CN208931479U - A kind of AGV driving unit with damping and steering angle detection function - Google Patents
A kind of AGV driving unit with damping and steering angle detection function Download PDFInfo
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- CN208931479U CN208931479U CN201821712371.2U CN201821712371U CN208931479U CN 208931479 U CN208931479 U CN 208931479U CN 201821712371 U CN201821712371 U CN 201821712371U CN 208931479 U CN208931479 U CN 208931479U
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Abstract
The utility model relates to a kind of AGV driving unit with damping and steering angle detection function, it include bogie assembly, bogie assembly includes bottom plate, bottom base plate is equipped with differential drive device, the front and rear of bottom plate is respectively arranged with magnetic navigation sensor component, pivoting support component is housed at substrate center, pivoting support component includes rotary column, a toothed disc is set on rotary column, one piece of loose-leaf board is rotatably connected to above rotary column, loose-leaf board is fitted with compressed spring and spring bearer plate, the rear portion of loose-leaf board is fixedly connected with a horizontal axis, the both ends of horizontal axis are respectively provided with rolling bearing units, rolling bearing units are connected together with spring bearer plate with AGV car body, an angular transducer is additionally provided on loose-leaf board, loose-leaf board corresponding with angular transducer bottom is equipped with a detection gear；The utility model AGV driving unit, it is simple and compact for structure, it is easy to maintain, severe pavement behavior is adapted to, high transmission accuracy, speed is faster.
Description
Technical field
The utility model relates to automatic material flow equipment technical field, especially a kind of band damping and steering angle inspection
The AGV driving unit of brake.
Background technique
In the industries such as automobile, logistics, household electrical appliances, light industry, automated production is carried out with carrying type AGV more and more,
Due to all not accounting for the Automatic Conveying of material much with the old workshop of preplanning, often logistics corridor is narrow in these places, line
Side space is small, in order to which AGV is applied to these occasions, AGV is needed to have the function of to advance, retreat, is traversing etc..
But there are the following problems for the driving unit on AGV trolley traditional at present: 1. driving wheel generally uses chain to pass
Dynamic, chain is easily elongated, and service life is short, and transmission accuracy is low, and speed is generally less than 1m/s；2. driving unit is with respect to vehicle
The angle of revolution of body is less than ± 90 °, and does not have angle detection function, can only move forward and backward using the AGV of this driving unit,
It cannot be traversing；3. the damping of driving unit can only generally float in vertical direction, cannot be swung around car body center line,
Lead to AGV off-line because unilateral driving wheel skids also will appear on severe road surface.
Summary of the invention
In place of the purpose of this utility model is aiming at the driving unit above shortcomings on traditional AGV trolley,
It is fast to provide a kind of speed of travel, long service life, and adapt to band damping and the steering angle detection of severe pavement behavior
The AGV driving unit of function.
The concrete scheme of the utility model is: a kind of AGV driving unit with damping and steering angle detection function,
It include bogie assembly, the bogie assembly includes bottom plate, and bottom base plate is equipped with is driven by revolver driving device and right wheel
The differential drive device that dynamic device collectively forms, the front and rear of bottom plate are respectively arranged with magnetic navigation sensor component, substrate
Pivoting support component is housed, the pivoting support component includes rotary column, and a gear is set on rotary column at center
Disk is rotatably connected to one piece of loose-leaf board above the rotary column, and loose-leaf board is fitted with compressed spring and spring bearer plate, loose-leaf
The rear portion of plate is fixedly connected with a horizontal axis, and the both ends of horizontal axis are respectively provided with rolling bearing units, the rolling bearing units and spring bearer plate
It is connected together with AGV car body, an angular transducer is additionally provided on the loose-leaf board, work corresponding with the angular transducer
Page board bottom engages connection with the toothed disc equipped with a detection gear, the detection gear, and the angular transducer is for detecting
The measurement of gear rotational angle.
A lifting handle is additionally provided with above loose-leaf prelaminar part described in the utility model, when driving unit because failure can not
When work, lifts lifting handle manually and entire driving unit is lifted to disengaging ground together, AGV trolley can be dragged at this time
Maintenance.
Revolver driving device and right wheel driving device respectively include the direct current mounted in bottom base plate in the utility model
Servo motor, driving gear, driven gear and traveling wheel, wherein driving gear and DC servo motor are sequentially connected, actively
Gear engages connection with driven gear, and driven gear is coaxially connected with traveling wheel, and the outside of driving gear and driven gear also fills
There is gear guard, the driving device independent operation of the right and left collectively forms differential driving structure.
It is single that one piece of driving is respectively provided on loose-leaf board described in the utility model at the two sides symmetric position of compressed spring
First guide plate, the driving unit guide plate are contacted with AGV car body, primarily to guaranteeing AGV car body on the road surface of out-of-flatness
It is that front and back is floated without the offset of left and right directions when floating between traveling；The front part sides of loose-leaf board are also symmetrically arranged with limit
Bit switch, the limit switch are mainly used for limiting the hard-over of following bottom plate and driving device, i.e., when bottom plate to the left
Or turn right at limit switch extreme position when cannot be further continued for having rotated, realize the limit turn to limit.
The utility model has the following beneficial effects:
1, since loose-leaf board and rotary column are rotation connections, and AGV car body is and loose-leaf board floating connection, therefore this reality
± 125 ° can be reached relative to the angle of revolution range of AGV car body with novel middle bogie assembly, when entire driving unit with
When AGV car body is in 90 °, lateral walking is can be thus achieved in AGV.
2, due to being furnished with angular transducer on the utility model driving unit, which can detect detection tooth immediately
The rotation angle of wheel, and then the feedback that angle is rotated to AGV car body is realized by the conversion of gear total number of teeth in engagement ratio, this is for having
For the AGV trolley of two driving units, it is more convenient the operation of remote manual control.
3, since the output speed of DC servo motor and position precision are very accurate, then pass through driving gear, passive tooth
Wheel is formed together gear pair to drive traveling wheel to walk (traveling wheel is glue coating wheel), so that the stopping accuracy of AGV greatly improves, it can
Up to ± 5mm.
4, the connection of AGV car body and driving unit uses loose-leaf board, rolling bearing units, compressed spring etc. zero in the utility model
Component is attached, and plays the role of floating shock-absorbing, can adapt to the road surface of a variety of out-of-flatnesses, guarantees that driving wheel is non-slip.
The utility model AGV driving unit, it is simple and compact for structure, it is easy to maintain, adapt to severe pavement behavior, transmission essence
Degree is high, and speed is faster.
Detailed description of the invention
Fig. 1 is the utility model general structure schematic diagram；
Fig. 2 is the main view direction structural schematic diagram of the utility model；
Fig. 3 is the overlook direction structural schematic diagram of the utility model；
Fig. 4 is the main view direction structural schematic diagram of bogie assembly in the utility model；
Fig. 5 is the overlook direction structural schematic diagram of bogie assembly in the utility model.
In figure: 1-rolling bearing units, 2-horizontal axis, 3-driving unit guide plates, 4-limit switches, 5-angular transducers,
6-spring bearer plates, 7-lifting handles, 8-loose-leaf boards, 9-bottom plates, 10-magnetic navigation sensor components, 11-detection gears,
12-compressed springs, 13-toothed discs, 14-gear guards, 15-driven gears, 16-DC servo motors, 17-driving tooths
Wheel, 18-rotary columns, 19-traveling wheels.
Specific embodiment
Referring to Fig. 1-Fig. 5, the utility model is a kind of single with damping and the AGV of steering angle detection function driving
Member includes bogie assembly, and the bogie assembly includes bottom plate 9, and bottom base plate is equipped with by revolver driving device and the right side
The differential drive device that wheel drive unit collectively forms, the front and rear of bottom plate be respectively arranged with magnetic navigation sensor component 10(this
What the magnetic navigation sensor component at place was intended merely to the line walking of AGV trolley is facilitated to run, it needs to walk with the bottom surface of AGV trolley
Track route is used in combination), pivoting support component is housed, the pivoting support component includes revolution at substrate center
Column 18 is set with a toothed disc 13 on rotary column, one piece of loose-leaf board 8, loose-leaf is rotatably connected to above the rotary column
Plate is fitted with compressed spring 12 and spring bearer plate 6, and the rear portion of loose-leaf board is fixedly connected with a horizontal axis 2, the both ends point of horizontal axis
Not Zhuan You rolling bearing units 1, the rolling bearing units are connected with AGV car body together with spring bearer plate, are additionally provided on the loose-leaf board
One angular transducer 5, loose-leaf board corresponding with angular transducer bottom equipped with one detection gear 11, the detection gear with
The toothed disc engagement connection, the angular transducer are used to detect the measurement of gear rotational angle, detect gear for rotation angle
In degree feedback to angular transducer, by gear ratio and mutual diameter dimension, it can reflect that the utility model driving is single
Size of the member relative to the rotation angle of AGV car body.
A lifting handle 7 is additionally provided with above loose-leaf prelaminar part described in the present embodiment, when driving unit because failure can not
When work, lifts lifting handle manually and entire driving unit is lifted to disengaging ground together, AGV trolley can be dragged at this time
Maintenance.
Revolver driving device and right wheel driving device respectively include to watch mounted in the direct current of bottom base plate in the present embodiment
Motor 16, driving gear 17, driven gear 15 and traveling wheel 19 are taken, wherein driving gear and DC servo motor transmission connect
Connect, driving gear engages connection with driven gear, and driven gear is coaxially connected with traveling wheel, driving gear and driven gear it is outer
Portion is also equipped with gear guard 14, and the driving device independent operation of the right and left collectively forms differential driving structure.
One piece of driving unit is respectively provided at the two sides symmetric position of compressed spring on loose-leaf board described in the present embodiment
Guide plate 3, the driving unit guide plate are contacted with AGV car body, primarily to guaranteeing AGV car body in the road surface uplink of out-of-flatness
Into float when be front and back float without left and right directions offset；The front part sides of loose-leaf board are also symmetrically arranged with limit
Switch 4, the limit switch are mainly used for limiting the hard-over of following bottom plate and driving device, i.e., when bottom plate to the left or
Turn right extreme position at limit switch when cannot be further continued for having rotated, realize the limit that the limit turns to.
The utility model has the following beneficial effects:
1, since loose-leaf board and rotary column are rotation connections, and AGV car body is and loose-leaf board floating connection, therefore this reality
± 125 ° can be reached relative to the angle of revolution range of AGV car body with novel middle bogie assembly, when entire driving unit with
When AGV car body is in 90 °, lateral walking is can be thus achieved in AGV.
2, due to being furnished with angular transducer on the utility model driving unit, which can detect detection tooth immediately
The rotation angle of wheel, and then the feedback that angle is rotated to AGV car body is realized by the conversion of gear total number of teeth in engagement ratio, this is for having
For the AGV trolley of two driving units, it is more convenient the operation of remote manual control.
3, since the output speed of DC servo motor and position precision are very accurate, then pass through driving gear, passive tooth
Wheel is formed together gear pair to drive traveling wheel to walk (traveling wheel is glue coating wheel), so that the stopping accuracy of AGV greatly improves, it can
Up to ± 5mm.
4, the connection of AGV car body and driving unit uses loose-leaf board, rolling bearing units, compressed spring etc. zero in the utility model
Component is attached, and plays the role of floating shock-absorbing, can adapt to the road surface of a variety of out-of-flatnesses, guarantees that driving wheel is non-slip.
Claims (4)
1. a kind of AGV driving unit with damping and steering angle detection function, includes bogie assembly, the steering
Frame assembly includes bottom plate, and bottom base plate is equipped with the differential driving dress collectively formed by revolver driving device and right wheel driving device
It sets, the front and rear of bottom plate is respectively arranged with magnetic navigation sensor component, and pivoting support component is housed at substrate center, special
Sign is: the pivoting support component includes rotary column, is set with a toothed disc on rotary column, on the rotary column
Face is rotatably connected to one piece of loose-leaf board, and loose-leaf board is fitted with compressed spring and spring bearer plate, and the rear portion of loose-leaf board is fixedly connected
There is a horizontal axis, the both ends of horizontal axis are respectively provided with rolling bearing units, and the rolling bearing units are connected together with spring bearer plate with AGV car body
It connects, an angular transducer is additionally provided on the loose-leaf board, loose-leaf board corresponding with angular transducer bottom is equipped with an inspection
Gear is surveyed, which engages connection with the toothed disc, and the angular transducer is used to detect the survey of gear rotational angle
It is fixed.
2. a kind of AGV driving unit with damping and steering angle detection function according to claim 1, feature
It is: is additionally provided with a lifting handle above the loose-leaf prelaminar part.
3. a kind of AGV driving unit with damping and steering angle detection function according to claim 1, feature
Be: revolver driving device and right wheel driving device respectively include DC servo motor, the driving tooth mounted in bottom base plate
Wheel, driven gear and traveling wheel, wherein driving gear and DC servo motor are sequentially connected, and driving gear is nibbled with driven gear
Connection is closed, driven gear is coaxially connected with traveling wheel, and the outside of driving gear and driven gear is also equipped with gear guard.
4. a kind of AGV driving unit with damping and steering angle detection function according to claim 1, feature
It is: is respectively provided with one piece of driving unit guide plate, loose-leaf board at the two sides symmetric position of compressed spring on the loose-leaf board
Front part sides be also symmetrically arranged with limit switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821712371.2U CN208931479U (en) | 2018-10-22 | 2018-10-22 | A kind of AGV driving unit with damping and steering angle detection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821712371.2U CN208931479U (en) | 2018-10-22 | 2018-10-22 | A kind of AGV driving unit with damping and steering angle detection function |
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| Publication Number | Publication Date |
|---|---|
| CN208931479U true CN208931479U (en) | 2019-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821712371.2U Active CN208931479U (en) | 2018-10-22 | 2018-10-22 | A kind of AGV driving unit with damping and steering angle detection function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356185A (en) * | 2019-07-24 | 2019-10-22 | 常熟理工学院 | A kind of rotation lifting damping device for load-carrying driving wheel of motorcycle |
| CN110482442A (en) * | 2019-09-26 | 2019-11-22 | 黄石鼎信机电有限公司 | A kind of ultra-thin lifting omnidirectional AGV |
-
2018
- 2018-10-22 CN CN201821712371.2U patent/CN208931479U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356185A (en) * | 2019-07-24 | 2019-10-22 | 常熟理工学院 | A kind of rotation lifting damping device for load-carrying driving wheel of motorcycle |
| CN110356185B (en) * | 2019-07-24 | 2024-05-14 | 常熟理工学院 | Rotary lifting damping device for driving wheel of truck |
| CN110482442A (en) * | 2019-09-26 | 2019-11-22 | 黄石鼎信机电有限公司 | A kind of ultra-thin lifting omnidirectional AGV |
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