CN209117365U - Omnibearing ambulation AGV Wheels group arrangement measuring system - Google Patents
Omnibearing ambulation AGV Wheels group arrangement measuring system Download PDFInfo
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- CN209117365U CN209117365U CN201821847858.1U CN201821847858U CN209117365U CN 209117365 U CN209117365 U CN 209117365U CN 201821847858 U CN201821847858 U CN 201821847858U CN 209117365 U CN209117365 U CN 209117365U
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- speed reducer
- driving wheel
- disc spring
- spring
- wheel
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Abstract
The utility model discloses a kind of omnibearing ambulation AGV Wheels group arrangement measuring systems comprising wheel carrier, the first driving motor, the first speed reducer, the first driving wheel, the second driving motor, the second speed reducer, the second driving wheel；First speed reducer and the second speed reducer are fixed by bolts on wheel carrier；The input shaft and output shaft of first speed reducer are separately connected the first driving motor and the first driving wheel；The input shaft and output shaft of second speed reducer are separately connected the second driving motor and the second driving wheel；And first driving wheel and the second driving wheel be distributed in the two sides of wheel carrier.The utility model can be improved measurement angle precision, and increase the serious forgiveness of system.
Description
Technical field
The utility model belongs to automated guided vehicle field technical field, relates in particular to a kind of omnibearing ambulation
AGV Wheels group arrangement measuring system.
Background technique
With advances in technology, AGV (Automated Guilded Vehicle) vehicle as it is a kind of have safeguard protection and
The carrier for transplanting function, because its supermatic characteristic, is widely used in mechanical stereo parking garage field.It is existing
AGV garage walking system generally use Mai Kanamu (Mecanum) wheel to carry out movement synthesis or using gear, the power trains such as steering engine
The fixing axle of rotate driving wheel of uniting realizes omnibearing ambulation, its higher cost of the AGV vehicle of this structure, to the essence of angle measurement
Spend it is lower, prevent AGV vehicle from using in some specific occasions.Therefore, a kind of novel AGV wheel group survey how is developed
Amount system can reduce equipment cost, improve measurement angle precision, and increase the serious forgiveness of system, be those skilled in the art
The direction for needing to study.
This example uses high resolution encoder, and the virtual value of measurement angle is lower than 0.1 °, improves measurement angle precision.
In addition the present apparatus uses closed-loop control, improves the serious forgiveness of system.
Utility model content
The purpose of the utility model is to provide a kind of omnibearing ambulation AGV Wheels group arrangement measuring systems, can be improved measurement
Angle precision, and increase the serious forgiveness of system.
The technical scheme adopted is as follows:
A kind of omnibearing ambulation AGV Wheels group arrangement measuring system comprising wheel carrier, the first driving motor, the first speed reducer,
First driving wheel, the second driving motor, the second speed reducer, the second driving wheel；First speed reducer and the second speed reducer pass through
Bolt is fixed on wheel carrier；The input shaft and output shaft of first speed reducer are separately connected the first driving motor and the first driving
Wheel；The input shaft and output shaft of second speed reducer are separately connected the second driving motor and the second driving wheel；And described first
Driving wheel and the second driving wheel are distributed in the two sides of wheel carrier.
By using this technical solution: being adjusted separately by the driving mechanism of two groups of driving motors and speed reducer and be located at wheel
The velocity of rotation of the driving wheel of frame two sides and direction.By the output revolving speed of control driving motor, driving wheel is made to obtain rotational speed difference,
Accurately regulate and control the steering angle of AGV vehicle.Wherein, it selects driving motor as the executing agency driven, improve double drive row
The precision of walking system, and driving motor has the characteristics that output torque is big, the operation is stable.
Preferably, in above-mentioned omnibearing ambulation AGV Wheels group arrangement measuring system: it further include suspension buffer system, it is described
Suspension buffer system is fixed on wheel carrier comprising lower cylinder, upper cylinder, spring, disc spring and thrust bearing；The lower cylinder is equipped with ring
Shape slot；The spring, disc spring and thrust bearing are located in annular groove, and the thrust bearing is located at annular groove bottom；Institute
It states on the upside of disc spring connection thrust bearing, on the upside of the spring connection disc spring；The upper cylinder includes top surface and side tube-wall；The side neck
Wall protrudes into annular groove and is located on the upside of disc spring；It is big that annular convex edge, the annular convex edge radius are equipped on the outside of the top surface edge
In annular groove radius, for limiting downward movement of the upper cylinder to lower cylinder；The side tube-wall inner wall is equipped with annular rib, the ring
Shape rib is located on the upside of spring.
By using this technical solution: upper cylinder is for being fixed on weight bearing bracket, and lower cylinder is for being fixed on rotating platform
On.When unsupported weight on the bracket that bears a heavy burden, side tube-wall protrudes into that annular groove portion is not in contact with disc spring and annular rib is pressed on
On spring, spring is in bending compressive state at this time, by the weight of spring supporting weight bearing bracket.And it is placed with when on weight bearing bracket
When weight, spring is in limited compression state.Side tube-wall is under pressure towards annular groove bottom movement, its bottom edge and dish at this time
Spring contact, mainly bears increased weight by disc spring.It is met under the different operating conditions of heavy duty and underloading as a result, as driving
Wheel provides the effect of enough adhesive force.In addition, make AGV vehicle in running on rough terrain using this mechanism, upper cylinder and lower cylinder
Spacing is generated when jolting, the power of disc spring compression at this time discharges first, then the power release of spring.Pass through disc spring and two layers of spring
Buffering avoids ground from jolting being transferred to weight bearing bracket, ensure that AGV vehicle is jolting road conditions when driving, the stability of weight bearing.
Preferably, in above-mentioned omnibearing ambulation AGV Wheels group arrangement measuring system: it further include encoder system, the volume
Code device system includes encoder stator and encoder magnet steel；The encoder stator is mutually fixed with upper cylinder；The encoder magnet steel
It is mutually fixed with lower cylinder.The encoder stator and encoder magnet steel constitute encoder system, which is high-resolution
Encoder system.
By using this technical solution: during AGV vehicle does steering movement, lower cylinder is rotated together with wheel carrier, phase
Divertical motion is generated for upper cylinder.Relative encoder's stator rotates encoder magnet steel therewith, is achieved in driving wheel around suspension
The measurement of buffer system rotational angle.In practice, the length of encoder magnet steel is total to by the distance that detection length and upper and lower cylinder separate
With decision.The encoder system that encoder stator and encoder magnet steel are constituted uses high resolution encoder, and measurement angle has
Valid value is lower than 0.1 °, improves measurement angle precision.In addition the serious forgiveness that closed-loop control improves system can be used in it.
It is further preferred that in above-mentioned omnibearing ambulation AGV Wheels group arrangement measuring system: the lower cylinder is equipped with the first conducting
Hole；First via hole and annular groove are concentric structure, its aperture less than annular groove radius；The top surface is equipped with second
Via hole.
By using this technical solution: the cable being powered for the driving mechanism on rotating platform sequentially passes through first
Thus via hole and the second via hole overcome the problem of electric wire is easy to produce coiling phenomenon when AGV vehicle turns to.
It is further preferred that in above-mentioned omnibearing ambulation AGV Wheels group arrangement measuring system: further including axle sleeve, the axle sleeve is solid
It is separated due in annular groove, by upper cylinder and lower cylinder.
By using this technical solution: setting axle sleeve separates upper cylinder and lower cylinder, for reducing between upper cylinder and lower cylinder
Abrasion, play lubricating action.
It may further be preferable that in above-mentioned omnibearing ambulation AGV Wheels group arrangement measuring system: further including upper disc spring pad, institute
Disc spring pad is stated to separate on the upside of disc spring, by spring and disc spring and side tube-wall and disc spring.
By using this technical solution: the above disc spring pad is realized disc spring and is protected, and disc spring quilt in loading process is prevented
Spring causes to scratch, while the pressure for making cylinder be transferred to disc spring becomes uniform.
It is even furthermore preferable that in above-mentioned omnibearing ambulation AGV Wheels group arrangement measuring system: it further include lower disc spring pad,
The lower disc spring pad is set on the downside of disc spring, separates disc spring and thrust bearing.
By using this technical solution: following disc spring pad is realized thrust bearing and is protected, and prevents disc spring in stress to releasing
Thrust bearing is caused to scratch during putting.
It is even furthermore preferable that in above-mentioned omnibearing ambulation AGV Wheels group arrangement measuring system: first speed reducer and
Second speed reducer uses parallel axle speed reducing machine.
By using this technical solution: parallel axle speed reducing machine has high-efficient, noise compared with other similar products
Small, maintenance cost is low, and installation is simple, and installation and debugging are simple.
It is even furthermore preferable that in above-mentioned omnibearing ambulation AGV Wheels group arrangement measuring system: first driving wheel and
Second driving wheel is made of polyurethane and aluminium alloy.
By using this technical solution: it is small with noise, and large carrying capacity is light-weight, and wearability is good, ground friction
The small advantage of coefficient.
It is even furthermore preferable that in above-mentioned omnibearing ambulation AGV Wheels group arrangement measuring system: further including roller ball axis
It holds, the rolling ball bearing is fixed on the axis of lower cylinder, is installed in wheel carrier.
By using this technical solution: when the first driving wheel and the second driving wheel be not in a horizontal plane, wheel carrier with
Centered on the axis of rolling ball bearing, adjust the angle of wheel carrier, thus guarantee driving wheel always with ground face contact.
It is even furthermore preferable that in above-mentioned omnibearing ambulation AGV Wheels group arrangement measuring system: it further include bearing (ball) cover,
The bearing (ball) cover connects rolling ball bearing.
By using this technical solution: the axial movement of suspension buffer system is limited with bearing (ball) cover, when AGV vehicle needs
When bringing to a halt, the inertia force of suspension buffer system is passed to wheel carrier by bearing (ball) cover.
Compared with prior art, the utility model structure is simple, easily prepared.It can be realized 360 ° of freedom of AGV wheel group
Steering, and have and provide enough adhesive force to driving wheel under by the different operating conditions such as roughness pavement and heavy duty/underloading, prevent
The only multiple functions such as coiling, measurement wheel group angle.In addition omnibearing ambulation AGV Wheels group arrangement measuring system is compiled using high-resolution
Code device, improves the precision of AGV wheel group rotational angle, while also achieving the closed-loop control of single AGV wheel group, improves system
Serious forgiveness.
Detailed description of the invention
The utility model is described in further detail with specific embodiment with reference to the accompanying drawing:
Fig. 1 is the structural schematic diagram of embodiment 1；
Fig. 2 is the schematic top plan view of Fig. 1；
Fig. 3 is the structural schematic diagram that buffer system and bearing, bearing (ball) cover are hung in Fig. 1；
Fig. 4 is the first working state schematic representation that buffer system is hung in Fig. 3；
Fig. 5 is the second working state schematic representation that buffer system is hung in Fig. 3；
Fig. 6 is the structural schematic diagram of lower cylinder in Fig. 4 and Fig. 5；
Fig. 7 is the structural schematic diagram of upper cylinder in Fig. 4 and Fig. 5；
Fig. 8 is the configuration schematic diagram of Fig. 1.
Each appended drawing reference and component names corresponding relationship are as follows:
1, wheel carrier；21, the first driving motor；22, the first speed reducer；23, the first driving wheel；31, the second driving motor；
32, the second speed reducer；33, the second driving wheel；4, buffer system is hung；6, axle sleeve；71, upper disc spring pad；72, lower disc spring pad；8,
Rolling ball bearing；9, bearing (ball) cover；41, lower cylinder；42, upper cylinder；43, spring；44, disc spring；45, thrust bearing；51, encoder
Stator；52, encoder magnet steel；411, the first via hole；412, annular groove；421, top surface；422, side tube-wall；423, convex annular
Edge；424, annular rib；4211, the second via hole.
Specific embodiment
In order to illustrate more clearly of the technical solution of the utility model, further retouched below in conjunction with each embodiment
It states.
As shown in figures 1-8 it is embodiment 1:
A kind of omnibearing ambulation AGV Wheels group arrangement measuring system comprising wheel carrier 1, the first driving motor 21, first slows down
Machine 22, the first driving wheel 23, the second driving motor 31, the second speed reducer 32, the second driving wheel 33 hang buffer system 4, rolling
Dynamic ball bearing 8 and bearing (ball) cover 9.
Wherein, first speed reducer 22 and the second speed reducer 32 are fixed by bolts on wheel carrier 1；Described first slows down
The input shaft and output shaft of machine 22 are separately connected the first driving motor 21 and the first driving wheel 23；Second speed reducer 32
Input shaft and output shaft are separately connected the second driving motor 31 and the second driving wheel 33；And first driving wheel 23 and second drives
Driving wheel 33 is distributed in the two sides of wheel carrier 1.
The suspension buffer system 4 is fixed on wheel carrier 1 comprising lower cylinder 41, upper cylinder 42, spring 43, disc spring 44, thrust
Bearing 45 and encoder system；The encoder system is high resolution encoder system；The lower cylinder 41 is equipped with annular groove
412；The spring 43, disc spring 44 and thrust bearing 45 are located in annular groove 412, and the thrust bearing 45 is located at annular
412 bottom of slot；The disc spring 44 connects 45 upside of thrust bearing, and the spring 43 connects 44 upside of disc spring；The upper cylinder 42 wraps
Include top surface 421 and side tube-wall 422；The side tube-wall 422 protrudes into annular groove 412 and is located at 44 upside of disc spring；The top surface 421
Annular convex edge 423 is equipped on the outside of edge, 423 radius of the annular convex edge is greater than 412 radius of annular groove, for limiting 42 pairs of upper cylinder
The downward movement of lower cylinder 41；422 inner wall of side tube-wall is equipped with annular rib 424, the annular rib 424 is located at spring 43
Upside.
The encoder system includes encoder stator 51 and encoder magnet steel 52；The encoder stator 51 and upper cylinder 42
It is mutually fixed；The encoder magnet steel 52 is fixed with lower 41 phase of cylinder.The lower cylinder 41 is equipped with the first via hole 411；Described first
Via hole 411 and annular groove 412 are concentric structure, its aperture less than 412 radius of annular groove；The top surface 421 is equipped with the
Two via holes 4211.The axle sleeve 6 is fixed in annular groove 12, separates upper cylinder 2 and lower cylinder 41.The upper disc spring pad 71 is set to
44 upside of disc spring separates spring 43 with disc spring 44 and side tube-wall 422 with disc spring 44.The lower disc spring pad 72 is set to disc spring 44
Downside separates disc spring 44 and thrust bearing 45.First speed reducer 22 and the second speed reducer 32 are slowed down using parallel axes
Machine.First driving wheel 23 and the second driving wheel 33 are made of polyurethane and aluminium alloy.Under the rolling ball bearing 8 is fixed on
On the axis of cylinder 41, it is installed in wheel carrier 1.The bearing (ball) cover 9 connects rolling ball bearing 8.
In practice, the course of work is as follows: being located at wheel carrier 1 by the first driving motor 21 and the adjustment of the first speed reducer 22
The velocity of rotation of first driving wheel 23 of side.Wheel carrier is located at by the second driving motor 31 and the adjustment of the second speed reducer 32 simultaneously
The velocity of rotation of second driving wheel 33 of 1 other side.By manufacturing rotational speed difference between two driving wheels, control accurate is realized
Corner of the AGV vehicle within the scope of 360 °.AGV vehicle in the process of moving, when unsupported weight on the bracket that bears a heavy burden, stretch by side tube-wall 22
Enter that 412 part of annular groove is not in contact with disc spring and annular rib 424 is pressed on spring 43.Spring 43 is in bending pressure at this time
Contracting state is supported the weight of weight bearing bracket by spring 43.And when being placed with weight on the bracket that bears a heavy burden, spring 43 is in limit pressure
Contracting state.Side tube-wall 422 is contacted towards the movement of 412 bottom of annular groove, its bottom edge with disc spring 32 under pressure at this time, main logical
Disc spring 32 is crossed to bear increased weight.It is met under the different operating conditions of heavy duty and underloading as a result, as 23 He of the first driving wheel
Second driving wheel 33 provides the effect of enough adhesive force.In addition, when the AGV vehicle using this mechanism is in running on rough terrain
When, upper cylinder 42 and lower cylinder 41 generate spacing when jolting, and the power that disc spring 32 is compressed at this time discharges first, and then spring 43 compresses
Power release.By the double buffering of disc spring 44 and spring 43, the vibration that ground is jolted is eliminated, it is prevented to be transferred to weight bearing branch
Frame, to ensure that the stability of AGV vehicle weight bearing.And when AGV vehicle does steering movement, encoder magnet steel 52 is around encoder
Stator 51 rotates, for measuring the angle of rotating platform rotation.When the first driving wheel and the second driving wheel be not in a horizontal plane
That wheel carrier can adjust the angle of wheel carrier centered on the axis of rolling ball bearing 8, guarantee driving wheel always with ground face contact.With
Upper described, only specific embodiment of the utility model, but protection scope of the utility model is not limited thereto, any to be familiar with
The technical staff of art technology is in technical scope disclosed by the utility model, and any changes or substitutions that can be easily thought of, all answers
Cover and is within the protection scope of the utility model.The protection scope of the utility model is with the protection scope of claims
It is quasi-.
Claims (5)
1. a kind of omnibearing ambulation AGV Wheels group arrangement measuring system, it is characterised in that: including wheel carrier (1), the first driving motor
(21), the first speed reducer (22), the first driving wheel (23), the second driving motor (31), the second speed reducer (32), the second driving wheel
(33) and buffer system (4) are hung；First speed reducer (22) and the second speed reducer (32) are fixed by bolts in wheel carrier (1)
On；The input shaft and output shaft of first speed reducer (22) are separately connected the first driving motor (21) and the first driving wheel
(23)；The input shaft and output shaft of second speed reducer (32) are separately connected the second driving motor (31) and the second driving wheel
(33)；And first driving wheel (23) and the second driving wheel (33) are distributed in the two sides of wheel carrier (1)；
The suspension buffer system (4) is fixed on wheel carrier (1) comprising lower cylinder (41), upper cylinder (42), spring (43), disc spring
(44), thrust bearing (45) and encoder system；The encoder system is high resolution encoder system, it includes encoder
Stator (51) and encoder magnet steel (52)；The lower cylinder (41) is equipped with annular groove (412)；The spring (43), disc spring (44)
It is located in annular groove (412) with thrust bearing (45), and the thrust bearing (45) is located at annular groove (412) bottom；Institute
It states on the upside of disc spring (44) connection thrust bearing (45), on the upside of spring (43) connection disc spring (44)；The upper cylinder (42) includes
Top surface (421) and side tube-wall (422)；The side tube-wall (422) is protruded into annular groove (412) and is located on the upside of disc spring (44)；Institute
It states and is equipped with annular convex edge (423) on the outside of top surface (421) edge, the annular convex edge (423) radius is greater than annular groove (412) half
Diameter, for limiting downward movement of the upper cylinder (42) to lower cylinder (41)；Side tube-wall (422) inner wall is equipped with annular rib
(424), the annular rib (424) is located on the upside of spring (43)；Regular coding device stator (51) on the upper cylinder (42)；It is described
Regular coding device magnet steel (52) on lower cylinder (41).
2. omnibearing ambulation AGV Wheels group arrangement measuring system as described in claim 1, it is characterised in that: it further include axle sleeve (6),
The axle sleeve (6) is fixed in annular groove (412), separates upper cylinder (2) and lower cylinder (41).
3. omnibearing ambulation AGV Wheels group arrangement measuring system as claimed in claim 2, it is characterised in that: first speed reducer
(22) and the second speed reducer (32) uses parallel axle speed reducing machine.
4. omnibearing ambulation AGV Wheels group arrangement measuring system as claimed in claim 3, it is characterised in that: further include roller ball axis
It holds (8), the rolling ball bearing (8) is fixed on the axis of lower cylinder (41), is installed in wheel carrier (1).
5. omnibearing ambulation AGV Wheels group arrangement measuring system as claimed in claim 4, it is characterised in that: further include bearing (ball) cover
(9), the bearing (ball) cover (9) connection rolling ball bearing (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821847858.1U CN209117365U (en) | 2018-11-09 | 2018-11-09 | Omnibearing ambulation AGV Wheels group arrangement measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821847858.1U CN209117365U (en) | 2018-11-09 | 2018-11-09 | Omnibearing ambulation AGV Wheels group arrangement measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209117365U true CN209117365U (en) | 2019-07-16 |
Family
ID=67204548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821847858.1U Active CN209117365U (en) | 2018-11-09 | 2018-11-09 | Omnibearing ambulation AGV Wheels group arrangement measuring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209117365U (en) |
-
2018
- 2018-11-09 CN CN201821847858.1U patent/CN209117365U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220719 Address after: 223700 No. 3001, greenbelt a, Huaihai Road, Zhongxing Street, Siyang County, Suqian City, Jiangsu Province Patentee after: Siyang Pengjin Technology Co.,Ltd. Address before: Room 3772, 3 / F, 2879 Longteng Avenue, Xuhui District, Shanghai, 200232 Patentee before: CHIPSPACE (SHANGHAI) INTELLIGENT TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220902 Address after: Room C181, 13th Floor, Building 1, Dongfangmao Commercial Center, Gongshu District, Hangzhou City, Zhejiang Province 310000 Patentee after: Zhejiang Xinbo Technology Co.,Ltd. Address before: 223700 No. 3001, greenbelt a, Huaihai Road, Zhongxing Street, Siyang County, Suqian City, Jiangsu Province Patentee before: Siyang Pengjin Technology Co.,Ltd. |