sets of symmetrical steering wheel dresses are arranged on carrier frame
It sets and two sets of arm devices is come what is realized, the present embodiment AGV is for two sets of steering wheel devices are arranged, with the direction that AGV advances
The forward direction of carrier frame, opposite direction is the backward of carrier frame, then steering wheel device is separately mounted to the front end of carrier frame
And rear end, can make AGV realize in any direction translation and can be by the rotation centered on any point；Arm device point
Be not mounted on before opposite carrier frame to left and right side, for automobile two front tyres or two rear tyres embrace folder.
Meanwhile as shown in Fig. 2, universal wheel 36 can also be arranged on carrier frame 24, for Auxiliary support AGV car body and
Flexible rotating can be achieved；Specifically, multiple groups universal wheel 36 can be equipped on the carrier frame 24, every group of universal wheel 36 is distinguished
It is symmetrical set with 24 center of carrier frame.
Certainly, as the AGV system of vehicle conveying, it is additionally provided with navigation system, navigate for AGV and prevents AGV and obstacle
The collision of object etc..For example, the carrier frame 24 can be square structure, the navigation system be can be set in carrier frame 24
Four angles on.
Further, as shown in Figure 1, the AGV of the present embodiment further includes battery 32 and charging panel 35, the battery 32 is placed in
At 24 center of carrier frame, for powering to AGV；The charging panel 35 is mounted on carrier frame 24, is used for and external power supply
Connection charges to battery 32.
Further, the AGV of the present embodiment can also install cover board (not shown) on carrier frame 24, to cover
Each components of lid and the inside protection AGV, are embodied as existing design because of the cover board, details are not described herein.
The present embodiment on embracing clamp-wheel type vehicle conveying AVG due to using steering wheel system as driving wheel, and the steering wheel
System have passed through the design for reducing height, so that AGV whole height be made to decrease, additional parking is not necessarily on each parking stall
Frame AGV can be directly entered bottom of car, and armful clamp-wheel type vehicle conveying AGV is not high to positioning accuracy request, to realize
The vehicle conveying of low cost.
Fig. 3 is a kind of structural schematic diagram of the steering wheel device of the vehicle conveying AGV shown according to another exemplary embodiment.
As shown in figure 3, the steering wheel device of the present embodiment includes steering motor 1, movable motor 3, wheel module, it further include steering bearing
19, walking bearing 18, steering driven gear 9, the first walking walking driven gear 8 of driven gear 7, second；
Wherein, on the substrate 14, the steering driven gear 9 is arranged in the steering bearing for the setting of steering bearing 19
19 inner ring；
Specifically, as shown in Figures 4 and 5, the outer ring of the steering bearing 19 can be installed on the substrate 14, such as logical
It crosses and steering bearing 19 is embedded in the substrate 14, and pass through the first pressing plate 10 for the outer ring of the steering bearing 19 and the base
Plate 14 is fixed, to ensure that 19 outer ring of steering bearing and substrate 14 do not disengage；The steering driven gear 9 and the steering bearing 19
Inner ring connection；
It is understood that since the steering driven gear 9 is mounted on 19 inner ring of steering bearing, it can be opposite
It is rotated in substrate 14.
It should be noted that substrate 14 is the carrier for installing steering wheel device, setting on the carrier frame 24,
To make steering wheel device be mounted on carrier frame 24.
Wherein, the outer ring of the walking bearing 18 is arranged on the steering driven gear 9, the first walking driven tooth
The inner ring of the walking bearing 18 is arranged in wheel 9, and the second walking driven gear 8 setting is in the first walking driven gear
It is rotated together on 9 and with the first walking driven gear 9；
It should be noted that as shown in Figures 4 and 5, the walking bearing 18 can will for example be gone by third pressing plate 16
The outer ring of bearing running 18 is fixed on the steering driven gear 9, with the outer ring for the bearing 18 that ensures to walk and turns to driven gear 9
It does not disengage；The inner ring for bearing 18 of walking can be fixed on the first walking driven gear 7 by the 4th pressing plate 17, with true
The first walking driven gear 7 is protected not disengage with walking 18 inner ring of bearing；
It is understood that since the first walking driven gear 7 is mounted on the inner ring of walking bearing 18, it being capable of phase
The steering driven gear 9 is rotated.
The steering motor 1 and the movable motor 3 are separately fixed on substrate 14, the output shaft of the steering motor 1
On be provided with the diversion driving-gear 5 that engages of steering driven gear 9, the diversion driving-gear 5 can realize with it is described
The output shaft synchronous of steering motor 1 rotates；It is provided on the output shaft of the movable motor 3 and the first walking driven gear
The walking driving gear 6 of 7 engagements；The walking driving gear 6 can be realized to be rotated with the output shaft synchronous of the movable motor 3；
Exemplary, the steering motor 1 can be installed on the substrate 14 by steering motor mounting base 2, the walking electricity
Machine 3 can be installed on the substrate 14 by movable motor mounting base 4.
As shown in fig. 6, the wheel module includes gear shaft 12 and the wheel being arranged on gear shaft 12 11, the train group
Part, which is arranged, on the steerings driven gear 9 and to be rotated with it, the gear teeth of the gear shaft 12 and described second walk from
Moving gear 8 engages.
Optionally, as shown in figure 5, turning to driven gear 9 can be the gear with top surface, the wheel module can be whole
Body is fixed on the top surface for turning to driven gear 9.
In one embodiment, the wheel module can also include the bearing 20 being arranged on gear shaft 12, described
Bearing 20 is arranged in bearing block 13, and the gear shaft 12 is mounted on brearing bore and can be rotated relative to bearing block 13, institute
Bearing block 13 is stated to connect with the steering driven gear 9.
Certainly, the wheel module can also include key 23, axle sleeve 21 and the baffle 22 being arranged on the gear shaft 12,
The key 23 is used to the wheel 11 being axially installed on gear shaft 12, realizes the synchronous rotary of wheel 11 with gear shaft 12；It is described
Baffle 22 is mounted on gear shaft end face and pushes down the bearing 20 in corresponding bearing block 13, and baffle 22 is true together with axle sleeve 21
Protecting wheel will not slide axially along gear shaft 12.
The steering wheel device of the present embodiment, when controlling the rotation of steering motor 1,1 output shaft of steering motor will drive and turn to master
Moving gear 5 and steering driven gear 9 are rotated relative to substrate 14 together, are mounted on the wheel module turned on driven gear 9
It is rotated together relative to substrate 14, turning function can be realized, as turn to.
When control steering motor 1 does not rotate, then wheel module will not generate go to action；If controlling movable motor
3 rotation, 3 output shaft of movable motor will drive walking driving gear 6, first walk driven gear 7, second walk driven gear 8,
Gear shaft 12 and wheel 11 are rotated each along their own axis, and walking function can be realized, as walk.
It should be noted that if there is no rotation, corresponding first walking, 7 Hes of driven gear for movable motor 3 when turning to
Second walking driven gear 8 is not also rotated relative to substrate 14, and gear shaft 12 has rotated relative to substrate 14, and due to
Gear shaft 12 is engaged with the second walking driven gear 8, and will lead to gear shaft 12 can be along it while rotating relative to substrate 14
The axis rotation of itself, while being rotated with driving wheel 11 also along its axis, if this will result in walking electricity when turning to
Machine 3 does not rotate, then the steering wheel device of the present embodiment also can one side turn away walking, that is, can reach turn to when do not drive row
Motor 3 is walked, the function of turning to while walking also is able to achieve.If necessary to keep steering wheel device original place not when turning to
It is dynamic, it reversely rotates then controlling movable motor 3 when just needing to turn to and providing one to offset wheel along the rotation of oneself axis.
The steering wheel device of the present embodiment, during steering and walking relative to substrate motion, therefore motor is not necessarily to
There is very big benefit for wiring, and steering structure does not have any restrictions, unconfined can rotate in one direction.
Fig. 7 is a kind of structural schematic diagram of the steering wheel device of vehicle conveying AGV shown according to another exemplary embodiment.
Unlike a upper embodiment, as shown in fig. 7, due to wheel 11 top on be followed successively by turn to driven gear 9 top surface and
Substrate 14, and the two has certain thickness, therefore will lead to that whole steering wheel device height is bigger than the diameter of wheel, this is for one
A bit to the higher occasion of requirement for height, for example, its application AGV trolley whole height it is the smaller the better, apply just have it is larger
Difficulty.
In view of the above problems, the steering wheel device of the present embodiment, can be arranged an opening, for holding on the substrate 14
The end that the steering driven gear 9 of receiving cooperates with the steering bearing 19 breaks through substrate 14 due to turning to driven gear 9,
The whole height of steering wheel device can be made to become smaller.
In one embodiment, the steering bearing 19 can be by the second pressing plate 15 that 14 top surface of substrate is arranged by institute
The inner ring for stating steering bearing 19 is fixed on the steering driven gear 9, to ensure to turn in driven gear 9 and steering bearing 19
Circle does not disengage.
In order to further decrease whole height, gap structure can also be set by the center for turning to driven gear 9,
Make wheel 11 top just from turn to driven gear 9 center opening position expose, and take turns 11 just with the top surface phase of substrate 14
It cuts.
Steering wheel device shown in the present embodiment makes due to being provided with opening on substrate 14 and steering driven gear 9 respectively
Wheel 11 just exposes from opening with 14 either flush of substrate, reduces the height of tug device to greatest extent, therefore work as
It is applied when on AGV, can reduce the height of AGV, on each parking stall without additional jiffy stand AGV can directly into
Enter bottom of car.
Fig. 8 is the structural representation according to the arm device of vehicle conveying AGV shown in the 4th exemplary embodiment a kind of
Figure.As shown in Fig. 1 and Fig. 8, the arm device includes decelerating motor 25, left-right rotary ball-screw 30, linear guide 34, slideway
29 and clamp arm component；The left-right rotary ball-screw 30 prolongs front-rear direction and is arranged on carrier frame 24 by lead screw support base,
The decelerating motor 25 can be for example fixed on carrier frame 24 by motor mount, the output shaft of decelerating motor 25 and a left side
One end of dextrorotation ball-screw 30 is connected by shaft coupling 27；The linear guide 34 is prolonged front-rear direction and is arranged in left-right rotary ball
The outside of lead screw 30 is set in the linear guide 34 there are two the sliding block 33 being slidably connected with linear guide 34, on the sliding block 33
It is provided with the sliding panel 28 that can be slided together with sliding block 33, spiral shell sliding panel 28 and be arranged on left-right rotary ball screw 30
Mother's connection；The outside of carrier frame 24 is arranged in the slideway 29, and the clamp arm component includes two clamp arm 26, the clamp arm 26
One end simultaneously be rotatably connected with sliding panel 28 and be slidably connected with slideway 29, the other end is free end.As for clamp arm component
Cooperate with slideway and realizes that clamp arm is the prior art to the implementation of clamping or the release of tire, it is first in present inventor
Application, it is entitled " a kind of tire arm device and tire clamping device " application No. is 201710845562X, in done
Detailed description, therefore herein will not be described in great detail.
As shown in Fig. 2, in order to enhance the support force of clamp arm, the free end of the clamp arm 26 is equipped with universal with ground face contact
Wheel 36.
Arm device provided in this embodiment drives left-right rotary ball-screw by shaft coupling when decelerating motor rotation
Rotate together, two on left-right rotary ball-screw nut is done toward or away from movement, thus drive sliding panel toward or away from,
To realize clamping or release of the clamp arm component to tire.
Since the AGV of the present embodiment there are two sets of arm devices, two tires of folder may only be embraced, therefore need when carrier vehicle
Two AGV cooperative motions, detailed process are as follows: automobile parking to designated position, two AGV sequentially enter bottom of car, two AGV
Center line respectively corresponds automobile front and back wheel center, and clamp arm system clamping automobile tire makes automobile tire be detached from ground, later
Two AGV synthetic operations are controlled, by car carrying to specified parking stall；After reaching specified parking stall, arm device counter motion is released
Automobile tire is put, drops down onto automobile tire on ground, two AGV are successively exited from bottom of car, so far complete a work week
Phase.
The above is only the application preferred embodiment, not makes any form of restriction to the application.Although
The application has been disclosed in a preferred embodiment above, however is not limited to the application.Anyone skilled in the art,
In the case where not departing from technical scheme ambit, all using the methods and technical content of the disclosure above to present techniques
Scheme makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, all without departing from this Shen
Please technical solution content, according to technical spirit any simple modification made to the above embodiment of the application, equivalent variations
And modification, still fall within technical scheme protection in the range of.
Claims (10)
1. a kind of vehicle conveying AGV, including carrier frame (24), navigation system, it is characterised in that: further include at least two sets of steering wheels
Device (31), two sets of arm devices；Wherein, at least two sets of steering wheel devices (31) are separately positioned on carrier frame (24),
And be symmetrical set with carrier frame (24) center, two sets of arm devices are separately mounted to the left and right two of carrier frame (24)
Side.
2. vehicle conveying AGV according to claim 1, it is characterised in that: be equipped at least one on the carrier frame (24)
Group universal wheel (36), universal wheel described in every group (36) are symmetrical set respectively with carrier frame (24) center.
3. vehicle conveying AGV according to claim 1, it is characterised in that: the steering wheel device (31) includes steering motor
(1), movable motor (3), wheel module, steering bearing (19), walking bearing (18), turn to driven gear (9), first walking from
Moving gear (7), the second walking driven gear (8)；
The steering bearing (19) is arranged on substrate (14), and the steering driven gear (9) is arranged in the steering bearing
(19) inner ring；
The outer ring of walking bearing (18) is arranged on the steering driven gear (9), first walking driven gear (7)
Inner ring in walking bearing (18) is set, and the second walking driven gear (8) setting is in the first walking driven tooth
It is rotated together on wheel (7) and with first walking driven gear (7)；
The steering motor (1) and the movable motor (3) are separately fixed on substrate (14), the steering motor (1) it is defeated
The diversion driving-gear (5) engaged with steering driven gear (9), the output of the movable motor (3) are provided on shaft
The walking driving gear (6) engaged with first walking driven gear (7) is provided on axis；
The wheel module includes the wheel (11) of gear shaft (12) and setting on gear shaft (12), and the wheel module setting exists
It on the steering driven gear (9) and rotates with it, the gear teeth of the gear shaft (12) and the second walking driven tooth
Take turns (8) engagement.
4. vehicle conveying AGV according to claim 3, it is characterised in that: the steering bearing (19) is embedded in the substrate
(14) in, and the outer ring of the steering bearing (19) is fixed on the substrate (14) by the first pressing plate (10).
5. vehicle conveying AGV according to claim 3, it is characterised in that: opening is provided on the substrate (14), for holding
One end that steering driven gear (9) of receiving cooperates with the steering bearing (19).
6. vehicle conveying AGV according to claim 5, it is characterised in that: the steering driven gear (9) and the steering shaft
The one end for holding (19) cooperation is equipped with top surface, and the wheel module setting is on the top surface for turning to driven gear (9).
7. vehicle conveying AGV according to claim 6, it is characterised in that: it is described turn to driven gear (9) end face center be
The top of gap structure, the wheel (11) is exposed from the gap, and tangent with the top surface of substrate (14).
8. vehicle conveying AGV according to claim 3, it is characterised in that: the walking bearing (18) passes through third pressing plate
(16) will the walk outer ring of bearing (18) is fixed on the steering driven gear (9), by the 4th pressing plate (17) by walking axle
The inner ring for holding (18) is fixed in first walking driven gear (7).
9. vehicle conveying AGV according to claim 1, it is characterised in that: the arm device includes decelerating motor (25), a left side
Dextrorotation ball-screw (30), linear guide (34), slideway (29) and clamp arm component；The left-right rotary ball-screw (30) prolongs front and back
Direction is arranged on carrier frame (24), and the decelerating motor (25) is fixed on carrier frame (24), decelerating motor (25)
Output shaft is connect with one end of left-right rotary ball-screw (30) by shaft coupling (27)；The linear guide (34) prolongs front-rear direction
Setting is slidably connected there are two setting on left-right rotary ball-screw (30) outside, the linear guide (34) with linear guide (34)
Sliding block (33), be provided with the sliding panel (28) that can be slided together with sliding block (33), the sliding panel on the sliding block (33)
(28) it is connect with the nut being arranged on left-right rotary ball screw (30)；Slideway (29) setting is in the outer of carrier frame (24)
Side, the clamp arm component include two clamp arm (26), and one end of the clamp arm (26) is rotatably connected with sliding panel (28) simultaneously
And be slidably connected with slideway (29), the other end is free end.
10. vehicle conveying AGV according to claim 9, it is characterised in that: the free end of the clamp arm (26) is equipped with and ground
The universal wheel (36) of contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820656749.5U CN208344199U (en) | 2018-05-04 | 2018-05-04 | A kind of vehicle conveying AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820656749.5U CN208344199U (en) | 2018-05-04 | 2018-05-04 | A kind of vehicle conveying AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208344199U true CN208344199U (en) | 2019-01-08 |
Family
ID=64888460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820656749.5U Active CN208344199U (en) | 2018-05-04 | 2018-05-04 | A kind of vehicle conveying AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208344199U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422978A (en) * | 2018-05-04 | 2018-08-21 | 北京泊宝机器人科技有限公司 | A kind of vehicle conveying AGV |
| CN109881947A (en) * | 2019-03-05 | 2019-06-14 | 镇江市高等专科学校 | A kind of lifting type low latitude parking of automobile channel |
| CN111350393A (en) * | 2020-03-20 | 2020-06-30 | 北京大兆新元停车设备有限公司 | Special intelligent carrier of full-automatic car of AGV |
-
2018
- 2018-05-04 CN CN201820656749.5U patent/CN208344199U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422978A (en) * | 2018-05-04 | 2018-08-21 | 北京泊宝机器人科技有限公司 | A kind of vehicle conveying AGV |
| CN108422978B (en) * | 2018-05-04 | 2023-09-08 | 北京泊宝机器人科技有限公司 | AGV (automatic guided vehicle) for carrying vehicle |
| CN109881947A (en) * | 2019-03-05 | 2019-06-14 | 镇江市高等专科学校 | A kind of lifting type low latitude parking of automobile channel |
| CN111350393A (en) * | 2020-03-20 | 2020-06-30 | 北京大兆新元停车设备有限公司 | Special intelligent carrier of full-automatic car of AGV |
| CN111350393B (en) * | 2020-03-20 | 2022-03-25 | 北京大兆新元停车设备有限公司 | Special intelligent carrier of full-automatic car of AGV |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108422978A (en) | A kind of vehicle conveying AGV | |
| CN208344199U (en) | A kind of vehicle conveying AGV | |
| CN110053660B (en) | Drive-by-wire steering mechanism for electric wheel drive automobile and control method thereof | |
| CN205588895U (en) | Automatic flexible wheel base car of four -wheel | |
| CN107364281B (en) | Spherical tire driving system and spherical tire automobile with same | |
| CN207579940U (en) | Vision guided navigation formula steering wheel driving mechanism | |
| CN106627744A (en) | Independent steering system of electric vehicle | |
| CN204641396U (en) | Parking device and vehicle | |
| CN108301668A (en) | servo control clamping carrier | |
| CN104626978B (en) | Vehicle active-type differential gearing vehicle bridge | |
| CN111559240A (en) | AGV dolly is with electronic integrative wheel | |
| CN209600608U (en) | A kind of transfer and AGV trolley suitable for AGV trolley | |
| CN108423064A (en) | A kind of steering wheel device | |
| CN105667576B (en) | A kind of steering mechanism of electric car | |
| CN208134427U (en) | A kind of steering wheel device | |
| CN205637771U (en) | Car bicycle parking machineshop car | |
| CN209037656U (en) | A kind of achievable left and right wheels are the same as 360 ° of transfers of angle | |
| CN107972510B (en) | New energy automobile fills electric pile | |
| CN111591211B (en) | Tripod for automobile | |
| CN201075778Y (en) | Bidimensional electric regulating system of rear view mirror single electric machine | |
| WO2004022884A1 (en) | A circulatory vehicle parking apparatus | |
| CN208380209U (en) | servo control clamping carrier | |
| CN111591264A (en) | Differential steering automobile carrying robot | |
| CN207647265U (en) | A kind of rotatable middle sport car of interdigitated electrode structure | |
| CN101480968A (en) | Electric vehicle drive chassis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Vehicle carrying AGV Effective date of registration: 20200422 Granted publication date: 20190108 Pledgee: Liaojiao Jianxin (Liaoning) Fund Management Co.,Ltd. Pledgor: BEIJING BOBAO ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2020210000011 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231114 Address after: Room 0302, No. 197 Nanjing South Street, Heping District, Shenyang City, Liaoning Province, 110166 Patentee after: Liaoning Trading Investment Co.,Ltd. Address before: Room 105, Building 5, No. 11 Deshengmenwai Street, Xicheng District, Beijing, 100032 Patentee before: BEIJING BOBAO ROBOT TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |