CN209080048U - A kind of automated guided vehicle - Google Patents
A kind of automated guided vehicle Download PDFInfo
- Publication number
- CN209080048U CN209080048U CN201821791997.7U CN201821791997U CN209080048U CN 209080048 U CN209080048 U CN 209080048U CN 201821791997 U CN201821791997 U CN 201821791997U CN 209080048 U CN209080048 U CN 209080048U
- Authority
- CN
- China
- Prior art keywords
- wheel
- chassis
- wheel assembly
- floating
- driven wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000002411 adverse Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The embodiments of the present invention disclose a kind of automated guided vehicle, are related to homing guidance technical field of transportation, invent to keep automated guided vehicle operation more steady.The automated guided vehicle, including chassis, on both sides of the middle on the chassis is equipped with the first driving wheel and the second driving wheel, driven wheel assembly is installed in the axis two sides of the first driving wheel and the second driving wheel on the chassis, at least side on the chassis in the axis of the first driving wheel and the second driving wheel is also equipped with floating wheel assembly, the floating wheel assembly, driven wheel assembly relative to the axis the same side for being located at the first driving wheel and the second driving wheel, end edge closer to the chassis in the same side, and the position on the relatively described chassis of floating wheel assembly can float up and down.The utility model embodiment is transported suitable for homing guidance.
Description
Technical Field
The utility model relates to an automated guidance transportation technical field especially relates to an automated guidance transport vechicle.
Background
An Automated Guided Vehicle (AGV) is a Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and has safety protection and various transfer functions, and belongs to the category of a Wheel Mobile Robot (WMR).
When the AGV accelerates or decelerates, the AGV may tilt forward or backward due to inertia, i.e., "nod". Specifically, when the AGV is decelerating, due to inertia, the AGV will have a forward tilting action, which may cause the driving wheels to slip or lift off the ground if the forward tilting angle is too large. When the AGV car accelerates, due to inertia, the AGV car can have a backward tilting action, and if the backward tilting angle is too large, the AGV car can also cause the driving wheels to slip or leave the ground.
When the center of gravity of the AGV is high or the acceleration and deceleration of the AGV is high, the phenomenon of "nodding" is more obvious, and the driving wheel may slip or even leave the ground, so that the operation of the AGV is not stable enough, and finally the AGV may deviate from the preset operation route.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the utility model provides an automatic guided transporting vehicle that operates more steadily is provided.
The embodiment of the utility model provides an automatic guide transport vechicle, including the chassis first drive wheel and second drive wheel are installed to the middle part both sides on chassis install from the driving wheel subassembly in the axis both sides of first drive wheel and second drive wheel still install the floating wheel subassembly in at least one side of the axis of first drive wheel and second drive wheel on the chassis, the floating wheel subassembly for the axis that lies in first drive wheel and second drive wheel from the driving wheel subassembly with one side, is closer to the chassis is at this tip edge with one side, just the floating wheel subassembly is relative the position ability fluctuation on chassis.
In a specific embodiment of the present invention, the floating wheel assembly includes a caster and a caster mounting seat, the caster is mounted at the lower end of the caster mounting seat, the upper end of the caster mounting seat is connected to a guide post, and a limiting component is disposed at the top end of the guide post; the guide post is arranged in the first through hole in a penetrating mode, an elastic piece is arranged between the mounting plate and the caster wheel mounting seat, and the mounting plate is mounted on the chassis.
The utility model discloses an in the concrete embodiment, the bottom of mounting panel is connected with the sleeve, the guide post is worn to establish in the sleeve, telescopic bottom with the interval has between the upper end of truckle mount pad.
The utility model discloses an among the concrete implementation mode, telescopic bottom with be equipped with the stop collar between the upper end of truckle mount pad, the second through-hole has on the stop collar, the stop collar passes through the second through-hole cover is established on the guide post, the top of stop collar with the interval has between the telescopic bottom.
In a specific embodiment of the present invention, the elastic member is a spring, and the elastic member is disposed on the guide post, or disposed around the sleeve.
In a specific embodiment of the present invention, the limiting component is a nut, a screw or a bayonet lock provided at the top end of the guide post.
In a specific embodiment of the present invention, the floating wheel assembly comprises a first floating wheel assembly and a second floating wheel assembly; the first floating wheel assembly is arranged on the first side of the axis of the first driving wheel and the second driving wheel and close to the end edge of the first end of the chassis, and the first end of the chassis is arranged on the first side of the axis of the first driving wheel and the second driving wheel; the second floating wheel assembly is arranged on the first side of the axis of the first driving wheel and the second driving wheel and close to the end edge of the second end of the chassis, and the second end of the chassis is arranged on the second side of the axis of the first driving wheel and the second driving wheel.
In a specific embodiment of the present invention, the driven wheel assembly includes a first driven wheel assembly, a second driven wheel assembly, a third driven wheel assembly and a fourth driven wheel assembly; the first driven wheel assembly and the second driven wheel assembly are arranged on the first side of the axis of the first driving wheel and the second driving wheel at intervals, the first driven wheel assembly, the second driven wheel assembly and the first floating wheel assembly are arranged on the chassis in a triangular mode, and the first floating wheel assembly is closer to the end edge of the first end of the chassis relative to the first driven wheel assembly and the second driven wheel assembly; third driven wheel subassembly and fourth driven wheel subassembly are established at the second side of the axis of first drive wheel and second drive wheel with interval, and third driven wheel subassembly, fourth driven wheel subassembly and second floating wheel subassembly are the triangle-shaped and arrange on the chassis, and the second floating wheel subassembly, for third driven wheel subassembly and fourth driven wheel subassembly, the tip edge that is closer to the second end of chassis.
The utility model discloses a specific embodiment, the interval size between first unsteady wheel subassembly and the unsteady wheel subassembly of second is greater than the interval size between two arbitrary driven wheel subassemblies.
In a particular embodiment of the present invention, the chassis is provided with a camera, and the floating wheel assembly is offset in a position directly in front of or directly behind the camera.
The embodiment of the utility model provides an automatic guided transporting vehicle, because still install the floating wheel subassembly in at least one side of the axis of first drive wheel and second drive wheel on the chassis, the floating wheel subassembly is for being located the axis of first drive wheel and second drive wheel with the same side from the driving wheel subassembly, more be close to the chassis is at this tip edge with one side, just the floating wheel subassembly is relative the position on chassis can fluctuate, like this, the accessible the supporting role of floating wheel subassembly suppresses or prevents the emergence of the some first phenomenon that AGV caused when accelerating or decelerating for AGV is at the operation of acceleration and deceleration in-process more steady.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of an automated guided vehicle according to an embodiment of the present invention;
FIG. 2 is a front view of the floating wheel assembly of FIG. 1;
FIG. 3 is a cross-sectional view taken along the direction J-J in FIG. 2;
FIG. 4 is a perspective view of the floating wheel assembly of FIG. 1;
fig. 5 is a schematic diagram of an exploded structure of the floating wheel assembly of fig. 1.
Detailed Description
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, the embodiment of the utility model provides an automatic guide transport vechicle, including chassis 1 first drive wheel 2 and second drive wheel 3 are installed to the middle part both sides of chassis 1 install in the axis both sides of first drive wheel 2 and second drive wheel 3 on chassis 1 from driving wheel subassembly 4 still install floating wheel subassembly 5 in at least one side of the axis of first drive wheel 2 and second drive wheel 3 on chassis 1, floating wheel subassembly 5 for being located the axis of first drive wheel 2 and second drive wheel 3 from the driven wheel subassembly with one side, is closer to the chassis is at this tip edge with one side, just floating wheel subassembly 5 is relative the position ability of chassis 1 floats from top to bottom.
In this embodiment, a lifting device or a belt conveyor may be mounted on the chassis 1. The first driving wheel 2 and the second driving wheel 3 are respectively connected with a driving motor through a speed reducing mechanism to provide power for the operation of the AGV. The first driving wheel 2 and the second driving wheel 3 can rotate by using differential speed, power for driving the AGV is provided, and in-situ rotation can be realized. The first driving wheel 2 and the second driving wheel 3 can be rigidly connected to the chassis 1, and optionally, in order to keep the first driving wheel 2 and the second driving wheel 3 in contact with the ground all the time during the traveling of the AGV, springs can be arranged between the first driving wheel 2 and the chassis 1 and between the second driving wheel 3 and the chassis 1, that is, the first driving wheel 2 and the second driving wheel 3 are elastically connected to the chassis 1, and when the AGV encounters an uneven ground, the first driving wheel 2 or the second driving wheel 3 can float up and down, so that the first driving wheel 2 and the second driving wheel 3 can keep in contact with the ground all the time during the traveling of the AGV. The driven wheel assembly 4 is provided with a driven wheel which plays a main bearing and supporting role. The driven wheel assembly 4 and the chassis 1 can be rigidly connected, i.e. the driven wheel is fixed in the up-and-down position relative to the chassis 1 during operation. The embodiment is not limited to this, and the driven wheel in the driven wheel assembly 4 may be elastically connected with the chassis 1.
In this embodiment, the loose wheel assembly 5 is located closer to the end edge of the chassis on the same side of the axis of the first and second drive wheels 2, 3 than to the driven wheel assembly 4 on that same side. For example, where the loose wheel assembly and a driven wheel assembly are co-located on a first side of the axes of the first and second drive wheels, i.e. co-located at the forward end of the chassis, the loose wheel assembly is closer to the end edge of the forward end of the chassis relative to the driven wheel assembly; when the loose wheel assembly and a driven wheel assembly are co-located on a second side of the axis of the first and second drive wheels, i.e. co-located at the rear end of the chassis, the loose wheel assembly is closer to the end edge of the rear end of the chassis relative to the driven wheel assembly. The front end of the chassis is the head of the AGV when moving forward, and correspondingly, the rear end of the chassis is the tail of the AGV when moving forward. In the present embodiment, the first side of the axis of the first drive wheel and the second drive wheel is taken as the front end portion of the chassis, and the second side of the axis of the first drive wheel and the second drive wheel is taken as the rear end portion of the chassis. The embodiment of the present invention is not limited to this, and in other embodiments, the first side of the axis of the first driving wheel and the second driving wheel may also be the rear end portion of the chassis, and correspondingly, the second side of the axis of the first driving wheel and the second driving wheel is the front end portion of the chassis.
In this embodiment, because still install floating wheel subassembly 5 in at least one side of the axis of first drive wheel 2 and second drive wheel 3 on chassis 1, floating wheel subassembly 5 is for being located the driven wheel subassembly of the axis of first drive wheel 2 and second drive wheel 3 with one side, is closer to the chassis is at this end edge with one side, just floating wheel subassembly 5 is relative chassis 1's position can fluctuate, and like this, the accessible floating wheel subassembly 5's supporting role suppresses or prevents the emergence of the some head phenomenon that the AGV caused when accelerating or decelerating for the operation of AGV at the acceleration and deceleration in-process is more steady.
In an embodiment of the present invention, the floating wheel assembly 5 includes a caster 51 and a caster mounting seat 52, the caster 51 is mounted at the lower end of the caster mounting seat 52, a guide column 53 is connected to the upper end of the caster mounting seat 52, and a limiting component 54 is disposed at the top end of the guide column 53; an installation plate 55 is arranged between the limiting component 54 and the upper end of the caster wheel installation seat 52, a first through hole 56 is formed in the installation plate 55, the guide column 53 penetrates through the first through hole 56, an elastic part 57 is arranged between the installation plate 55 and the caster wheel installation seat 52, and the installation plate 55 is installed on the chassis 1.
In this embodiment, the mounting plate 55 may be provided with a mounting hole, and the mounting plate 55 is fixed to the chassis 1 by a connector such as a bolt. The guide post 53 is inserted into the first through hole 56 of the mounting plate 55 and can move up and down along the first through hole 56, so that the caster wheel mounting seat 52 and the caster wheel 51 mounted thereon can move up and down (float). The limiting part 54 at the top end of the guide column 53 limits the guide column 53, so as to prevent the top end of the guide column from falling out of the first through hole 56, namely, prevent the loose wheel assembly 5 from falling out of the chassis 1. The elastic member 57 between the mounting plate 55 and the caster mounting seat 52 may be a cylindrical spring, a spring plate, a leaf spring, a bellows with a spring, or the like. In this embodiment, the elastic member 57 is a cylindrical spring, which not only can play a role in buffering, but also can tightly attach the caster to the ground due to the pretightening force of the spring, and the caster cannot leave the ground under different road conditions.
When truckle mount pad 52 floats from top to bottom, in order to reduce or avoid its horizontal hunting, the utility model discloses an embodiment, the bottom of mounting panel 55 is connected with sleeve 58, guide post 53 wears to establish in sleeve 58, the bottom of sleeve 58 with have the interval between the upper end of truckle mount pad 52. The sleeve 58 provides a better guide for the caster mount 52 to float up and down. The distance between the bottom end of the sleeve 58 and the upper end of the caster mount 52 defines the amount of travel of the caster mount 52 to float up and down.
In order to facilitate the flexible adjustment of the stroke of floating from top to bottom of the caster mounting seat 52, in an embodiment of the present invention, the bottom of the sleeve 58 and be equipped with the stop collar 59 between the upper end of the caster mounting seat 52, the second through hole has been provided on the stop collar 59, the stop collar 59 passes through the second through hole is sleeved and is established on the guide post 53, the top of the stop collar 59 with the interval has between the bottom of the sleeve 58. The size of the interval between the top end of the stop collar 59 and the bottom end of the sleeve 58 limits the stroke of the caster mounting seat 52 in up-and-down floating, and the size of the interval between the top end of the stop collar 59 and the bottom end of the sleeve 58 can be adjusted by replacing the stop collar 59 with different heights, so that the stroke of the caster mounting seat 52 in up-and-down floating can be flexibly adjusted.
In an embodiment of the present invention, the elastic member 57 is a spring, and is disposed on the guide post 53, or disposed around the sleeve 58.
In an embodiment of the present invention, the limiting component 54 is a screw disposed on the top end of the guiding column 53. The guide post 53 has a threaded hole at its top end, and the screw is screwed into the threaded hole. The embodiment of the utility model provides a be not limited to this, stop part 54 also can be nut, or bayonet lock, correspondingly the top of guide post 53 has the screw thread or inserts the through-hole or the draw-in groove of bayonet lock, and threaded connection is passed through on nut and the top of guide post 53, and perhaps, the bayonet lock is inserted and is established in the through-hole or the draw-in groove on guide post 53 top.
In this embodiment, the distance between the bottom end of the sleeve 58 and the upper end of the caster mount 52 can be adjusted by adjusting the relative position of the stopper 54 at the top end of the guide post 53, so that the stroke of the vertical movement of the caster mount 52 can be flexibly adjusted.
The loose wheel assembly 5 may be one or more. In an embodiment of the present invention, the floating wheel assembly 5 includes a first floating wheel assembly 5a and a second floating wheel assembly 5 b; wherein, the first floating wheel assembly 5a is arranged at the first side of the axial line of the first driving wheel 2 and the second driving wheel 3 and close to the end edge of the first end of the chassis, and the first end of the chassis 1 is arranged at the first side of the axial line of the first driving wheel 2 and the second driving wheel 3; a second floating wheel assembly 5b is provided at a first side of the axis of the first 2 and second 3 drive wheels and near the end edge of the second end of the chassis 1, which is located at a second side of the axis of the first 2 and second 3 drive wheels.
In the embodiment of the utility model, the first end on chassis is the head on chassis (the head when the chassis moves ahead promptly), and the second end on chassis is the afterbody on chassis (the afterbody when the chassis moves ahead promptly). First floating wheel subassembly 5a is close to the head setting on chassis, and second floating wheel subassembly 5b is close to the afterbody setting on chassis, the emergence of the some head phenomenon that prevents that AGV from causing when accelerating or slowing down that can be better for AGV is also steady relatively in the operation of acceleration and deceleration in-process. It should be understood that in other embodiments, the first end of the chassis may also be the tail of the chassis and the second end of the chassis may be the head of the chassis.
The driven wheel assembly 4 is provided with a caster wheel, and the size of the caster wheel (also called big caster wheel) arranged on the driven wheel assembly 4 is larger than that of the caster wheel (also called small caster wheel) arranged on the floating wheel assembly 5. The casters mounted on the driven wheel assembly 4 are the main load bearing assembly. The number of the driven wheel assemblies 4 can be one or more, in one embodiment of the present invention, the driven wheel assemblies 4 include a first driven wheel assembly 41, a second driven wheel assembly 42, a third driven wheel assembly 43 and a fourth driven wheel assembly 44; wherein, first driven wheel assembly 41 and second driven wheel assembly 42 are arranged at the first side of the axes of first driving wheel 2 and second driving wheel 3 at intervals, first driven wheel assembly 41, second driven wheel assembly 42 and first floating wheel assembly 5a are arranged in a triangular shape on chassis 1, and first floating wheel assembly 5a is closer to the end edge of the first end of chassis 1 than first driven wheel assembly 41 and second driven wheel assembly 42; third driven wheel assembly 43 and fourth driven wheel assembly 44 are provided spaced apart on a second side of the axis of first drive wheel 2 and second drive wheel 3, third driven wheel assembly 43, fourth driven wheel assembly 44 and second floating wheel assembly 5b are arranged in a triangular pattern on chassis 1, and second floating wheel assembly 5b is located closer to the end edge of the second end of chassis 1 than third driven wheel assembly 43 and fourth driven wheel assembly 44.
Wherein, for the AGV to operate steadily, the larger the arrangement interval of the truckles installed on the driven wheel assembly 4 for bearing is, the better.
In this embodiment, loose wheel subassembly 5 is triangle-shaped with two adjacent driven wheel subassemblies 4 and arranges, and for driven wheel subassembly 4, loose wheel subassembly 5 is more close to chassis 1's head or afterbody, when improving the support capacity, the emergence of some first phenomena that can better restrain or prevent that AGV causes when accelerating or slowing down for AGV operation at the acceleration and deceleration in-process is more steady.
The utility model relates to an embodiment, the interval size between first unsteady wheel subassembly 5a and the unsteady wheel subassembly 5b of second is greater than arbitrary two interval sizes from between the driving wheel subassembly 4, makes the AGV walking more steady like this, and "nodding" phenomenon is more unobvious during acceleration and deceleration.
In order to improve the stability of the support, in an embodiment of the present invention, the first driven wheel assembly 41 and the second driven wheel assembly 42 are symmetrically arranged with respect to the longitudinal centerline of the chassis 1, and the third driven wheel assembly 43 and the fourth driven wheel assembly 44 are also symmetrically arranged with respect to the longitudinal centerline of the chassis 1; first driven wheel assembly 41 and third driven wheel assembly 43 are symmetrically disposed with respect to the axis of first drive wheel 2 and second drive wheel 3, and second driven wheel assembly 42 and fourth driven wheel assembly 44 are symmetrically disposed with respect to the axis of first drive wheel 2 and second drive wheel 3.
In order to enable the AGVs to travel along a plurality of two-dimensional codes laid on the ground, that is, the two-dimensional code laying route is used as the traveling route of the AGVs, a camera (not shown in the figure) is installed on the chassis, and the two-dimensional codes on the ground are identified by the camera so as to guide the traveling of the AGVs according to the identification result. In order to avoid rolling of the ground two-dimensional code of laying of AGV's truckle when walking, it is right from this to the camera the adverse effect that the degree of accuracy of the discernment of two-dimensional code probably brought, in an embodiment of the utility model, the loose wheel subassembly is skew the dead ahead or the dead astern setting of camera. The dead ahead of camera is the dead ahead of AGV walking direction, and the dead behind of camera is the dead behind of AGV walking direction. When the camera is mounted in a central position on the chassis, the loose wheel assembly is arranged offset from the longitudinal centre line of the chassis 1.
When the floating wheel assembly includes the first floating wheel assembly 5a and the second floating wheel assembly 5b, the first floating wheel assembly 5a and the second floating wheel assembly 5b are disposed offset from the front or the rear of the camera. The first and second floating wheel assemblies 5a and 5b are arranged offset along the longitudinal centre line of the chassis 1, when the camera is mounted in the centre of the chassis. Wherein the longitudinal centre line of the chassis 1 is perpendicular to the axes of the first 2 and second 3 drive wheels.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides an automatic guide transport vechicle, includes the chassis first drive wheel and second drive wheel are installed to the middle part both sides of chassis driven wheel subassembly is installed in the axis both sides of first drive wheel and second drive wheel on the chassis, its characterized in that still install the floating wheel subassembly in at least one side of the axis of first drive wheel and second drive wheel on the chassis, the floating wheel subassembly for lieing in the axis of first drive wheel and second drive wheel from the driving wheel subassembly with one side, is closer to the chassis is at the tip edge of this same side, just the floating wheel subassembly is relative the position ability of chassis floats from top to bottom.
2. The automated guided vehicle of claim 1, wherein the loose wheel assembly comprises a caster wheel and a caster wheel mounting seat, the caster wheel is mounted at the lower end of the caster wheel mounting seat, a guide column is connected to the upper end of the caster wheel mounting seat, and a limiting part is arranged at the top end of the guide column;
the guide post is arranged in the first through hole in a penetrating mode, an elastic piece is arranged between the mounting plate and the caster wheel mounting seat, and the mounting plate is mounted on the chassis.
3. The automated guided vehicle of claim 2, wherein a sleeve is connected to the bottom of the mounting plate, the guide post is inserted into the sleeve, and a space is provided between the bottom end of the sleeve and the upper end of the caster wheel mounting seat.
4. The automated guided vehicle of claim 3, wherein a stop collar is disposed between the bottom end of the sleeve and the upper end of the caster mount, the stop collar has a second through hole, the stop collar is disposed on the guide post through the second through hole, and a space is disposed between the top end of the stop collar and the bottom end of the sleeve.
5. The automated guided vehicle of claim 3 or 4, wherein the resilient member is a spring that fits over the guide post or over the outer circumference of the sleeve.
6. The automated guided vehicle of claim 2, wherein the stop member is a nut, screw, or bayonet lock disposed at a top end of the guide post.
7. The automated guided vehicle of claim 1, wherein the floating wheel assembly comprises a first floating wheel assembly and a second floating wheel assembly; wherein,
the first floating wheel assembly is arranged on the first side of the axis of the first driving wheel and the second driving wheel and close to the end edge of the first end of the chassis, and the first end of the chassis is arranged on the first side of the axis of the first driving wheel and the second driving wheel;
the second floating wheel assembly is arranged on the first side of the axis of the first driving wheel and the second driving wheel and close to the end edge of the second end of the chassis, and the second end of the chassis is arranged on the second side of the axis of the first driving wheel and the second driving wheel.
8. The automated guided vehicle of claim 7, wherein the driven wheel assembly comprises a first driven wheel assembly, a second driven wheel assembly, a third driven wheel assembly, and a fourth driven wheel assembly; wherein,
the first driven wheel assembly and the second driven wheel assembly are arranged on the first side of the axis of the first driving wheel and the second driving wheel at intervals, the first driven wheel assembly, the second driven wheel assembly and the first floating wheel assembly are arranged on the chassis in a triangular mode, and the first floating wheel assembly is closer to the end edge of the first end of the chassis relative to the first driven wheel assembly and the second driven wheel assembly;
third driven wheel subassembly and fourth driven wheel subassembly are established at the second side of the axis of first drive wheel and second drive wheel with interval, and third driven wheel subassembly, fourth driven wheel subassembly and second floating wheel subassembly are the triangle-shaped and arrange on the chassis, and the second floating wheel subassembly, for third driven wheel subassembly and fourth driven wheel subassembly, the tip edge that is closer to the second end of chassis.
9. The automated guided vehicle of claim 7 or 8, wherein the amount of spacing between the first floating wheel assembly and the second floating wheel assembly is greater than the amount of spacing between any two driven wheel assemblies.
10. The automated guided vehicle of claim 1 or 7, wherein a camera is mounted on the chassis, and the loose wheel assembly is disposed offset from directly in front of or behind the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821791997.7U CN209080048U (en) | 2018-11-01 | 2018-11-01 | A kind of automated guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821791997.7U CN209080048U (en) | 2018-11-01 | 2018-11-01 | A kind of automated guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209080048U true CN209080048U (en) | 2019-07-09 |
Family
ID=67122026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821791997.7U Expired - Fee Related CN209080048U (en) | 2018-11-01 | 2018-11-01 | A kind of automated guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209080048U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110550124A (en) * | 2019-09-05 | 2019-12-10 | 珠海格力智能装备有限公司 | Transport mechanism |
| CN111891984A (en) * | 2020-06-24 | 2020-11-06 | 天津迦自机器人科技有限公司 | Fork lifting type AGV |
| CN112520601A (en) * | 2020-11-30 | 2021-03-19 | 陕西建设机械股份有限公司 | Tower crane becomes width of cloth dolly and tower crane |
-
2018
- 2018-11-01 CN CN201821791997.7U patent/CN209080048U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110550124A (en) * | 2019-09-05 | 2019-12-10 | 珠海格力智能装备有限公司 | Transport mechanism |
| CN111891984A (en) * | 2020-06-24 | 2020-11-06 | 天津迦自机器人科技有限公司 | Fork lifting type AGV |
| CN112520601A (en) * | 2020-11-30 | 2021-03-19 | 陕西建设机械股份有限公司 | Tower crane becomes width of cloth dolly and tower crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209080048U (en) | A kind of automated guided vehicle | |
| KR102140480B1 (en) | Wheel driving device for use of Automated Guided Vehicle | |
| US11066283B2 (en) | Suspension system for an automated guide vehicle | |
| EP1619002B1 (en) | Autonomous mobile structure on wheels | |
| CN107512325B (en) | Automatic guided vehicle | |
| CN114761309A (en) | Unmanned transport system | |
| CN209906284U (en) | AGV dolly jacking device | |
| CN114084567A (en) | AGV moving vehicle | |
| CN108725577B (en) | Driving steering unit and chassis for guiding transport vehicle | |
| CN212386261U (en) | Shock-absorbing structure and AGV dolly | |
| CN111976407B (en) | Shock-absorbing structure and AGV dolly | |
| CN214653378U (en) | Guide vehicle | |
| KR0120786Y1 (en) | Supension apparatus of an automatic guided vehicle | |
| JP7496545B2 (en) | Mobile body, transport device, and component mounting system | |
| CN113979037B (en) | Tray structure for stabilizing liquid level of mobile equipment | |
| CN210912665U (en) | Robot and chassis thereof | |
| CN110733058A (en) | obstacle-jumping shock-absorbing frame for AGV vehicle-carrying robot | |
| US20100104414A1 (en) | Workpiece Transport Assembly And Method Of Using Same | |
| KR20130020133A (en) | Agv for tracing underground guided wires | |
| CN219009843U (en) | Unmanned forklift | |
| CN219236864U (en) | AGV is transported to wheel pair | |
| CN210191059U (en) | Driving wheel structure and automatic guide transport vehicle | |
| CN220548899U (en) | Composite robot AGV trolley with vertical guide pillar type damping structure | |
| CN220390914U (en) | Submarine jacking AGV trolley | |
| JP3228246U (en) | Automated guided vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190709 Termination date: 20211101 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |