CN208439340U - Support system and AGV - Google Patents
Support system and AGV Download PDFInfo
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- CN208439340U CN208439340U CN201820995318.1U CN201820995318U CN208439340U CN 208439340 U CN208439340 U CN 208439340U CN 201820995318 U CN201820995318 U CN 201820995318U CN 208439340 U CN208439340 U CN 208439340U
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- crank
- connecting rod
- body structure
- supporting mechanism
- support
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Abstract
The utility model provides a kind of support system and AGV, wherein support system includes the first supporting mechanism, second supporting mechanism and driving unit, first supporting mechanism includes being rotatablely installed in the first crank on body structure, the first sliding support of connection is slided up and down with the first connecting rod of the free end rotation connection of the first crank and with the free end rotation connection of first connecting rod and with body mechanism, second supporting mechanism includes being rotatablely installed in the second crank on body structure, the second sliding support of connection is rotatablely connected and slided up and down with body mechanism with the second connecting rod of the rotation connection of the second crank and with second connecting rod, the second output terminal that driving unit is drivingly connected the first output end at the first crank and first connecting rod rotation connection and is drivingly connected at the second crank and second connecting rod rotation connection.The support system of the utility model can shake to avoid body structure.
Description
Technical field
The utility model belongs to unmanned transport vehicle technical field more particularly to a kind of support system and applies the support system
AGV.
Background technique
AGV (Automated Guided Vehicle), which refers to, magnetically or optically waits homing guidances device equipped with electricity, can
It is travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions, AGV is generally comprised for filling
The body structure of loading object and it is installed on the wheel that body structure bottom is used to support body structure, is loading cargo or by goods
When object is unloaded from body structure, body structure is easy to appear shaking.
Utility model content
The purpose of this utility model is to provide a kind of support systems, it is intended to solve body structure in the prior art and be easy to shake
Dynamic technical problem.
The utility model is realized in this way a kind of support system, is used to support body structure, support system includes,
First supporting mechanism, the first supporting mechanism are fixed on body mechanism, the first supporting mechanism include rotational installation in
The first crank on body structure, the freedom with the first connecting rod of the free end rotation connection of the first crank and with first connecting rod
End is rotatablely connected and slides up and down with body mechanism the first sliding support of connection, and the first crank, first connecting rod and first are sliding
Height where dynamic supporting element successively reduces, and the height at the first crank and body structure rotation connection is higher than the first crank and the
The height of one link rotatable junction；
Second supporting mechanism, the second supporting mechanism are fixed on body structure and install with the first supporting mechanism spacing, the
Two supporting mechanisms include the second crank being rotatablely installed on body structure, second with the free end rotation connection of the second crank
Connecting rod and the second sliding support that connection is slided up and down with the free end rotation connection of second connecting rod and with body mechanism, the
Height where two cranks, second connecting rod and the second sliding support successively reduces, and the second crank and body structure are rotatablely connected
The height at place is higher than the height at the second crank and second connecting rod rotation connection；
Driving unit, driving unit are connected between the first supporting mechanism and the second supporting mechanism, and driving unit includes turning
The first output end and the second crank of drive connection or second connecting rod and output driving of the first crank of dynamic connection or first connecting rod
The second output terminal of power, the first crank and the angled setting of vertical line, one end with first connecting rod rotation connection of the first crank
Relative to the other end close to driving unit, the second crank and the angled setting of vertical line, the second crank is rotated with second connecting rod
One end of connection is relative to the other end close to driving unit.
Further, the second crank includes and the ontology of second connecting rod rotation connection and the extension being wholely set with ontology
Portion, the second crank are rotatablely connected in ontology and extension intersection and body structure, and the height where extension and ontology is successively
Reduce, support system further include one end be rotatablely connected with the first crank and the free end of the other end and extension be rotatablely connected it is same
Connecting rod is walked, synchronising (connecting) rod is fixedly connected on the position between the both ends of the first crank.
Further, the first sliding support includes the first sliding part that connection is slided up and down with body structure, and first is sliding
The top in dynamic portion and first connecting rod are rotatablely connected.
Further, the first supporting mechanism further includes being fixed on body structure and the with the guiding cooperation of the first sliding part
One guide part and the first foot pad being fixedly connected with the bottom end of the first sliding part, the first guide part offer and the first sliding part
It is oriented to the first pilot hole of cooperation, the first pilot hole is opened up along a vertical line, and the first foot pad includes for cooperating with ground supports
The first supporting surface.
Further, the second sliding support includes the second sliding part that connection is slided up and down with body structure, and second is sliding
The top in dynamic portion and second connecting rod are rotatablely connected.
Further, the second supporting mechanism further includes being fixed on body structure and the with the guiding cooperation of the second sliding part
Two guide parts and the second foot pad being fixedly connected with the bottom end of the second sliding part, the second guide part offer and the second sliding part
It is oriented to the second pilot hole of cooperation, the second pilot hole is opened up along a vertical line, and the second foot pad includes for cooperating with ground supports
The second supporting surface.
Further, driving unit includes the electric cylinders for stretching to the second supporting mechanism, and electric cylinders include cylinder ontology, are fixed on cylinder sheet
Fixing axle on body and the drive shaft with the cooperation of cylinder ontology sliding extension to drive the second supporting mechanism to move, fixing axle have
It is rotatablely connected the first output end of the first crank or first connecting rod, drive shaft, which has, is drivingly connected the second crank or second connecting rod
Second output terminal.
The utility model additionally provides a kind of AGV, and including body structure and at least two above-mentioned support systems, two supports are
System is fixed on body structure.
Further, AGV further includes the fixed signal controller connecting on body mechanism and with two support system signals,
Signal controller is connect with the driving unit signal in two support systems.
Further, AGV further includes the idler wheel for being fixed on body structure bottom.
The utility model having the technical effect that when AGV rests on picking place compared with the existing technology, driving unit
Second output terminal is to the second supporting mechanism output driving power (specifically, which is thrust), so that the second crank and second
Connecting rod is moved to the direction far from driving unit, and at the same time, the second crank or second connecting rod can generate one to second output terminal
A opposition, the opposition will push driving unit and move and make driving unit close to the first supporting mechanism,
During this, as driving unit is close to the first supporting mechanism, the first output end pushes the first crank and first connecting rod to separate
The direction of driving unit moves.Specifically, second output terminal makes at the rotation connection of the second crank and second connecting rod to separate
The direction of driving unit moves, in the process, since the second crank and body structure are rotatablely connected, the second crank with
Body structure is support rotation, and the second crank and the height at body structure rotation connection are constant always, and the second crank and
Height at the rotation connection of body structure is higher than the height at the second crank and second connecting rod rotation connection, therefore the second crank
With the end at second connecting rod rotation connection to when movement far from driving unit with the component moved downward, and then second
Crank can drive second connecting rod to move, and the movement of second connecting rod also has the component moved downward, and due to second connecting rod
It is rotatablely connected with the second sliding support, the second sliding support is slided up and down with body structure to be connect, and therefore, the second crank can
Drive the second sliding support along linear downward motion by second connecting rod, until cooperation is supported on the second sliding support and ground
To support body structure, similarly, the first output end can also drive the first sliding support downward by a crank and first connecting rod
Movement can also make the first sliding support and ground support cooperation to support body structure.In this way, even if transfer robot is filling
The external force that horizontal direction can be generated when carrying or remove cargo to body structure, since the first sliding support and second slide
Supporting role of the supporting element to body structure, body mechanism will not shake.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, below will to the utility model embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, drawings described below is only
Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the perspective view of AGV provided by the embodiment of the utility model.
Fig. 2 is the left view of Fig. 1.
Description of symbols:
| 100 | AGV | 33 | Ontology | |
| 10 | Body structure | 34 | Extension | |
| 11 | Idler wheel | 35 | Second connecting rod | |
| 20 | Support system | 36 | Second sliding support | |
| 21 | First supporting mechanism | 37 | Second sliding part | |
| 22 | First crank | 38 | Second foot pad | |
| 23 | First connecting rod | 39 | Second guide part | |
| 24 | First sliding support | 41 | Driving unit | |
| 25 | First sliding part | 42 | Fixing axle | |
| 26 | First foot pad | 43 | First output end | |
| 27 | First guide part | 44 | Drive shaft | |
| 31 | Second supporting mechanism | 45 | Second output terminal | |
| 32 | Second crank | 51 | Synchronising (connecting) rod |
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
In the description of the present invention, it should be noted that when to be referred to as " being fixed on " or " being set to " another for element
A element, it can be directly on the other element or indirectly on another element.When an element is known as " even
It is connected to " another element, it can be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
For the ordinary skill in the art, above-mentioned term can be understood in the utility model as the case may be
In concrete meaning.
It should also be noted that, being defined in the utility model embodiment according to the XYZ rectangular coordinate system established in Fig. 1:
It is defined as front positioned at the side of X-axis negative direction, the side positioned at X-axis positive direction is defined as rear；Positioned at the one of Y-axis negative direction
Side is defined as left, and the side positioned at Y-axis positive direction is defined as right；It is defined as top positioned at the side of Z axis positive direction, is located at
The side of Z axis negative direction is defined as lower section.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.
Such as Fig. 1 and as indicated with 2, the utility model provides a kind of support system 20, is used to support body structure, support system
20 include the first supporting mechanism 21, the second supporting mechanism 31 and driving unit 41.
First supporting mechanism 21 is fixed on body mechanism, and the first supporting mechanism 21 includes rotational installation on body structure
The first crank 22, the first connecting rod 23 that is rotatablely connected with the free end of the first crank 22 and the free end with first connecting rod 23
It is rotatablely connected and slides up and down with body mechanism the first sliding support 24 of connection, the first crank 22, first connecting rod 23 and the
Height where one sliding support 24 successively reduces, and the first crank 22 is higher than first with the height at body structure rotation connection
Height at crank 22 and 23 rotation connection of first connecting rod.
Second supporting mechanism 31 is fixed on body structure and installs with 21 spacing of the first supporting mechanism, the second supporting mechanism
31 include rotational installation in the second crank 32 on body structure, the second connecting rod with the free end rotation connection of the second crank 32
35 and the second sliding support 36 of connection is slided up and down with the rotation connection of the free end of second connecting rod 35 and with body mechanism,
Height where second crank 32, second connecting rod 35 and the second sliding support 36 successively reduces, the second crank 32 and vehicle body knot
Height at structure rotation connection is higher than the second crank 32 and the height at 35 rotation connection of second connecting rod.
Driving unit 41 is connected between the first supporting mechanism 21 and the second supporting mechanism 31, and driving unit 41 includes turning
The first output end 43 and the second crank 32 of drive connection or second connecting rod 35 of the first crank 22 of dynamic connection or first connecting rod 23
And the second output terminal 45 of output driving power, the first crank 22 and the angled setting of vertical line, the first crank 22 connect with first
One end that bar 23 is rotatablely connected relative to the other end close to driving unit 41, the second crank 32 and the angled setting of vertical line, the
The one end of two cranks 32 being rotatablely connected with second connecting rod 35 is relative to the other end close to driving unit 41.
AGV is generally used for delivery cargo, and including body structure and the wheel connecting with body structure bottom, when work is general
It is to play the role of support by wheel, generally has transfer robot matched in picking place and landing place, by removing
Cargo is carried and is loaded on body structure or from body structure and removes cargo by fortune robot, and transfer robot is freighted
Or when picking, do not ensure that cargo is entirely by vertically loading or removing, in this process, body structure will receive
The external force of horizontal direction, and since body structure only relies on wheel supporting effect, under the external force, body structure holds
Easily shake.
In this embodiment, when AGV rests on picking place, the second output terminal 45 of driving unit 41 is to second
31 output driving power of support mechanism (specifically, which is thrust), so that the second crank 32 and second connecting rod 35 are to far from drive
The direction of moving cell 41 moves, and at the same time, the second crank 32 or second connecting rod 35 can generate one instead to second output terminal 45
To active force, which will push driving unit 41 and moves and make driving unit 41 close to the first supporting mechanism 21,
In the process, as driving unit 41 is close to the first supporting mechanism 21, the first output end 43 pushes the first crank 22 and first
Connecting rod 23 is moved to the direction far from driving unit 41.
Specifically, second output terminal 45 makes the second crank 32 drive list to separate at the rotation connection of second connecting rod 35
The direction movement of member 41, in the process, since the second crank 32 and body structure are rotatablely connected, the second crank 32 with
Body structure is support rotation, and the second crank 32 and the height at body structure rotation connection are constant always, and the second crank
32 are higher than the second crank 32 and the height at 35 rotation connection of second connecting rod with the height at the rotation connection of body structure, therefore the
Having when to the movement of separate driving unit 41 with the end at 35 rotation connection of second connecting rod for two cranks 32 moves downward
Component, and then the second crank 32 can drive second connecting rod 35 to move, and the movement of second connecting rod 35 also has and moves downward
Component, and since second connecting rod 35 and the second sliding support 36 are rotatablely connected, the second sliding support 36 and body structure
Connection is slided up and down, therefore, the second crank 32 can drive the second sliding support 36 to transport downwards along straight line by second connecting rod 35
It is dynamic, until the second sliding support 36 supports cooperation with ground to support body structure.
Similarly, the first output end can also drive the first sliding support 24 to move downward by a crank and first connecting rod,
Also the first sliding support and ground can be made to support cooperation to support body structure.In this way, even if transfer robot load or
The external force that horizontal direction can be generated when removing cargo to body structure, due to the first sliding support 24 and the second sliding branch
Supporting role of the support member 36 to body structure, body mechanism will not shake.
In this embodiment, driving unit 41 drives the first crank 22, first connecting rod 23 and the first sliding support 24
Movement, when the first crank 22 and pivot center, first connecting rod 23 and the first sliding support at 23 rotation connection of first connecting rod
When pivot center and the first crank 22 coplanar with the pivot center at body structure rotation connection at 24 rotation connections, first
Supporting mechanism 21 can be completed self-locking, even if driving unit 41 stops the output of driving force, the first supporting mechanism 21 still can
It plays a supporting role to body structure, the energy consumption of driving unit 41 can be saved.Similarly it is found that the second supporting mechanism 31 also can be certainly
Lock, can also save the energy consumption of driving unit 41.
In this embodiment, support system 20 is compact-sized, without occupying larger installation space, and support system 20
Precise structure, first connecting rod 23 and the first sliding support 24 and the cooperation of the first crank 22 have amplification to driving force,
Similarly, second connecting rod 35 and the cooperation of the second sliding support 36 and the second crank 32 have amplification to driving force, therefore,
The support force that support system 20 exports is big and stablizes, the lesser driving force of driving unit 41 can support body structure and
Load on body structure can be played the role of reducing energy consumption.
In this embodiment, during the first sliding support 24 and the second sliding support 36 move to the ground,
Electric cylinders are moved upwards relative to ground.
Further, the second crank 32 includes the ontology 33 being rotatablely connected with second connecting rod 35 and integrally sets with ontology 33
The extension 34 set, the second crank 32 are rotatablely connected in ontology 33 and 34 intersection of extension and body structure, 34 He of extension
Height where ontology 33 successively reduces, support system 20 further include one end be rotatablely connected with the first crank 22 and the other end with prolong
The synchronising (connecting) rod 51 of the free end rotation connection of extending portion 34, synchronising (connecting) rod 51 are fixedly connected between the both ends of the first crank 22
Position.
In this embodiment, driving unit 41 drives the first crank 22 and when the second crank 32 there may be the time difference, by
It is rotatablely connected in one end of synchronising (connecting) rod 51 and the first crank 22 and the free end of the other end and extension 34 is rotatablely connected, together
Step connecting rod 51 is fixedly connected on the position between 22 both ends of the first crank, therefore, the end with first connecting rod 23 of the first crank 22
To when moving far from driving unit 41, active force is transferred to the freedom of extension 34 by synchronising (connecting) rod 51 by the first crank 22
It holds and the free end of extension 34 is driven to move to the direction close to driving unit 41, the second crank 32 is at this time with body structure
Support rotation, since the second crank 32 is rotatablely connected in ontology 33 and 34 intersection of extension and body structure, and extension 34
It is successively reduced with the height where ontology 33, therefore the direction of motion of ontology 33 and extension 34 is on the contrary, specifically, ontology 33 is to remote
Direction movement from driving unit 41, ontology 33 are moved and can be driven by second connecting rod 35 to the direction far from driving unit 41
Second sliding support 36 is moved downward with 24 synchronous linear of the first sliding support, can be to avoid due to the first sliding support
Part 24 and the second sliding support 36 move body structure caused by difference and go up and down jiggly problem.
Further, the first sliding support 24 includes the first sliding part 25 that connection is slided up and down with body structure, the
The top of one sliding part 25 and first connecting rod 23 are rotatablely connected.In this embodiment, the first sliding part 25 is above and below body structure
Sliding, can complete the lifting of body structure.
Further, the first supporting mechanism 21 further includes being fixed on body structure and matching with the first sliding part 25 guiding
The first guide part 27 closed and the first foot pad 26 being fixedly connected with the bottom end of the first sliding part 25, the first guide part 27 open up
There is the first pilot hole with the guiding cooperation of the first sliding part 25, the first pilot hole is opened up along a vertical line, and the first foot pad 26 includes
The first supporting surface for cooperating with ground supports.
In this embodiment, the first sliding part 25 and the first guide part 27 guiding cooperate, the first guide part 27 offer with
First pilot hole of the first sliding part 25 guiding cooperation, the first pilot hole is opened up along a vertical line, so that along straight on body structure
Line rises or falls, and stationarity in body structure process of rising or falling can be improved, and guarantees that body structure is rising or falling
It will not swing in the process.
Further, the second sliding support 36 includes the second sliding part 37 that connection is slided up and down with body structure, the
The top of two sliding parts 37 and second connecting rod 35 are rotatablely connected.In this embodiment, the second sliding part 37 is above and below body structure
Sliding, can complete the lifting of body structure.
Further, the second supporting mechanism 31 further includes being fixed on body structure and matching with the second sliding part 37 guiding
The second guide part 39 closed and the second foot pad 38 being fixedly connected with the bottom end of the second sliding part 37, the second guide part 39 open up
There is the second pilot hole with the guiding cooperation of the second sliding part 37, the second pilot hole is opened up along a vertical line, and the second foot pad 38 includes
The second supporting surface for cooperating with ground supports.
In this embodiment, the second sliding part 37 and the second guide part 39 guiding cooperate, the second guide part 39 offer with
Second pilot hole of the second sliding part 37 guiding cooperation, the second pilot hole is opened up along a vertical line, so that along straight on body structure
Line rises or falls, and stationarity in body structure process of rising or falling can be improved, and guarantees that body structure is rising or falling
It will not swing in the process.
Further, driving unit 41 includes the electric cylinders for stretching to the second supporting mechanism 31, and electric cylinders include that cylinder ontology (do not mark by figure
Number), the fixing axle 42 that is fixed on cylinder ontology and cooperate drive to drive the second supporting mechanism 36 with cylinder ontology sliding extension
Moving axis 44, fixing axle 42 have the first output end 43 of the first crank 22 of rotation connection or first connecting rod 23, and drive shaft 44 has
It is drivingly connected the second output terminal 45 of the second crank 32 or second connecting rod 35.
In this embodiment, electric cylinders driving drive shaft 44 is slided relative to cylinder ontology stretches out, the second output of drive shaft 44
End 45 cooperates with the second driving of supporting mechanism 31, so that the second crank 32 and second connecting rod 35 are to the side of separate driving unit 41
To movement, the second crank 32 and second sliding support of the driving of second connecting rod 35 36 are supported with ground and are cooperated to support vehicle body machine
Structure.At the same time, the second supporting mechanism 31 can generate an opposition, opposition effect to second output terminal 45
In in electric cylinders, so that cylinder ontology and the fixing axle 42 being fixed on cylinder ontology are transported to the direction close to the first supporting mechanism 21
Dynamic, in the process, as cylinder ontology is close to the first supporting mechanism 21, the first output end 43 of fixing axle 42 pushes the first crank
22 and first connecting rod 23 move to far from the direction of driving unit 41, the first crank 22 and the driving of first connecting rod 23 first are slided
Cooperation is supported to support body structure in supporting element 24 and ground.
In this embodiment, during the first sliding support 24 and the second sliding support 36 move to the ground,
Electric cylinders are moved upwards relative to ground.
In this embodiment, drive shaft 44 drives the second crank 32 to move so that the second supporting mechanism 31 drives body structure
Lifting, the first crank 22 is driven to move for fixing axle 42 so that the drive body structure lifting of the first supporting mechanism 21, is driven using electric cylinders
Dynamic first supporting mechanism 21 and the second supporting mechanism 31 can reduce the cost of driving unit 41, and extend driving unit
41 service life.
Electric cylinders directly pass through electric drive, without supplying and arranging oil hydraulic circuit, can simplify the knot of support system 20
Structure reduces the size of installation space shared by support system 20.
Another embodiment of the utility model also provides a kind of AGV100, including the above-mentioned support of body structure 10 and at least two
System 20, two support systems 20 are fixed on body structure 10.
Further, AGV100 further includes the fixed signal control connecting on body mechanism and with two support systems, 20 signal
Device processed, signal controller are connect with 41 signal of driving unit in two support systems 20.
In this embodiment, signal controller gives two driving units 41 to send position command simultaneously, two driving units 41
Synchronous averaging, two driving units 41 can quickly, timely respond to the instruction of signal controller, realize the synchronous fortune of two support systems 20
It is dynamic.
Further, AGV100 further includes the idler wheel 11 for being fixed on 10 bottom of body structure.In this embodiment, idler wheel 11
Play the role of rolling and support.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of support system, is used to support body structure, which is characterized in that the support system includes,
First supporting mechanism, first supporting mechanism are fixed on the body mechanism, and first supporting mechanism includes turning
Dynamic the first crank being installed on the body structure, the first connecting rod being rotatablely connected with the free end of first crank and
It is rotatablely connected with the free end of the first connecting rod and slides up and down the first sliding support of connection, institute with the body mechanism
Height where stating the first crank, the first connecting rod and first sliding support successively reduces, first crank with
Height at the body structure rotation connection is higher than the height at first crank and the first connecting rod rotation connection；
Second supporting mechanism, second supporting mechanism be fixed on the body structure and with the first supporting mechanism spacing
Installation, second supporting mechanism include the second crank being rotatablely installed on the body structure and second crank
The second connecting rod of free end rotation connection and with the rotation connection of the free end of the second connecting rod and on the body mechanism
Second sliding support of lower slider connection, second crank, the second connecting rod and second sliding support place
Height successively reduce, the height at second crank and the body structure rotation connection is higher than second crank and institute
State the height at second connecting rod rotation connection；
Driving unit, the driving unit are connected between first supporting mechanism and second supporting mechanism, the drive
Moving cell includes the first output end and drive connection described second for being rotatablely connected first crank or the first connecting rod
The second output terminal of crank or the second connecting rod and output driving power, first crank and the angled setting of vertical line, institute
It is stating the first crank with first connecting rod rotation connection one end relative to the other end close to the driving unit, described second
Crank and the angled setting of vertical line, the one end of second crank being rotatablely connected with the second connecting rod is relative to the other end
Close to the driving unit.
2. support system as described in claim 1, which is characterized in that second crank includes rotating with the second connecting rod
The ontology of connection and the extension being wholely set with the ontology, second crank cross in the ontology and the extension
Place is rotatablely connected with the body structure, and the height where the extension and the ontology successively reduces, the support system
It further include the synchronous company that one end is rotatablely connected with first crank and the free end of the other end and the extension is rotatablely connected
Bar, the synchronising (connecting) rod are fixedly connected on the position between the both ends of first crank.
3. support system as claimed in claim 1 or 2, which is characterized in that first sliding support includes and the vehicle
Body structure slides up and down the first sliding part of connection, and the top of first sliding part and the first connecting rod are rotatablely connected.
4. support system as claimed in claim 3, which is characterized in that first supporting mechanism further includes being fixed on the vehicle
It is fixed on body structure and with the first guide part of first sliding part guiding cooperation and with the bottom end of first sliding part
First foot pad of connection, first guide part offers the first pilot hole with first sliding part guiding cooperation, described
First pilot hole is opened up along a vertical line, and first foot pad includes the first supporting surface for cooperating with ground supports.
5. support system as claimed in claim 1 or 2, which is characterized in that second sliding support includes and the vehicle
Body structure slides up and down the second sliding part of connection, and the top of second sliding part and the second connecting rod are rotatablely connected.
6. support system as claimed in claim 5, which is characterized in that second supporting mechanism further includes being fixed on the vehicle
It is fixed on body structure and with the second guide part of second sliding part guiding cooperation and with the bottom end of second sliding part
Second foot pad of connection, second guide part offers the second pilot hole with second sliding part guiding cooperation, described
Second pilot hole is opened up along a vertical line, and second foot pad includes the second supporting surface for cooperating with ground supports.
7. support system as claimed in claim 1 or 2, which is characterized in that the driving unit includes stretching to described second
The electric cylinders of support mechanism, the electric cylinders include cylinder ontology, the fixing axle being fixed on the cylinder ontology and slide with the cylinder ontology
Drive shaft of the dynamic expansion fit to drive second supporting mechanism to move, the fixing axle, which has, is rotatablely connected first song
First output end of handle or the first connecting rod, the drive shaft, which has, is drivingly connected second crank or described second
The second output terminal of connecting rod.
8. a kind of AGV, which is characterized in that propped up as claimed in any of claims 1 to 7 in one of claims including body structure at least two
Support system, two support systems are fixed on the body structure.
9. AGV as claimed in claim 8, which is characterized in that the AGV further include it is fixed on body mechanism and with described in two
The signal controller of support system signal connection, the driving unit in the signal controller and two support systems are believed
Number connection.
10. AGV as claimed in claim 8 or 9, which is characterized in that the AGV further includes being fixed on the body structure bottom
Idler wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820995318.1U CN208439340U (en) | 2018-06-26 | 2018-06-26 | Support system and AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820995318.1U CN208439340U (en) | 2018-06-26 | 2018-06-26 | Support system and AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208439340U true CN208439340U (en) | 2019-01-29 |
Family
ID=65090702
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820995318.1U Withdrawn - After Issue CN208439340U (en) | 2018-06-26 | 2018-06-26 | Support system and AGV |
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| CN (1) | CN208439340U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108773434A (en) * | 2018-06-26 | 2018-11-09 | 深圳市功夫机器人有限公司 | Support system and AGV |
-
2018
- 2018-06-26 CN CN201820995318.1U patent/CN208439340U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108773434A (en) * | 2018-06-26 | 2018-11-09 | 深圳市功夫机器人有限公司 | Support system and AGV |
| CN108773434B (en) * | 2018-06-26 | 2023-05-12 | 深圳市功夫机器人有限公司 | Support system and AGV |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190129 Effective date of abandoning: 20230512 |