CN209052351U - A kind of small-sized heavily loaded omnidirectional AGV trolley lifted - Google Patents
A kind of small-sized heavily loaded omnidirectional AGV trolley lifted Download PDFInfo
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- CN209052351U CN209052351U CN201821406703.4U CN201821406703U CN209052351U CN 209052351 U CN209052351 U CN 209052351U CN 201821406703 U CN201821406703 U CN 201821406703U CN 209052351 U CN209052351 U CN 209052351U
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- agv trolley
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Abstract
The utility model discloses the small-sized heavily loaded omnidirectional AGV trolleies that one kind can lift, and belong to industrial automation and logistic storage technical field.There are four wheel group suspension for installation on the body shell, and are equipped with wheel mould group below each wheel group suspension, and the lifting mechanism is mounted on inside body shell；Accurate cycloid pin gear retarder is applied to wheel mould group by the small-sized heavily loaded omnidirectional's AGV trolley that can be lifted, improve the load-bearing capacity and torque of wheel, reduce the occupied installation space of wheel simultaneously, so that there is sufficiently large space for installing lifting mechanism in body shell, lifting mechanism is special duplex lifting mechanism, and compact-sized, the lifting force that multiple supporting arms work at the same time is larger, lifting movement is very steady, is suitable for automation and logistic storage.
Description
Technical field
The utility model relates to the small-sized heavily loaded omnidirectional AGV trolleies that one kind can lift, and belong to industrial automation and logistics storehouse
Store up technical field.
Background technique
Nowadays with the development of industrial automation industry, AGV vehicle is increasingly becoming the core in logistic storage automation scheme
Heart element.AGV vehicle traditional at present needs to combine other automated productions such as mechanical arm etc. real mostly without lifting function
The carrying of existing material, and have the AGV vehicle of lifting function often structure is complicated, it is bulky, it cannot achieve Miniaturization Design.And
Narrow, the complicated working space that AGV vehicle can be potentially encountered in actual use, therefore can realize the Mike of all-around mobile
Na Mu takes turns AGV vehicle will be increasingly by the favor of user.
Utility model content
In view of the above-mentioned problems, the technical problem to be solved by the present invention is to provide the small-sized heavily loaded omnidirectionals that one kind can lift
AGV trolley.
The small-sized heavily loaded omnidirectional's AGV trolley lifted of the utility model, it include body shell, wheel group suspension,
Wheel mould group and lifting mechanism, installation is there are four wheel group suspension on the body shell, and each wheel group suspension
Lower section is equipped with wheel mould group, and the lifting mechanism is mounted on inside body shell；
The body shell includes top plate, side plate A, side plate B, bottom plate and support plate, two sides pair below the top plate
Title is equipped with side plate A, and support plate is provided between side plate A, and the support plate is located at below top plate, between support plate and top plate
Several bottom plates are provided with, two sides are symmetrically arranged with side plate B below the support plate；
The wheel group suspension include support base, linkage, shock absorber and fixed ear base, the support base with
Linkage is hinged, and shock absorber is provided with above support base, hinged with fixed ear base above the shock absorber, under shock absorber
Side and support seat hinge, the linkage are fixedly connected with side plate A, side plate B and bottom plate respectively, and fixed ear base and top plate are solid
Fixed connection；
The wheel mould group includes wheel hub, roller, retarder and motor A, is equipped with several rollers on the wheel hub,
And one side end face of wheel hub is fixedly connected with retarder, the retarder is fixedly mounted on support base, and with motor A output shaft
It is direct-connected；
The lifting mechanism includes lifting supporting plate, active scissors supporting arm, driven scissors supporting arm, bearing block A, bearing
Seat B, ball screw, guide post, motor B, screw and nut seat are equipped with two groups of active scissors supporting arms under the lifting supporting plate
With two groups of driven scissors supporting arms, bearing block A is installed between two groups of active scissors supporting arm, described two groups driven is cut
Bearing block B is installed between formula supporting arm, ball screw and two guide posts, institute are installed on the bearing block A and bearing block B
The motor B stated is connected by synchronous pulley, synchronous belt and ball screw, and the screw is fixedly mounted on nut seat, screw
Seat is fixedly mounted between two groups of active scissors supporting arms, and is moved along guide post.
Preferably, the retarder of the wheel mould group is accurate cycloid pin gear retarder.
Preferably, the lifting mechanism is duplex shearing type lifting mechanism structure, and lift positioning there are four installations on supporting plate
Boss.
Compared with prior art, the utility model has the beneficial effects that the small-sized heavily loaded omnidirectional's AGV trolley that can be lifted will
Accurate cycloid pin gear retarder is applied to wheel mould group, improves the load-bearing capacity and torque of wheel, while reducing shared by wheel
Installation space, so that there is sufficiently large space to be used to install lifting mechanism in body shell, lifting mechanism is special pair
Join lifting mechanism, compact-sized, the lifting force that multiple supporting arms work at the same time is larger, and lifting movement is very steady, is applicable in
In automation and logistic storage.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the car body frame structure schematic diagram of the utility model；
Fig. 3 is the wheel group suspension structure schematic diagram of the utility model；
Fig. 4 is the wheel modular structure schematic diagram of the utility model；
Fig. 5 is the lifting mechanism structural schematic diagram of the utility model.
Appended drawing reference: body shell 1, top plate 101, side plate A102, side plate B103, bottom plate 104, support plate 105, wheel group are outstanding
Extension system 2, support base 201, linkage 202, shock absorber 203, fixed ear base 204, wheel mould group 3, wheel hub 301, roller
302, retarder 303, motor A304, lifting mechanism 4, lifting supporting plate 401, active scissors supporting arm 402, driven scissors supporting arm
403, bearing block A404, bearing block B405, ball screw 406, guide post 407, motor B408, screw 409, nut seat 410.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
As Figure 1-Figure 5, present embodiment uses following technical scheme: it includes body shell 1, the suspension of wheel group
System 2, wheel mould group 3 and lifting mechanism 4, installation is there are four wheel group suspension 2 on the body shell 1, and each wheel
Wheel mould group 3 is installed below group suspension 2, the lifting mechanism 4 is mounted on inside body shell 1.
The body shell 1 includes top plate 101, side plate A102, side plate B103, bottom plate 104 and support plate 105, described
101 lower section two sides of top plate be symmetrically equipped with side plate A102, and support plate 105 is provided between side plate A102, the support plate
105 are located at the lower section of top plate 101, are provided with several bottom plates 104 between support plate 105 and top plate 101, under the support plate 105
Square two sides are symmetrically arranged with side plate B103.
The wheel group suspension 2 includes support base 201, linkage 202, shock absorber 203 and fixed ear base 204,
The support base 201 and linkage 202 is hinged, and shock absorber 203 is provided with above support base 201, the shock absorber
203 tops and fixed ear base 204 are hinged, and 203 lower section of shock absorber and support base 201 are hinged, the linkage 202 respectively with
Side plate A102, side plate B103 are fixedly connected with bottom plate 104, and fixed ear base 204 is fixedly connected with top plate 101.
The wheel mould group 3 includes wheel hub 301, roller 302, retarder 303 and motor A304, the wheel hub 301
On several rollers 302 are installed, and 301 1 side end face of wheel hub is fixedly connected with retarder 303, and the retarder 303 is fixed
It is mounted on support base 201, and direct-connected with motor A304 output shaft, the retarder 303 of the wheel mould group 3 is accurate cycloid
Pinwheel reducer, wheel mould group 3 are divided into left-handed wheel mould group and dextrorotation wheel mould group according to the motion principle of Mecanum wheel, left
It is identical with dextrorotation wheel module mounting structure to revolve wheel mould group.
The lifting mechanism 4 includes lifting supporting plate 401, active scissors supporting arm 402, driven scissors supporting arm 403, axis
Hold an A404, bearing block B405, ball screw 406, guide post 407, motor B408, screw 409 and nut seat 410, the act
It rises and two groups of active scissors supporting arms 402 and two groups of driven scissors supporting arms 403, two groups of active scissors is installed under supporting plate 401
Bearing block A404 is installed between supporting arm 402, bearing block is installed between described two groups of driven scissors supporting arm 403
Ball screw 406 and two guide posts 407, the motor are installed on B405, the bearing block A404 and bearing block B405
B408 is connected by synchronous pulley, synchronous belt and ball screw 406, and the screw 409 is fixedly mounted on nut seat 410,
Nut seat 410 is fixedly mounted between two groups of active scissors supporting arms 402, and is moved along guide post 407, the lifting mechanism
4 be duplex shearing type lifting mechanism structure, and multiple supporting arms work at the same time, and larger lifting force can be obtained, and lifting process is more steady, and is lifted
Rising installation on supporting plate 401, there are four positioning convex platforms, can be used for the simple positioning of logistics transportation case.
The wheel mould group 3 of present embodiment is existing prior proprietary technologies, and it is practical new to have obtained the patent at present
Type people's associated authorization.The utility model patent number that the patent has authorized is 201720958548.6, and the utility model in substantive examination is special
Benefit number is 201710653738.1.
Working principle: the motor A304 in four wheel mould groups 3 is revolved by 303 deceleration torque increase zone of action motor car wheel of retarder
Turn, according to the kinetic characteristic of Mecanum wheel it is found that by the rotation speed and direction of rotation of four wheels of change, it can be achieved that small
The all-around mobile of vehicle；Secondly in trolley moving process or when stopping, motor B408 can be incited somebody to action by synchronous pulley and synchronous belt
Rotary motion passes to ball screw 406, since 406 both ends of ball screw are respectively supported at bearing block A404 and bearing block B405
On, so that screw 409 drives nut seat 410 to move in a straight line along guide post 407, nut seat 410 drives two active scissors branch
Bearing arm 402 does the lifting campaign up and down of vertical direction, and the driven scissors supporting arm 403 being fixedly connected with lifting supporting plate 401 is also same
Step carries out lifting movement up and down, and due to being that multiple supporting arms work at the same time, lifting force is larger and lifting movement is very steady.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. the small-sized heavily loaded omnidirectional AGV trolley that one kind can lift, it is characterised in that: it includes body shell (1), wheel group suspension system
It unites (2), wheel mould group (3) and lifting mechanism (4), wheel group suspension (2) there are four installations on the body shell (1),
And wheel mould group (3) is installed below each wheel group suspension (2), the lifting mechanism (4) is mounted on body shell (1)
Inside, the wheel group suspension (2) include support base (201), linkage (202), shock absorber (203) and fixed ear base
(204), the support base (201) and linkage (202) hingedly, and are provided with shock absorber above support base (201)
(203), the shock absorber (203) top and fixed ear base (204) hingedly, are cut with scissors below shock absorber (203) with support base (201)
It connects, the linkage (202) is fixedly connected with side plate A (102), side plate B (103) and bottom plate (104) respectively, fixed ear base
(204) it is fixedly connected with top plate (101).
2. the small-sized heavily loaded omnidirectional AGV trolley that one kind according to claim 1 can lift, it is characterised in that: the vehicle
Body frame (1) includes top plate (101), side plate A (102), side plate B (103), bottom plate (104) and support plate (105), the top
Two sides are symmetrically equipped with side plate A (102) below plate (101), and support plate (105), the branch are provided between side plate A (102)
Fagging (105) is located at below top plate (101), is provided between support plate (105) and top plate (101) several bottom plates (104), described
Support plate (105) below two sides be symmetrically arranged with side plate B (103).
3. the small-sized heavily loaded omnidirectional AGV trolley that one kind according to claim 1 can lift, it is characterised in that: the vehicle
Wheel model group (3) includes that wheel hub (301), roller (302), retarder (303) and motor A (304), the wheel hub are pacified on (301)
Equipped with several rollers (302), and (301) one side end face of wheel hub is fixedly connected with retarder (303), the retarder (303)
It is fixedly mounted on support base (201), and direct-connected with motor A (304) output shaft.
4. the small-sized heavily loaded omnidirectional AGV trolley that one kind according to claim 1 can lift, it is characterised in that: the act
Rising mechanism (4) includes lifting supporting plate (401), active scissors supporting arm (402), driven scissors supporting arm (403), bearing block A
(404), bearing block B (405), ball screw (406), guide post (407), motor B (408), screw (409) and nut seat (410),
Two groups of active scissors supporting arms (402) and two groups of driven scissors supporting arms (403) are installed under the lifting supporting plate (401),
It is equipped with bearing block A (404) between two groups of active scissors supporting arm (402), described two groups of driven scissors supporting arm
(403) it is equipped between bearing block B (405), ball screw is installed on the bearing block A (404) and bearing block B (405)
(406) He Lianggen guide post (407), the motor B (408) are connected by synchronous pulley, synchronous belt and ball screw (406),
The screw (409) is fixedly mounted on nut seat (410), and nut seat (410) is fixedly mounted on two groups of active scissors bearings
Between arm (402), and moved along guide post (407).
5. the small-sized heavily loaded omnidirectional AGV trolley that one kind according to claim 1 can lift, it is characterised in that: the vehicle
The retarder (303) of wheel model group (3) is accurate cycloid pin gear retarder.
6. the small-sized heavily loaded omnidirectional AGV trolley that one kind according to claim 1 can lift, it is characterised in that: the act
Rising mechanism (4) is duplex shearing type lifting mechanism structure, and there are four positioning convex platforms for installation in lifting supporting plate (401).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821406703.4U CN209052351U (en) | 2018-08-23 | 2018-08-23 | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821406703.4U CN209052351U (en) | 2018-08-23 | 2018-08-23 | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted |
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| Publication Number | Publication Date |
|---|---|
| CN209052351U true CN209052351U (en) | 2019-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821406703.4U Active CN209052351U (en) | 2018-08-23 | 2018-08-23 | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109019434A (en) * | 2018-08-23 | 2018-12-18 | 江苏哈工联合精密传动有限公司 | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted |
| CN110510029A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Mecanum wheel duplex branch leg and Omni-mobile posture adjustment platform |
| CN111776990A (en) * | 2020-07-08 | 2020-10-16 | 合肥井松智能科技股份有限公司 | Unmanned carrying automatic guided vehicle and guiding method thereof |
-
2018
- 2018-08-23 CN CN201821406703.4U patent/CN209052351U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109019434A (en) * | 2018-08-23 | 2018-12-18 | 江苏哈工联合精密传动有限公司 | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted |
| CN109019434B (en) * | 2018-08-23 | 2024-04-02 | 江苏哈工联合精密传动有限公司 | Small-size heavy load qxcomm technology AGV dolly that can lift |
| CN110510029A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Mecanum wheel duplex branch leg and Omni-mobile posture adjustment platform |
| CN110510029B (en) * | 2019-08-15 | 2021-07-30 | 燕山大学 | Mecanum wheel duplex branched chain leg and omnidirectional moving posture adjusting platform |
| CN111776990A (en) * | 2020-07-08 | 2020-10-16 | 合肥井松智能科技股份有限公司 | Unmanned carrying automatic guided vehicle and guiding method thereof |
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