CN209291898U - A kind of novel driving structure - Google Patents
A kind of novel driving structure Download PDFInfo
- Publication number
- CN209291898U CN209291898U CN201821500822.6U CN201821500822U CN209291898U CN 209291898 U CN209291898 U CN 209291898U CN 201821500822 U CN201821500822 U CN 201821500822U CN 209291898 U CN209291898 U CN 209291898U
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- driving
- swinging
- push rod
- mounting
- mounting bracket
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Abstract
Novel driving structure disclosed by the utility model, including mounting bracket, swinging mounting, driving mechanism and driving device, for driving device for driving novel driving structure 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, using the AGV of the novel driving structure of two the utility model, the driving device that the two sides AGV driving structure is controlled in such a way that driving mechanism cooperates synchronization structure is 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 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, provide a kind of novel driving applied on AGV
Structure makes AGV realize low clearance lifting, and the novel driving structure structure is simple, at low cost.
In order to achieve the above object, the utility model uses following technical scheme:
A kind of novel driving structure, including mounting bracket, swinging mounting, driving mechanism and driving device, the driving dress
It sets for driving the novel driving structure to advance, the swinging mounting is equipped with synchronization structure；The swinging mounting is equipped with two
A, two swinging mountings hingedly and between two swinging mountings pass through with the both ends of the mounting bracket described same respectively
Structure connection is walked, two swinging mountings are respectively equipped with driving device, and the driving mechanism is for driving a wherein swinging mounting
It is rotated relative to mounting bracket, while rotates another swinging mounting by the drive synchronous backward of the synchronization structure.
Compared with prior art, using the AGV of the novel driving structure of two the utility model, cooperated using driving mechanism
The driving device that the mode of synchronization structure controls the two sides AGV driving structure is rotated in symmetry direction synchronous backward, so that AGV is not only
Have straight trip and traverse moving function, can also realize rotate in place with low clearance lift, structure is simple, and manufacturing cost is low.
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；In such a way that two transmission fluted disc synchronous backward rotations change driving device steering,
It is high that structure is simple, driving device turns to precision.
Alternatively, the synchronization structure 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 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 and mounting bracket are hinged；It is arranged in this way, steering engine change in the prior art is replaced 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.
It preferably, further include lifting mechanism, the lifting mechanism includes the second push rod and rocking bar, and second push rod is stretched
One end of outlet and rocking bar is hinged with mounting bracket respectively, the other end of the fixing end of second push rod and rocking bar be used for
The tray bottom of AGV is hinged, and the straight reciprocating motion of second push rod can be changed between the chassis AGV and mounting bracket
Distance；It is arranged in this way, the driving structure is made to have lifting function, it 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 lifting mechanism 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 AGV tray bottom；It is arranged in this way, facilitates the driving structure and AGV
Assembly between chassis, other connection structures that no setting is required on the chassis, can be with peace by processing mounting holes fit connection
Loading board 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；Driving motor lifting in the prior art is replaced using pusher structure driving
Mode, cost are lower.
Preferably, further include level detection device and control module, level detection device and the second push rod respectively with it is described
Control module connection, the level detection device is for detecting inclination angle of the chassis AGV relative to horizontal position, the control mould
The stroke that root tuber is stretched out according to the second push rod of inclination angle state modulator that level detection device is fed back is so that the chassis AGV and place ground
Keep balance；It is arranged in this way, allows the AGV adaptive inclined-plane adjustment chassis using two the utility model driving structures
Horizontality is kept, avoids cargo from toppling over, using reliable.
Detailed description of the invention
Fig. 1 is the schematic diagram using the AGV of the novel driving structure of the utility model；
Fig. 2 is the schematic diagram using the AGV reset condition of the novel driving structure of the utility model；
Fig. 3 is the schematic diagram that state is lifted using the AGV of the novel driving structure of the utility model；
Fig. 4 is the bottom schematic view using the novel driving structure AGV straight-going state of the utility model；
Fig. 5 is the bottom schematic view using the novel traversing state of driving structure AGV of the utility model；
Fig. 6 is the bottom schematic view that state is rotated in place using the novel driving structure AGV of the utility model；
Fig. 7 is the side view travelled on inclined-plane using the novel driving structure AGV of the utility model；
Fig. 8 is the half sectional view of Fig. 7；
Fig. 9 is the schematic diagram 1 of lifting mechanism；
Figure 10 is the schematic diagram 2 of lifting mechanism；
Figure 11 is the schematic diagram of the novel driving structure of the utility model.
Figure 12 is the schematic diagram of synchronization structure alternative driving mechanism straight-going state；
Figure 13 is the schematic diagram of the traversing state of synchronization structure 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 novel driving structure 2 of the utility model, including mounting bracket 21, swinging mounting 24, drive
Motivation structure 22 and driving device, for driving the novel driving structure 2 to advance, the driving device includes the driving device
Driving wheel 231 and driving motor 232, the swinging mounting 24 are equipped with synchronization structure；There are two the swinging mounting 24 is set, two
The swinging mounting 24 hingedly and between two swinging mountings 24 passes through with the both ends of the mounting bracket 21 described respectively
Synchronization structure connection, two swinging mountings 24 are respectively equipped with driving device, and the driving mechanism 22 is for driving a wherein pendulum
Dynamic bracket 24 is rotated relative to mounting bracket 21, while synchronizes another swinging mounting 24 instead by the drive of the synchronization structure
To rotation.
Referring to fig. 4 to Fig. 6, using the AGV of the novel driving structure 2 of two the utility model, two driving structures 2
The two sides on the chassis AGV 1 are respectively arranged on, when AGV advances, the traveling side of four driving wheels 231 is driven by two sides driving mechanism 22
To it is parallel with AGV car body direction when realize AGV straight-line travelling, when two sides driving mechanism 22 drive four driving wheels 231 traveling
When direction is vertical with AGV car body direction realize AGV transverse shifting, due to two driving wheels 231 of same driving structure 2 be
The rotation of symmetry direction synchronous backward, it can when the axis for controlling 22 4 driving wheels 231 of two sides driving mechanism intersects at a point
Realize the origin rotation of AGV.
Compared with prior art, using the AGV of the novel driving structure 2 of two the utility model, using driving mechanism 22
The driving wheel 231 that the mode of cooperation synchronization structure controls the two sides AGV driving structure 2 is 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.
Referring to fig. 4 to Fig. 6 and Figure 11, preferably, the synchronization structure is two transmission fluted discs 3, the driving cog
Disk 3 is respectively arranged on two swinging mountings 24, the gear teeth intermeshing of the two transmissions fluted disc 3, in the present embodiment, the transmission
Fluted disc 3 is the fan-shaped transmission fluted disc 3 greater than 90 degree less than 180 degree, and the center of circle of the fan-shaped transmission fluted disc 3 is rotatably arranged in pendulum
On dynamic bracket 24；In such a way that two transmission 3 synchronous backward of fluted disc rotations change the steering of driving wheel 231, structure is simple, drives
It is high that wheel 231 turns to precision.
Referring to Figure 12 and Figure 13, as a kind of alternative of the synchronization structure, the synchronization structure 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, the fan-shaped transmission fluted disc 3 by shaft
The center of circle end of the second mounting portion 242, the swinging mounting 24,21 and of mounting bracket are installed in rotation on by shaft
It is driven 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 25, the end of 25 cylinder body of the first push rod and the peace
It is hinged to fill bracket 21, the end of 25 telescopic rod of the first push rod and a wherein swinging mounting 24 are hinged, stretch out when driving mechanism 22
When, swinging mounting 24 will be rotated along the hinge joint of itself and mounting bracket 21；Replaced in the prior art using pusher structure
Steering engine changes driving wheel 231 and turns to, and structure is simpler, at low cost.
Alternatively, the cylinder body of the first push rod 25 and a wherein swinging mounting 24 are hinged, the telescopic rod of the first push rod 25 and installation
Bracket 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 25 is that air-leg or hydraulic push rod or electric pushrod, the push rod are excellent
It is selected as air-leg, it is at low cost.
Further include preferably referring to fig. 4 lifting mechanism to Figure 11, the lifting mechanism include the second push rod and
Rocking bar 26, the extension end of second push rod and one end of rocking bar 26 are hinged with mounting bracket 21 respectively, second push rod
For hinged with 1 bottom of chassis of AGV, the straight reciprocating motion of second push rod can change the other end of fixing end and rocking bar 26
Become the distance between the chassis AGV 1 and mounting bracket 21；It is arranged in this way, the driving structure 2 is made to have lifting function
Can, it is easy to use.
Further, the lifting mechanism further includes mounting plate 27, the fixing end of second push rod and rocking bar 26 it is another
One end is respectively hinged on mounting plate 27, and the mounting plate 27 is set to 1 bottom of the chassis AGV, and the mounting bracket 21, second push away
Bar, mounting plate 27 and rocking bar 26 constitute four-bar mechanism, realize peace by the extended or retracted linkage four-bar mechanism of the second push rod
Decline or lifting of the loading board 27 to 1 bottom of the chassis AGV；It is arranged in this way, facilitates between the driving structure 2 and the chassis AGV 1
Assembly, other connection structures that no setting is required on the chassis 1 can be complete with mounting plate 27 by processing mounting holes fit connection
At assembly.
Preferably, second push rod is set to the top (upside of such as Fig. 8) of the rocking bar 26, and described second pushes away
The length of bar is less than the length of the rocking bar 26, there are two the rocking bar 26 is set, is located at the two sides of second push rod；It is logical
It crosses in this way, making to be triangularly arranged between the second push rod and two rocking bars 26, structure is more firm.
Or the lower section of the rocking bar 26, the length of second push rod is arranged in (not shown), second push rod
Degree is greater than the length of the rocking bar 26.
Preferably, the cylinder body of second push rod and the mounting bracket 21 are hinged, the telescopic rod of the second push rod
It is hinged with mounting plate 27；Alternatively, the cylinder body of the second push rod and the mounting plate 27 are hinged, the telescopic rod and installation branch of the second push rod
Frame 21 is hinged；Second push rod is air-leg or hydraulic push rod or electric pushrod, preferably electric pushrod, easy for installation；
In such a way that pusher structure driving replaces high-power driving motor lifting in the prior art, cost is lower.
Preferably (not shown) further includes level detection device and control module, the control module tool
Body is p lc, and the control module and level detection device are preferably disposed on chassis 1, level detection device and the second push rod difference
It is connect with the control module, the level detection device is for detecting inclination angle of the chassis AGV 1 relative to horizontal position, institute
The stroke for the second push rod of inclination angle state modulator stretching that control module is fed back according to level detection device is stated so that the chassis AGV 1
Corresponding side and place ground keep balancing；It is arranged in this way, making can using the AGV of two the utility model driving structures 2
Horizontality is kept with adaptive inclined-plane adjustment chassis 1, avoids cargo from toppling over, using reliable.
Referring to fig. 2, Fig. 3 and Fig. 7 to Figure 11, using the AGV of the novel driving structure of two the utility model, described in two
Driving structure is respectively arranged on the two sides on the chassis AGV, and two driving structures share a control module and level detection device, described
The driving mechanism 22 and driving motor 232 of two driving structures 2 are electrically connected with the control module respectively.The driving structure lifting
When AGV lifts chassis 1, the driving direction of four driving wheels 231 is parallel with the line direction of two driving structures 2, and two sides second push away
The driving wheel 231 of the storage cooperation two sides driving structure 2 of bar 25 draws close the lifting that linkage rocking bar 26 realizes chassis 1, bottom inwardly
It does work simultaneously in 1 lifting process of disk by the second push rod 25 and driving wheel 231, lifting is stablized.Driving wheel 231 is in addition to driving AGV
Advance outside the effect of traveling, also have the function of the lifting of rocking bar 26 chassis 1 of linking, driving wheel 231 working method multiplicity, structure is set
It counts ingenious；Compared to conventionally employed motor-driven mode, the utility model design lifting structures cost is lower, clever structure.
Keep chassis 1 horizontal on inclined-plane in addition, also having using the AGV of the novel driving structure of two the utility model
The function of state, specifically: AGV during ground is excessively travelled to inclined-plane, level detection device can detecte more chassis 1 its
The inclination angle of relative level, and feedback information is stretched out to control module by the second push rod 25 of control two sides driving structure 2
Progressive error and cooperation driving wheel 231 link rocking bar 26 lift height official post chassis 1 keep horizontality, prevent chassis 1 carry
Object is toppled over, using reliable.
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 novel driving structure, it is characterised in that: including mounting bracket, swinging mounting, driving mechanism and driving device, institute
Driving device is stated for driving the novel driving structure to advance, the swinging mounting is equipped with synchronization structure；The swing branch
There are two erections, and two swinging mountings hingedly and between two swinging mountings lead to the both ends of the mounting bracket respectively
Cross synchronization structure connection, two swinging mountings are respectively equipped with driving device, and the driving mechanism is for driving wherein one
Swinging mounting is rotated relative to mounting bracket, while turns another swinging mounting by the drive synchronous backward of the synchronization structure
It is dynamic.
2. novel driving structure according to claim 1, it is characterised in that: the synchronization structure is two transmission fluted discs, institute
It states transmission fluted disc to be respectively arranged on two swinging mountings, the gear teeth intermeshing of the two transmissions fluted disc.
3. novel driving structure according to claim 1, it is characterised in that: the synchronization structure includes revolving meber and two
Connecting rod, the revolving meber are rotatably arranged in mounting bracket, the both ends of revolving meber one end with two connecting rods respectively
Hingedly, the other end of two connecting rods is hinged with corresponding swinging mounting respectively.
4. novel driving structure according to any one of claims 1 to 3, it is characterised in that: the driving mechanism is first
Push rod, the cylinder body of first push rod and the mounting bracket are hinged, and the telescopic rod of the first push rod is cut with scissors with a wherein swinging mounting
It connects；
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. novel driving structure according to claim 4, it is characterised in that: first push rod is air-leg or hydraulic
Push rod or electric pushrod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821500822.6U CN209291898U (en) | 2018-09-13 | 2018-09-13 | A kind of novel driving structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821500822.6U CN209291898U (en) | 2018-09-13 | 2018-09-13 | A kind of novel driving structure |
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| Publication Number | Publication Date |
|---|---|
| CN209291898U true CN209291898U (en) | 2019-08-23 |
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ID=67653135
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821500822.6U Active CN209291898U (en) | 2018-09-13 | 2018-09-13 | A kind of novel driving structure |
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| Country | Link |
|---|---|
| CN (1) | CN209291898U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292681A (en) * | 2018-09-13 | 2019-02-01 | 广东嘉腾机器人自动化有限公司 | A kind of novel driving structure |
-
2018
- 2018-09-13 CN CN201821500822.6U patent/CN209291898U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292681A (en) * | 2018-09-13 | 2019-02-01 | 广东嘉腾机器人自动化有限公司 | A kind of novel driving structure |
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