CN208682972U - AGV operation vehicle frame based on differential driving - Google Patents
AGV operation vehicle frame based on differential driving Download PDFInfo
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- CN208682972U CN208682972U CN201821381984.2U CN201821381984U CN208682972U CN 208682972 U CN208682972 U CN 208682972U CN 201821381984 U CN201821381984 U CN 201821381984U CN 208682972 U CN208682972 U CN 208682972U
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Abstract
The utility model belongs to AGV technical field, discloses the AGV operation vehicle frame based on differential driving, including vehicle frame and drive system.Vehicle frame includes outer edge strip and middle net, middle net includes dense layer and evacuation layer, vehicle frame is equipped with differential drive arrangement, differential drive arrangement includes master control borad and two rectangular motor cabinets being oppositely arranged, the motor being electrically connected with master control borad is equipped in motor cabinet, machine shaft connects retarder, and retarder is connected to driving wheel；Vehicle frame is provided with preceding guidance set and rear guidance set, and preceding guidance set and rear guidance set respectively include front-wheel seat and rear wheel seat, and front-wheel seat is equipped with front jockey wheel, and rear wheel seat is equipped with rear directive wheel；Connection clamp straight up is provided on motor cabinet, front-wheel seat and rear wheel seat.The utility model setting differential drive arrangement can be avoided the turning radius defect of hinged shaft steering mechanism, or even realize pivot stud；The self weight of vehicle frame is small, and installing component flexibility is good；And energy consumption is reduced, extend continuation of the journey.
Description
Technical field
The utility model belongs to AGV technical field, and in particular to the AGV operation vehicle frame based on differential driving.
Background technique
AGV (Automated Guided Vehicle, automated guided vehicle) refers to magnetically or optically to be waited certainly equipped with electricity
Dynamic guiding device, it can be travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions.
AGV is widely used in storage and carries and manufacture carrying, and relatively advanced AGV is also applied to hazardous area and special trade.
Existing AGV vehicle frame uses the structures such as wheel type mobile, belt movement substantially, is easy to implement car body in narrow space
Realization is freely advanced and is turned to.But current AGV vehicle frame is advanced and steering mode is essentially hinged steering, in this turning machine
In structure, for the steering wheel of AGV mounted in turning on hinged shaft, steering motor controls hinged shaft by retarder and mechanical linkage, thus
Control the orientation of steering wheel.Meanwhile driving wheel is generally doubled as into deflecting roller in steering mechanism, steering servo motor is interrogated according to guiding
Number, by the corner of steering mechanism's adjustment driving wheel, completes AGV automatic guide and turn to fork.
There are its minimum turning radius for this hinged shaft steering mechanism, there is certain limitation on application space, majority compared with
To be difficult to once pass through using the AGV of hinged shaft steering mechanism, or even can not pass through, leading to answering for AGV in the space of limitation
With facing larger problem.
Therefore, at least there is above-mentioned technical problem urgently to be resolved in this field, need to propose more reasonable technical side
Case is resolved.
Utility model content
The utility model aim is to provide the AGV operation vehicle frame based on differential driving, it is intended to vehicle frame and steering to AGV
Mechanism improves, and the traveling and steering of AGV are realized by way of differential driving, the steering capability of AGV is improved, makes AGV
It can adapt to the space environment more limited to, promote the ability that its navigation is advanced, while can also ensure that the stability of car body,
It advances and does not jolt in steering procedure and mechanical stuck situation.
In order to realize said effect, the technology employed by the present utility model is
AGV operation vehicle frame based on differential driving, including vehicle frame and the drive system being arranged in below vehicle frame.Specifically
It says:
The vehicle frame includes pedestal, and pedestal includes the outer edge strip of rectangle and the grid-like middle net that is set in outer edge strip,
The middle net includes dense layer and evacuation layer, and the evacuation layer is fitted in the lower part of dense layer, evacuates the thickness of layer and dense layer
Half that is identical and being outer edge strip height.
The center of the vehicle frame along broadside be equipped with differential drive arrangement, differential drive arrangement include master control borad and
Two rectangular motor cabinets being oppositely arranged, master control borad may be provided on vehicle frame, may also be arranged on other controls carried on vehicle frame
In device processed, when being arranged in other controllers, managed convenient for integrated control；It is equipped in motor cabinet and to be electrically connected with master control borad
Motor, machine shaft connect retarder, and retarder is connected to driving wheel, and two motors respectively drive a driving wheel, when two
, it can be achieved that the forward or backward of AGV when the motion state of motor is synchronous, when the mutually different step of the motion state of two motors,
The steering of AGV can be achieved；Be provided with preceding guidance set and rear guidance set in the middle part of two broadsides of the vehicle frame, it is described it is leading to
Component and rear guidance set respectively include front-wheel seat and rear wheel seat, and front-wheel seat is equipped with front jockey wheel, and rear wheel seat is led after being equipped with
To wheel.
Further, need to install the other component of carrying AGV on vehicle frame, and layout of each component on vehicle frame will affect
The running of AGV is freely arranged each component for convenience, is reasonably laid to its position, optimized to above scheme, institute
The connection clamp being provided on motor cabinet, front-wheel seat and rear wheel seat straight up is stated, connection clamp includes being caught in evacuation layer
First clamp and the second clamp for being caught in dense layer, the second clamp is located at the top of the first clamp, and the top of the second clamp is set
It is equipped with screw hole.
Further, corresponding mesh size is different with dense layer for evacuation layer, and the mesh size for evacuating layer is greater than dense layer
Mesh size, increase is connected and fixed the stability that installation a little can be improved, therefore optimizes to above-mentioned technical proposal, described
First clamp top is equipped at least two second clamps.
Further, the size of motor cabinet is larger, and installs driving force component, is easy to loosen, it is therefore desirable to more points
Stress is stablized；And the structure size of front-wheel seat and rear wheel seat is smaller, and only installs slave unit, stability is relatively high；
Therefore above-mentioned technical solution is optimized, the connection clamp quantity on the motor cabinet is greater than two, and is respectively positioned on motor cabinet
Side surface, the connection clamp on front-wheel seat and rear wheel seat is located at end face thereon.
As a preferred option, in order to improve stability, installation difficulty is reduced, improves the convenience of installation, it is motor cabinet, preceding
Wheel seat and rear wheel seat and the connection card being provided thereon are first body formed.
As another preferred scheme, motor cabinet needs are regularly maintained, and in order to improve its service life, avoid maintenance pair
Motor cabinet damages, and motor cabinet and connection clamp are connected by modes such as clamping, threaded connection or bondings.
Further, middle net is arranged to dense layer and evacuation layer, wherein dense layer guarantees interconnecting piece for being connected and fixed
The stability of part, the mesh size for evacuating layer are greater than the mesh size of dense layer, can reduce materials, reduce the self weight of vehicle frame,
Energy consumption is reduced, continuation of the journey is increased.As a preferred option, the longitudinal direction for evacuating one mesh of layer corresponds to dense layer two by long side
The mesh of arrangement is evacuated and corresponds to three mesh arranged by short side of dense layer on the short side direction of one mesh of layer.
Further, the evacuation layer and the dense layer include lateral glazing bar and longitudinal glazing bar, lateral glazing bar
It is mutually perpendicular to longitudinal glazing bar, lateral glazing bar is identical as longitudinal thickness of glazing bar.
Further, the lateral glazing bar is parallel to the longitudinal direction of outer edge strip, and dense layer adjacent transverse glazing bar it
Between spacing be equal to the thickness of lateral glazing bar.
Further, in order to further decrease the self weight of vehicle frame, reduce energy consumption and simultaneously improve continuation of the journey, to above-mentioned technical proposal into
Row optimization is provided with the first Reduction of Students' Study Load hole on the motor cabinet.
Further, the first Reduction of Students' Study Load hole specific structure of setting are as follows: described first Reduction of Students' Study Load hole is rectangular through-hole, first
The inside of Reduction of Students' Study Load hole connection motor cabinet；First Reduction of Students' Study Load hole is uniformly distributed on the side surface of electrode tip holder and bottom surface, in addition to this,
First Reduction of Students' Study Load hole may also be arranged to other shapes and use different distribution schemes.Reduction of Students' Study Load hole is communicated to inside motor cabinet, can be real
The circulation of existing inner air and outer air, promotes motor radiating, reduces the risk of motor damage.
Further, with the principle in the first Reduction of Students' Study Load of motor cabinet setting hole, above-mentioned technical proposal is improved, before described
The second Reduction of Students' Study Load of setting hole on wheel seat and rear wheel seat, the second Reduction of Students' Study Load hole mitigate the weight of front-wheel seat and rear wheel seat, further decrease vehicle
Frame self weight.
Further, the specific structure in the second Reduction of Students' Study Load hole of setting are as follows: the second Reduction of Students' Study Load hole is rectangular through-hole, and
Second Reduction of Students' Study Load hole is uniformly distributed on the side surface of front-wheel seat and rear wheel seat.In addition to this, the second Reduction of Students' Study Load hole may also be arranged to it
His shape and by the way of different distributions.
The above content is illustrated vehicle frame from structure, when concrete application again, two electricity of differential drive arrangement
Machine is rotated by the control of master control borad respectively, and the corresponding two driving wheel rotational parameters of motor are also variant, can be realized difference with this
Divide and turns to；When the rotational parameters of two driving wheels are identical, it can be achieved that moving forward and backward.
Compared with prior art, the utility model has the following beneficial effects:
1. differential drive arrangement is arranged in the utility model, traveling is realized by way of differential driving, is turned to, can be avoided
The turning radius defect of hinged shaft steering mechanism, or even can be realized pivot stud.
2. the utility model by setting middle web frame for the plate face of vehicle frame, facilitates the self weight for reducing vehicle frame, while
Conducive to various installing components are connected and fixed on vehicle frame, the convenient position for changing component at any time, using flexible is good, compatibility
It is high.
3. the utility model evacuates layer and dense layer by the way that middle web frame to be arranged to, on the basis of guaranteeing stable connection
The self weight for reducing vehicle frame reduces the energy consumption of AGV, improves the continuation of the journey of AGV.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings only shows the section Example of the utility model, therefore does not answer
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the overall structure diagram and partial enlargement diagram at one visual angle of the utility model.
Fig. 2 is the overall structure diagram at another visual angle of the utility model.
Fig. 3 is the utility model overlooking structure diagram.
Fig. 4 is the utility model side structure schematic view.
Fig. 5 is the utility model present invention looks up structural representation.
Fig. 6 is the utility model positive structure diagram.
In figure: 1- pedestal；101- outer edge strip；102- dense layer；103- evacuates layer；2- motor cabinet；The Reduction of Students' Study Load of 201- first hole；
3- driving wheel；4- front-wheel seat；The Reduction of Students' Study Load of 401- second hole；4 '-rear wheel seats；5- front jockey wheel；5 '-rear directive wheels；The first clamp of 6-；
The second clamp of 7-；8- screw hole.
Specific embodiment
With reference to the accompanying drawing and specific embodiment does further explaination to the utility model.
Embodiment 1:
As shown in Fig. 1~Fig. 6, present embodiment discloses the AGV operation vehicle frames based on differential driving, including vehicle frame and setting
Drive system below vehicle frame.
In the present embodiment, the vehicle frame includes pedestal 1, and pedestal includes the outer edge strip 101 of rectangle and is set to outer rim
Grid-like middle net in item, the middle net include dense layer 102 and evacuation layer 103, and the evacuation layer is fitted under dense layer
Portion, evacuation layer is identical with the thickness of dense layer and half that be outer edge strip height.
Outer edge strip and middle net are all made of polyurethane material and are made, and outer edge strip and middle net are integrally formed.
The center of vehicle frame is equipped with differential drive arrangement along broadside, and differential drive arrangement includes master control borad and two
The rectangular motor cabinet 2 being oppositely arranged；In the present embodiment, master control borad may be provided on vehicle frame, may also be arranged on vehicle frame and takes
In other controllers carried, when being arranged in other controllers, managed convenient for integrated control；It is equipped in motor cabinet and master control
The motor of plate electrical connection, machine shaft connect retarder, and retarder is connected to driving wheel, and two motors respectively drive a driving
Wheel 3, when the motion state of two motors is synchronous, it can be achieved that the forward or backward of AGV, when the motion state of two motors is mutual
, it can be achieved that the steering of AGV when asynchronous；It is provided with preceding guidance set and rear guidance set in the middle part of two broadsides of the vehicle frame,
The preceding guidance set and rear guidance set respectively include front-wheel seat 4 and rear wheel seat 4 ', and front-wheel seat is equipped with front jockey wheel 5, after
Wheel seat is equipped with rear directive wheel 5 '.
Need to install the other component of carrying AGV on vehicle frame, and layout of each component on vehicle frame will affect the fortune of AGV
To make, each component is freely set for convenience, its position is reasonably laid, the present embodiment optimizes above scheme,
Connection clamp straight up is provided on the motor cabinet, front-wheel seat and rear wheel seat, connection clamp includes being caught in evacuation layer
The first clamp 6 and be caught in the second clamp 7 of dense layer, the second clamp is located at the top of the first clamp, and the top of the second clamp
End is provided with screw hole 8.First clamp and the second clamp are rectangular, and the mesh size phase of the size of the second clamp and dense layer
Together.
Evacuating layer, corresponding mesh size is different with dense layer, and the mesh size for evacuating layer is greater than the mesh ruler of dense layer
Very little, increase is connected and fixed the stability that installation a little can be improved, therefore optimizes to above-mentioned technical proposal, first clamp
Top is set there are two the second clamp or three clamps.
Motor cabinet size for front-wheel seat and rear wheel seat is larger, and installs driving force component, is easy to loosen, therefore
It needs to be arranged more point stress to be stablized；And the structure size of front-wheel seat and rear wheel seat is relatively small, it is only necessary to install driven
Component, stability are relatively high；Therefore the present embodiment optimizes above-mentioned technical solution, the connection card on the motor cabinet
Head quantity is greater than two, and is respectively positioned on the side surface of motor cabinet, and the connection clamp on front-wheel seat and rear wheel seat is located at the upper end
Face.
In the present embodiment, in order to improve stability, installation difficulty is reduced, the convenience of installation, motor cabinet, front-wheel are improved
Seat and rear wheel seat and the connection card that is provided thereon are first body formed.
Middle net is arranged to dense layer and evacuation layer, wherein dense layer guarantees the stabilization of connecting component for being connected and fixed
Property, mesh size of the mesh size greater than dense layer of layer is evacuated, materials can be reduced, reduces the self weight of vehicle frame, reduces energy consumption,
Increase continuation of the journey.Following setting in the present embodiment, the longitudinal direction of evacuation one mesh of layer correspond to dense layer two and arrange by long side
The mesh of cloth is evacuated and corresponds to three mesh arranged by short side of dense layer on the short side direction of one mesh of layer.
Evacuation layer and the dense layer include lateral glazing bar and longitudinal glazing bar, and lateral glazing bar and longitudinal glazing bar mutually hang down
Directly, lateral glazing bar is identical as longitudinal thickness of glazing bar.
In the present embodiment, lateral glazing bar is parallel to the longitudinal direction of outer edge strip, and between dense layer adjacent transverse glazing bar
Spacing is equal to the thickness of lateral glazing bar.
In order to further decrease the self weight of vehicle frame, reducing energy consumption and improve continuation of the journey, above-mentioned technical proposal is optimized, i.e.,
The first Reduction of Students' Study Load hole 201 is provided on the motor cabinet.
The first Reduction of Students' Study Load hole specific structure being arranged are as follows: the first Reduction of Students' Study Load hole is rectangular through-hole, the first Reduction of Students' Study Load Kong Lian
The inside of energization base；First Reduction of Students' Study Load hole is uniformly distributed on the side surface of electrode tip holder and bottom surface, in addition to this, the first Reduction of Students' Study Load
Hole may also be arranged to other shapes and use different distribution schemes.Reduction of Students' Study Load hole is communicated to inside motor cabinet, is able to achieve interior outer space
The circulation of gas promotes motor radiating, reduces the risk of motor damage.
With the principle in the first Reduction of Students' Study Load of motor cabinet setting hole, above-mentioned technical proposal is improved, the front-wheel seat is with after
The second Reduction of Students' Study Load of setting hole 401 on wheel seat, the second Reduction of Students' Study Load hole mitigate the weight of front-wheel seat and rear wheel seat, further decrease vehicle frame certainly
Weight.
The specific structure in the second Reduction of Students' Study Load hole being arranged are as follows: the second Reduction of Students' Study Load hole is rectangular through-hole, and second lightens the burden
Hole is uniformly distributed on the side surface of front-wheel seat and rear wheel seat.In addition to this, second Reduction of Students' Study Load hole may also be arranged to other shapes and
By the way of different distributions.
The above content is illustrated vehicle frame from structure, when concrete application again, two electricity of differential drive arrangement
Machine is rotated by the control of master control borad respectively, and the corresponding two driving wheel rotational parameters of motor are also variant, can be realized difference with this
Divide and turns to；When the rotational parameters of two driving wheels are identical, it can be achieved that moving forward and backward.
Embodiment 2:
Present embodiment discloses the AGV operation vehicle frames based on differential driving, including vehicle frame and the drive being arranged in below vehicle frame
Dynamic system.
Use the technical solution different from embodiment 1 in the present embodiment, it is specific the difference is that:
Motor cabinet needs are regularly maintained, and in order to improve its service life, avoid maintenance from damaging motor cabinet, this implementation
In example, motor cabinet and connection clamp are connected by modes such as clamping, threaded connection or bondings.
Front-wheel seat can also carry out similar setting with the connection clamp on rear wheel seat, and the benefit being arranged in this way is long-time
Using motor cabinet, front-wheel seat and rear wheel seat is hardly damaged, connection clamp is only needed to change in maintenance, that is, can reach stable connection
Purpose.
The structure and connection relationship at other positions are in the same manner as in Example 1 in the present embodiment, are not described in more detail here.
Above is the several embodiments that the utility model is enumerated, but the utility model is not limited to above-mentioned optional reality
Apply mode, those skilled in the art can obtain other numerous embodiments according to the mutual any combination of aforesaid way, anyone
Other various forms of embodiments can be all obtained under the enlightenment of the utility model.Above-mentioned specific embodiment should not be understood in pairs
The limitation of the protection scope of the utility model, the protection scope of the utility model should be subject to be defined in claims,
And specification can be used for interpreting the claims.
Claims (10)
1. the AGV operation vehicle frame based on differential driving, including vehicle frame and the drive system being arranged in below vehicle frame；Its feature exists
In:
The vehicle frame includes pedestal (1), and pedestal includes the outer edge strip (101) of rectangle and is set in grid-like in outer edge strip
Net, the middle net include dense layer (102) and evacuation layer (103), and the evacuation layer is fitted in the lower part of dense layer, evacuation layer and
The thickness of dense layer is identical and is the half of outer edge strip height；
The center of the vehicle frame is equipped with differential drive arrangement along broadside, and differential drive arrangement includes master control borad and two
The rectangular motor cabinet (2) being oppositely arranged, motor cabinet is interior to be equipped with the motor being electrically connected with master control borad, and machine shaft connection is slowed down
Device, retarder are connected to driving wheel (3)；It is provided with preceding guidance set and rear guidance set in the middle part of two broadsides of the vehicle frame,
The preceding guidance set and rear guidance set respectively include front-wheel seat (4) and rear wheel seat (4 '), and front-wheel seat is equipped with front jockey wheel
(5), rear wheel seat is equipped with rear directive wheel (5 ')；
Connection clamp straight up is provided on the motor cabinet, front-wheel seat and rear wheel seat, connection clamp is thin including being caught in
It dissipates the first clamp (6) of layer and is caught in the second clamp (7) of dense layer, the second clamp is located at the top of the first clamp, and second
The top of clamp is provided with screw hole (8).
2. the AGV operation vehicle frame according to claim 1 based on differential driving, it is characterised in that: first clamp
Top is equipped at least two second clamps.
3. the AGV operation vehicle frame according to claim 1 based on differential driving, it is characterised in that: on the motor cabinet
Connection clamp be located at the side surface of motor cabinet, the connection clamp on front-wheel seat and rear wheel seat is located at end face thereon.
4. the AGV operation vehicle frame according to claim 1 based on differential driving, it is characterised in that: the evacuation layer
Mesh size is greater than the mesh size of dense layer, and the longitudinal direction of evacuation one mesh of layer corresponds to dense layer two and arranges by long side
Mesh, evacuate and correspond to dense layer three on the short side direction of one mesh of layer by the mesh of short side arrangement.
5. the AGV operation vehicle frame according to claim 1 based on differential driving, it is characterised in that: the evacuation layer and
The dense layer includes lateral glazing bar and longitudinal glazing bar, and lateral glazing bar and longitudinal glazing bar are mutually perpendicular to, lateral glazing bar with indulge
Thickness to glazing bar is identical.
6. the AGV operation vehicle frame according to claim 5 based on differential driving, it is characterised in that: the lateral glazing bar
It is parallel to the longitudinal direction of outer edge strip, and the spacing between dense layer adjacent transverse glazing bar is equal to the thickness of lateral glazing bar.
7. the AGV operation vehicle frame according to claim 1 based on differential driving, it is characterised in that: on the motor cabinet
It is provided with the first Reduction of Students' Study Load hole (201).
8. the AGV operation vehicle frame according to claim 7 based on differential driving, it is characterised in that: first Reduction of Students' Study Load
Hole is rectangular through-hole, the inside of the first Reduction of Students' Study Load hole connection motor cabinet；Side surface and bottom surface of the first Reduction of Students' Study Load hole in electrode tip holder
On be uniformly distributed.
9. the AGV operation vehicle frame according to claim 1 based on differential driving, it is characterised in that: the front-wheel seat and
The second Reduction of Students' Study Load hole (401) is provided on rear wheel seat.
10. the AGV operation vehicle frame according to claim 9 based on differential driving, it is characterised in that: second Reduction of Students' Study Load
Hole is rectangular through-hole, and the second Reduction of Students' Study Load hole is uniformly distributed on the side surface of front-wheel seat and rear wheel seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821381984.2U CN208682972U (en) | 2018-08-24 | 2018-08-24 | AGV operation vehicle frame based on differential driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821381984.2U CN208682972U (en) | 2018-08-24 | 2018-08-24 | AGV operation vehicle frame based on differential driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208682972U true CN208682972U (en) | 2019-04-02 |
Family
ID=65886825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821381984.2U Active CN208682972U (en) | 2018-08-24 | 2018-08-24 | AGV operation vehicle frame based on differential driving |
Country Status (1)
| Country | Link |
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| CN (1) | CN208682972U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111580073A (en) * | 2020-04-10 | 2020-08-25 | 昆山同孚智能技术有限公司 | Detection method for measuring distribution quality of AGV laser navigation reflecting plate |
-
2018
- 2018-08-24 CN CN201821381984.2U patent/CN208682972U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111580073A (en) * | 2020-04-10 | 2020-08-25 | 昆山同孚智能技术有限公司 | Detection method for measuring distribution quality of AGV laser navigation reflecting plate |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230705 Address after: 201303 building C, No. 888, Huanhu West 2nd Road, Lingang New Area, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: SHANGHAI MITA NETWORK TECHNOLOGY Co.,Ltd. Address before: 100000 Beijing Chaoyang District Balizhuang Xili 61 Building 20 Floors 2006 Patentee before: BEIJING METASOTA NETWORK TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |