CN209159844U - A kind of AGV with novel driving structure - Google Patents
A kind of AGV with novel driving structure Download PDFInfo
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- CN209159844U CN209159844U CN201821500927.1U CN201821500927U CN209159844U CN 209159844 U CN209159844 U CN 209159844U CN 201821500927 U CN201821500927 U CN 201821500927U CN 209159844 U CN209159844 U CN 209159844U
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Abstract
The AGV with novel driving structure of the utility model, driving structure including chassis and set on chassis two sides, driving structure includes mounting bracket, swinging mounting, driving mechanism and driving device, and for driving device for driving AGV to advance, swinging mounting is equipped with synchronization structure；There are two swinging mounting is set, two swinging mountings hingedly and between two swinging mountings by synchronization structure are connect with the both ends of mounting bracket respectively, two swinging mountings are respectively equipped with driving device, driving mechanism is used for driving, and wherein a swinging mounting is rotated relative to mounting bracket, while rotates another swinging mounting by the drive synchronous backward of synchronization structure.Compared with prior art, the AGV with novel driving structure of the utility model, the driving wheel that the two sides AGV are controlled in such a way that driving mechanism cooperates synchronization structure is realized to be rotated in symmetry direction synchronous backward, so that AGV not only has straight trip and traverse moving function, it can also realize to rotate in place and be lifted with low clearance, structure is simple, and manufacturing cost is low.
Description
Technical field
The utility model belongs to operation and technical field of transportation, and in particular to a kind of AGV with novel driving structure.
Background technique
Usually each side a driving wheel is fixedly mounted on above chassis traditional AGV differential driving structure, though
Right structure is simple, but since the mounting bracket of driving wheel is fixedly mounted on chassis, and driving can only be toward before single direction
It into retrogressing, can not accomplish to be provided simultaneously with straight trip and traverse moving function therefore, have the agv of traversing requirement that can only use Twin Rudders at present
Wheel cooperation universal wheel or realized using the structure of four Mecanum wheels, however, using four Mecanum wheel drives
Cost and the expense of maintenance be it is highest, followed by by the way of Twin Rudders wheel drive, and steering wheel is integrated with steering engine and driving
Wheel, so that its whole height is higher, it is that cannot achieve low clearance lifting using the AGV that steering wheel drives, to the user of AGV industry
It makes troubles.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, a kind of achievable low clearance lifting is provided, and is tied
Simple, the at low cost AGV with novel driving structure of structure.
In order to achieve the above object, the utility model uses following technical scheme:
A kind of AGV with novel driving structure, the driving structure including chassis and set on chassis two sides, the driving knot
Structure includes mounting bracket, swinging mounting, driving mechanism and driving device, and the driving device is for driving the AGV to advance, institute
Swinging mounting is stated equipped with synchronization structure；There are two the swinging mounting is set, two swinging mountings are propped up with the installation respectively
The both ends of frame hingedly and between two swinging mountings are connected by the synchronization structure, and two swinging mountings are respectively equipped with
Driving device, the driving mechanism is used for driving, and wherein a swinging mounting is rotated relative to mounting bracket, while making another swing branch
Frame is rotated by the drive synchronous backward of the synchronization structure.
Compared with prior art, the AGV with novel driving structure of the utility model is cooperated using driving mechanism and is synchronized
The driving device that the mode of structure controls the two sides AGV is realized to be rotated in symmetry direction synchronous backward, so that AGV not only has straight trip
And traverse moving function, can also realize rotate in place with low clearance lift, structure is simple, and manufacturing cost is low.
Alternatively, the synchronization mechanism includes revolving meber and two connecting rods, the revolving meber is rotatably arranged in mounting bracket
On, the both ends of the revolving meber are hinged with one end of two connecting rods respectively, the other end of two connecting rods respectively with it is corresponding
Swinging mounting is hinged；Two connecting rods are cooperated to drive the rotation of two driving device synchronous backwards using revolving meber, structure is simple, driving dress
It sets and turns to precision height.
Preferably, the synchronization structure is two transmission fluted discs, and the transmission fluted disc is respectively arranged on two swinging mountings, described
The gear teeth intermeshing of two transmission fluted discs；Using this structure, change driving dress using two transmission fluted disc synchronous backward rotations
The mode of steering is set, it is high that structure is simple, driving device turns to precision.
Preferably, the driving mechanism is the first push rod, and the cylinder body of first push rod and the mounting bracket are hinged, the
The telescopic rod of one push rod and a wherein swinging mounting are hinged；Alternatively, the cylinder body of the first push rod and a wherein swinging mounting are hinged, the
The telescopic rod of one push rod is hinged with mounting bracket, is arranged in this way, replaces steering engine change in the prior art using pusher structure
Driving device turns to, and structure is simpler, at low cost.
Preferably, first push rod is air-leg or hydraulic push rod or electric pushrod, first push rod are preferably
Air-leg, it is at low cost.
Preferably, the driving structure further includes the second push rod and rocking bar, the extension end of second push rod and rocking bar
One end is hinged with mounting bracket respectively, and the fixing end of second push rod and the other end of rocking bar are hinged with tray bottom respectively,
The distance between the chassis and mounting bracket can be changed in the straight reciprocating motion of second push rod；It is arranged in this way, makes
The AGV of the utility model has lifting function, is easy to use.
Preferably, second push rod is set to the top of the rocking bar, and the length of second push rod is less than the rocking bar
Length, alternatively, second push rod is arranged in the lower section of the rocking bar, the length of second push rod is greater than the rocking bar
Length；It is arranged in this way, the lifting or decline on chassis is controlled by the way of link mechanism linkage, lifting is stablized.
Preferably, the driving structure further includes mounting plate, the fixing end of second push rod and the other end point of rocking bar
Not hingedly on a mounting board, the mounting plate is set to the tray bottom；Be arranged in this way, facilitate the driving structure and
Assembly between the bottom AGV, other connection structures that no setting is required on the chassis can be with by processing mounting holes fit connection
Mounting plate completes assembly.
Preferably, there are two the rocking bar is set, the two sides of second push rod are located at；It is arranged in this way, makes
It is triangularly arranged between two push rods and two rocking bars, structure is more firm.
Preferably, the cylinder body of the second push rod and the mounting bracket are hinged, and the telescopic rod and mounting plate of the second push rod are hinged；
Alternatively, the cylinder body of the second push rod and the mounting plate are hinged, the telescopic rod and mounting bracket of the second push rod are hinged；Described second pushes away
Bar is air-leg or hydraulic push rod or electric pushrod；It replaces lifting using driving motor in the prior art using pusher structure driving
The mode risen, cost are lower.
It preferably, further include level detection device and control module, the second of level detection device and two driving structures pushes away
Bar is connect with the control module respectively, inclination angle of the level detection device chassis relative to horizontal position, the control
Progressive error that two second push rod of inclination angle state modulator that module is fed back according to level detection device stretches out so that the chassis with
Place ground keeps balance；It is arranged in this way, so that the AGV adaptive inclined-plane adjustment chassis is kept horizontality, keep away
Exempt from cargo to topple over, using reliable.
Detailed description of the invention
Fig. 1 is the schematic diagram of the AGV with novel driving structure；
Fig. 2 is the schematic diagram of the AGV reset condition with novel driving structure；
Fig. 3 is the schematic diagram that the AGV with novel driving structure lifts state；
Fig. 4 is the bottom schematic view of AGV straight-going state；
Fig. 5 is the bottom schematic view of the traversing state of AGV；
Fig. 6 is the bottom schematic view that AGV rotates in place state；
Fig. 7 is the side view that AGV is travelled on inclined-plane；
Fig. 8 is the half sectional view of Fig. 7；
Fig. 9 is the schematic diagram 1 for the four-bar mechanism that mounting plate, the second push rod, mounting bracket and rocking bar are constituted；
Figure 10 is the schematic diagram 2 for the four-bar mechanism that mounting plate, the second push rod, mounting bracket and rocking bar are constituted；
Figure 11 is the schematic diagram of driving structure.
Figure 12 is the schematic diagram of synchronization mechanism alternative driving mechanism straight-going state；
Figure 13 is the schematic diagram of the traversing state of synchronization mechanism alternative driving mechanism.
Specific embodiment
Below in conjunction with Detailed description of the invention the technical solution of the utility model includes:
Referring to Fig. 1 to Figure 11, the AGV with novel driving structure 2 of the utility model, including chassis 1 and be set to chassis 1
The driving structure 2 of two sides, the driving structure 2 include two swinging mountings 24, mounting bracket 21, driving mechanism 22 and driving dress
It sets, for the driving device for driving the AGV to advance, the driving device includes driving wheel 231 and driving motor 232, institute
Swinging mounting 24 is stated equipped with synchronization structure；Two swinging mountings 24 it is hinged with the both ends of the mounting bracket 21 respectively and
It is connected between two swinging mountings 24 by the synchronization structure, two swinging mountings 24 are respectively equipped with driving device, institute
State driving mechanism 22 for drive wherein a swinging mounting 24 with respect to mounting bracket 21 rotation, while make another swinging mounting 24 lead to
Cross the drive of the synchronization structure and synchronous backward rotates.
Referring to fig. 4 to Fig. 6, when the AGV of the utility model advances, four driving wheels are driven by two sides driving mechanism 22
AGV straight-line travelling is realized when 231 driving direction is parallel with AGV car body direction, when two sides driving mechanism 22 drives four drivings
The transverse shifting that AGV is realized when the driving direction of wheel 231 is vertical with AGV car body direction, due to two drivings of same driving structure 2
Wheel 231 is rotated in symmetry direction synchronous backward, when the axis of 22 4 driving wheels 231 of two sides driving mechanism intersects at a point
When can realize AGV origin rotation.
Compared with prior art, the AGV with novel driving structure 2 of the utility model is cooperated using driving mechanism 22
The driving wheel 231 that the mode of synchronization structure controls the two sides AGV is realized to be rotated in symmetry direction synchronous backward, so that AGV not only has
Standby straight trip and traverse moving function can also realize to rotate in place and lift with low clearance, manufacturing cost is low.
Referring to fig. 4 to Fig. 6 and Figure 11, preferably, the synchronization structure is to be respectively arranged on two swinging mountings
It is driven fluted disc 3, two transmission 3 gear teeth of fluted disc intermeshings, in the present embodiment, the transmission fluted disc 3 is greater than 90 degree less than 180
The center of circle of the fan-shaped transmission fluted disc 3 of degree, the fan-shaped transmission fluted disc 3 is rotatably arranged on swinging mounting；Using this structure,
In such a way that the driving transmission rotation of fluted disc 3 changes the steering of driving wheel 231, structure is simple, changes driving wheel 231 turns to precision
It is high.
Referring to Figure 12 and Figure 13, as a kind of alternative of the synchronization mechanism, the synchronization mechanism includes revolving meber
41 and two connecting rods 42, the revolving meber 41 is specially rotary disk, and the rotary disk is rotatably arranged in installation by bearing and props up
On frame 21, the both ends of the revolving meber 41 are hinged with one end of two connecting rods 42 respectively, the other end point of two connecting rods 42
It is not hinged with corresponding swinging mounting 24, it is preferred that two connecting rods 42 are arranged on non-same straight line；The driving mechanism 22
Driving wherein a swinging mounting 24 with respect to mounting bracket 21 rotate when, connect with the swinging mounting 24 connecting rod 42 promotion rotary disk
Rotation, while rotary disk pulls another 24 reverse sync of swinging mounting to rotate by another connecting rod 42；It is arranged in this way, uses
Revolving meber 41 cooperates two connecting rods 42 to drive the rotation of two driving device synchronous backwards, and structure is simple, and it is high that driving device turns to precision.
Referring to fig. 4 to Fig. 6 and Figure 11, preferably, the swinging mounting 24 includes first be arranged in a mutually vertical manner
Mounting portion 241 and the second mounting portion 242, the driving wheel 231 and driving motor 232 are mounted on the first mounting portion 241, described
The end of second mounting portion 242 is rotatably connected to the end of mounting bracket 21 by shaft, the fan-shaped transmission fluted disc 3
The center of circle is installed in rotation on the end of the second mounting portion 242, the swinging mounting 24, mounting bracket 21 and transmission by shaft
3 three of fluted disc coaxial arrangement；It is arranged in this way, makes the compact overall structure of driving structure 2, takes up space less.
Preferably, the driving mechanism 22 is the first push rod, the end of the first push rod cylinder body and installation branch
Frame 21 is hinged, and the end of the first push rod telescopic rod and a wherein swinging mounting 24 are hinged, when driving mechanism 22 is stretched out, pendulum
Dynamic bracket 24 will be rotated along the hinge joint of itself and mounting bracket 21；Steering engine change in the prior art is replaced using pusher structure
Driving wheel 231 turns to, and structure is simpler, at low cost.
Alternatively, the cylinder body of the first push rod and a wherein swinging mounting 24 are hinged, the telescopic rod and mounting bracket of the first push rod
21 is hinged.
A kind of embodiment (not shown) of driving mechanism 22, the driving mechanism 22 is clockwise and anticlockwise motor, described
The output end of clockwise and anticlockwise motor is sequentially connected with a wherein swinging mounting 24, realizes that two swing by the positive and negative rotation of clockwise and anticlockwise motor
Bracket 24 is rotated in symmetry direction synchronous backward.
Preferably, first push rod is that air-leg or hydraulic push rod or electric pushrod, the push rod are preferred
It is at low cost for air-leg.
Referring to fig. 4 to Figure 11, preferably, the driving structure 2 further includes the second push rod 25 and rocking bar 26, described
Second push rod, 25 extension end and rocking bar 26 one end is hinged with mounting bracket 21 respectively, the fixing end of second push rod 25 and
The other end of rocking bar 26 is hinged with 1 bottom of chassis respectively, and the chassis 1 can be changed in the straight reciprocating motion of second push rod 25
The distance between mounting bracket 21；It is arranged in this way, makes the AGV of the utility model that there is lifting function, be easy to use.
Further, the driving structure 2 further includes mounting plate 27, and the mounting plate 27 is set to 1 bottom of chassis, institute
The other end of the fixing end and rocking bar 26 of stating the second push rod 25 is respectively hinged on mounting plate 27, makes the mounting bracket 21,
Two push rods 25, mounting plate 27 and rocking bar 26 constitute four-bar mechanism, pass through the extended or retracted linkage double leval jib machine of the second push rod 25
Structure realizes decline or lifting of the mounting plate 27 to 1 bottom of chassis, in addition；It is arranged in this way, facilitates the driving structure and institute
State the assembly between chassis 1, other connection structures that no setting is required on the chassis 1 pass through processing mounting holes fit connection
It completes to assemble with mounting plate 27.
Preferably, second push rod 25 be set to the rocking bar 26 top (upside of such as Fig. 8), described second
The length of push rod is less than the length of the rocking bar, there are two the rocking bar 26 is set, is located at the two sides of second push rod 25；
It is arranged in this way, makes to be triangularly arranged between the second push rod 25 and two rocking bars 26, structure is more firm.
Or the lower section of the rocking bar, the length of second push rod is arranged in (not shown), second push rod
Greater than the length of the rocking bar.
Preferably, the cylinder body of the second push rod and the mounting bracket 21 are hinged, the telescopic rod and peace of the second push rod
Loading board 27 is hinged；Alternatively, the cylinder body of the second push rod and the mounting plate 27 are hinged, the telescopic rod and mounting bracket 21 of the second push rod
Hingedly；Second push rod is air-leg or hydraulic push rod or electric pushrod, preferably electric pushrod, easy for installation, use
For the driving of second push rod 25 in the prior art by the way of driving motor lifting, cost is lower.
Preferably (not shown), further includes level detection device and control module, and level detection device is
Level meter, the control module are preferably disposed on chassis 1 for plc, the control module and the level detection device, horizontal
Second push rod 25 of detection device and two driving structures 2 is connect with the control module respectively, the level detection device chassis 1
Relative to the inclination angle of horizontal position, inclination angle state modulator two second that the control module is fed back according to level detection device
The progressive error that push rod 25 stretches out is so that the chassis 1 and place ground keep balancing；It is arranged in this way, makes the AGV can be with
Adaptive inclined-plane adjustment chassis 1 keeps horizontality, avoids cargo from toppling over, using reliable.The driving machine of two driving structure 2
Structure 22 and driving motor 232 are electrically connected with the control module respectively.
Referring to fig. 2, Fig. 3 and Fig. 7 to Figure 11, when the AGV of the utility model lifts chassis 1, when the row of four driving wheels 231
Sail direction it is parallel with the line direction of two driving structures 2 when, the second push rod of two sides 25 storage cooperation two sides driving structure 2 drive
Driving wheel 231 draws close the lifting that linkage rocking bar 26 realizes chassis 1 inwardly, and the second push rod 25 is relied in 1 lifting process of chassis and is driven
Driving wheel 231 does work simultaneously, and lifting is stablized.Driving wheel 231 also has linkage rocking bar other than the effect that driving AGV advances traveling
The function on 26 lifting chassis 1, driving wheel 231 working method multiplicity, smart structural design；Compared to conventionally employed motor-driven side
Formula, the utility model design lifting structures cost is lower, clever structure.
In addition, the lifting structures of the utility model also have the function that 1 horizontality of chassis is kept on inclined-plane, specifically:
For AGV during ground is excessively travelled to inclined-plane, level detection device can detecte the inclination of more 1 its relative level of chassis
Angle, and progressive error and cooperation that feedback information is stretched out to control module by the second push rod 25 of control two sides driving structure 2 are driven
The height official post chassis 1 that rocking bar 26 lifts of linking of driving wheel 231 keeps horizontality, toppling over for 1 loading of chassis is prevented, using can
It leans on.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying is changed and is modified.Therefore, the utility model is not limited to specific embodiment disclosed and described above, right
Some modifications and changes of the utility model should also be as falling into the protection scope of the claims of the present utility model.In addition, to the greatest extent
It is used some specific terms in pipe this specification, these terms are merely for convenience of description, not to the utility model
Constitute any restrictions.
Claims (5)
1. a kind of AGV with novel driving structure, the driving structure including chassis and set on chassis two sides, it is characterised in that:
The driving structure includes mounting bracket, swinging mounting, driving mechanism and driving device, and the driving device is described for driving
AGV advances, and the swinging mounting is equipped with synchronization structure；There are two the swinging mounting is set, two swinging mountings respectively with
The both ends of the mounting bracket hingedly and between two swinging mountings are connected by the synchronization structure, the two swings branch
Frame is respectively equipped with driving device, and for driving, wherein a swinging mounting makes the driving mechanism simultaneously relative to mounting bracket rotation
Another swinging mounting is rotated by the drive synchronous backward of the synchronization structure.
2. the AGV according to claim 1 with novel driving structure, it is characterised in that: the synchronization structure is two biographies
Active toothed disk, the transmission fluted disc are respectively arranged on two swinging mountings, the gear teeth intermeshing of the two transmissions fluted disc.
3. the AGV according to claim 1 with novel driving structure, it is characterised in that: the synchronization mechanism includes back
Turn part and two connecting rods, the revolving meber is rotatably arranged in mounting bracket, and the both ends of the revolving meber are respectively and described in two
One end of connecting rod is hinged, and the other end of two connecting rods is hinged with corresponding swinging mounting respectively.
4. the AGV according to any one of claims 1 to 3 with novel driving structure, it is characterised in that: the driving machine
Structure is the first push rod, and the cylinder body of first push rod and the mounting bracket are hinged, the telescopic rod of the first push rod and wherein one pendulum
Dynamic bracket is hinged；
Alternatively, the cylinder body of the first push rod and a wherein swinging mounting are hinged, the telescopic rod and mounting bracket of the first push rod are hinged.
5. the AGV according to claim 1 with novel driving structure, first push rod is air-leg or hydraulic thrust
Bar or electric pushrod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821500927.1U CN209159844U (en) | 2018-09-13 | 2018-09-13 | A kind of AGV with novel driving structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821500927.1U CN209159844U (en) | 2018-09-13 | 2018-09-13 | A kind of AGV with novel driving structure |
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| Publication Number | Publication Date |
|---|---|
| CN209159844U true CN209159844U (en) | 2019-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821500927.1U Active CN209159844U (en) | 2018-09-13 | 2018-09-13 | A kind of AGV with novel driving structure |
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| Country | Link |
|---|---|
| CN (1) | CN209159844U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159832A (en) * | 2018-09-13 | 2019-01-08 | 广东嘉腾机器人自动化有限公司 | A kind of AGV with novel driving structure |
-
2018
- 2018-09-13 CN CN201821500927.1U patent/CN209159844U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159832A (en) * | 2018-09-13 | 2019-01-08 | 广东嘉腾机器人自动化有限公司 | A kind of AGV with novel driving structure |
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