CN209552922U - A kind of automated guided vehicle - Google Patents
A kind of automated guided vehicle Download PDFInfo
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- CN209552922U CN209552922U CN201920202450.7U CN201920202450U CN209552922U CN 209552922 U CN209552922 U CN 209552922U CN 201920202450 U CN201920202450 U CN 201920202450U CN 209552922 U CN209552922 U CN 209552922U
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- wheel
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- driving motor
- belt
- guided vehicle
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Abstract
The embodiments of the present invention disclose a kind of automated guided vehicle, are related to logistic storage field, can be improved the power utilization rate of the driving motor of automated guided vehicle.The automated guided vehicle includes chassis, and the chassis is respectively arranged on the left side and the right side two wheels；The chassis is equipped with the first driving motor and the second driving motor, and the output shaft of first driving motor is connected with one of wheel on the left of chassis, and the output shaft of second driving motor is connected with one of wheel on the right side of chassis；Belt wheel is respectively fixed on four wheels, the belt wheel and wheel are coaxial, are connected with flexible-belt between the belt wheel of chassis the same side；Or sprocket wheel is respectively fixed on four wheels, the sprocket wheel and wheel are coaxial, are connected with chain between the sprocket wheel of chassis the same side.The utility model is suitable for the transport of cargo.
Description
Technical field
The utility model relates to logistic storage field more particularly to a kind of automated guided vehicles.
Background technique
Currently, (abbreviation AGV (Automated Guided Vehicle), refers to equipped with electromagnetism automated guided vehicle
Or the transport vehicle of the homing guidances device such as optics) generally use four-wheel vehicle type structure；For example, a kind of bi-motor four-wheel drive vehicle,
Each side there are a driving motor and two wheels, each driving motor is driven control by synchromesh gear-synchronous belt mode
Ipsilateral two wheels are made, a synchromesh gear, ipsilateral driving motor and wheel are installed respectively on each driving motor and axletree
Synchromesh gear on axis constitutes triangle, passes through a synchronous band connection.
However, current this four-wheel driving type automated guided vehicle, whole wheels are all by synchronous belt and motor
Connection, although decreasing number of motors, power transmission process is complicated, causes the utilization rate of motor power lower.
Utility model content
In view of this, the utility model embodiment provides a kind of automated guided vehicle, homing guidance transport can be improved
The power utilization rate of the driving motor of vehicle.
The utility model embodiment provides a kind of automated guided vehicle, including chassis, the left and right sides point on the chassis
Wheel there are two not setting；The chassis be equipped with the first driving motor and the second driving motor, first driving motor it is defeated
Shaft is connected with one of wheel on the left of chassis, the output shaft of second driving motor and one of them on the right side of chassis
Wheel is connected；Belt wheel is fixed on the wheel, the belt wheel and the wheel are coaxial, between the belt wheel of chassis the same side
It is connected with flexible-belt；Or sprocket wheel is fixed on the wheel, the sprocket wheel and the wheel are coaxial, the chain positioned at chassis the same side
Chain is connected between wheel.
According to a kind of specific implementation of the utility model embodiment, the belt wheel is synchronous pulley, the flexible-belt
For synchronous belt.
According to a kind of specific implementation of the utility model embodiment, the belt wheel is fixed on the outside of the wheel；
Or the sprocket wheel is fixed on the outside of the wheel.
According to a kind of specific implementation of the utility model embodiment, first driving motor and the second driving motor
It is arranged in the both ends on the chassis.
According to a kind of specific implementation of the utility model embodiment, first driving motor and the second driving motor
The upside on the chassis is set.
According to a kind of specific implementation of the utility model embodiment, the first mounting base, are fixed on the chassis
Two mounting bases, third mounting base and the 4th mounting base；First mounting base is equipped with the first different mounting hole of multiple height,
First driving motor is fixed in first mounting base by the first mounting hole described in one of them；Second installation
Seat is equipped with the second different mounting hole of multiple height, and second driving motor is solid by one of them described second mounting hole
It is scheduled in second mounting base；The third mounting base is equipped with the first different connecting shaft of multiple height, and the chassis is left
The wheel that side is not connect with the first driving motor is connected by bearing with the first connecting shaft described in one of them；4th installation
Seat is equipped with the second different connecting shaft of multiple height, and the wheel not connecting with the second driving motor on the right side of the chassis passes through axis
It holds and is connected with the second connecting shaft described in one of them.
According to a kind of specific implementation of the utility model embodiment, when what is fixed on four wheels is belt wheel
When, tensioning wheel is respectively arranged at left and right sides of the chassis, and the tensioning wheel on the left of the chassis is pressed against the flexibility on the left of chassis
It takes, the tensioning wheel on the right side of the chassis is pressed against on the flexible-belt on the right side of chassis.
According to a kind of specific implementation of the utility model embodiment, the tensioning wheel is mounted on to be fixed with the chassis
On the bracket of connection, the tensioning wheel can be moved up and down along the bracket.
According to a kind of specific implementation of the utility model embodiment, the bracket is connected with movable plate, the tensioning
Wheel is connected on the movable plate；The movable plate is equipped with the sliding slot of strip, and the bracket is equipped at least one screw thread
Hole, the movable plate are fixed on the bracket by passing through the bolt that the sliding slot is threadedly coupled with threaded hole.
A kind of automated guided vehicle provided by the embodiment of the utility model, first driving motor and the second driving electricity
The output shaft of machine is directly connected with wheel, can be improved the power transmission efficiency of automated guided vehicle；In addition, the belt wheel is straight
It connects and is fixed on the wheel, and by the flexible band connection between belt wheel, so that the power of automated guided vehicle transmitted
Cheng Gengjia is simplified, and entire drive mechanism is also more compact, improves the reliability and driving of the transmitting of automated guided vehicle power
The power utilization rate of motor.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the axonometric drawing of the automated guided vehicle of the utility model embodiment；
Fig. 2 is first driving motor of the utility model embodiment and the attachment structure schematic diagram of wheel；
Fig. 3 is the wheel of the utility model embodiment and the attachment structure schematic diagram of third mounting base；
Fig. 4 is the side view of the automated guided vehicle of the utility model embodiment；
Fig. 5 is the shaft side figure of an optional embodiment of the automated guided vehicle of the utility model embodiment.
Specific embodiment
The utility model embodiment is described in detail with reference to the accompanying drawing.
It will be appreciated that the described embodiments are only a part of the embodiments of the utility model, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The all other embodiment obtained, fall within the protection scope of the utility model.
The utility model embodiment provides a kind of automated guided vehicle, can be improved the transmitting of automated guided vehicle power
Reliability.
Fig. 1 is the structural schematic diagram of the automated guided vehicle of the utility model embodiment, as shown in Figure 1, the present embodiment
Automated guided vehicle include: chassis 1, the chassis 1 is respectively arranged on the left side and the right side two wheels 3；It is set on the chassis 1
There are the first driving motor 21 and the second driving motor 22, the output shaft of first driving motor 21 and 1 left side of chassis are wherein
One wheel 3 is connected, and the output shaft of second driving motor 22 is connected with one of wheel 3 on 1 right side of chassis；The vehicle
It is fixed with belt wheel 4 on wheel 3, the belt wheel 4 and the wheel 3 are coaxial, are connected between the belt wheel 4 of 1 the same side of chassis soft
Property band 5；Or sprocket wheel is fixed on the wheel, the sprocket wheel and the wheel are coaxial, between the sprocket wheel of chassis the same side
It is connected with chain.
The present embodiment, first driving motor and the second driving motor vehicle with wheel and right side on the left of chassis respectively
Wheel is connected, and turns to realize by the speed difference of two sides vehicle wheel rotation, overcomes carriage turning radius greatly and moves ineffective
Disadvantage living；In addition, the output shaft of first driving motor and the second driving motor is directly connected with wheel, compared to passing through
Belt wheel-synchronous belt transmits the mode of power, can be improved the power transmission efficiency of automated guided vehicle；In addition, the band
It takes turns the flexible band connection or the sprocket wheel for being directly anchored on the wheel and passing through between belt wheel and is directly anchored to the wheel
It goes up and passes through the connection of the chain between sprocket wheel, so that the power transmission process of automated guided vehicle is more simplified, it is entire to be driven
Structure is also more compact, improves the reliability of automated guided vehicle power transmitting and the power utilization rate of driving motor.
Automated guided vehicle in the present embodiment only has wheel, is free of castor, has the advantages that 1, breakaway force
It is small, the overload quantity of driving motor staring torque and electric current can be reduced, starting stability is improved, reduces and shake；2, controllability
Well, there is better adaptability for place of working face that is wet and slippery, rising and falling；3, effective driving force improves, and has and preferably leads
Draw ability；4, wheel stress more balances, and service life is extended.
It is understood that those skilled in the art can connect on the downside of the chassis according to the needs in practical application
Pin wheel.
The present embodiment, the V belt translation formed between the belt wheel and flexible-belt can select the friction between band and belt wheel
The Friction Type Belt Drive of power transmission can also select the toothed belt transmission by band and the tooth intermeshing transmission on belt wheel, this reality
Example is applied not limit this.
As a kind of optional embodiment of the utility model embodiment, the belt wheel is synchronous pulley, the flexible-belt
For synchronous belt.
The present embodiment, there is steel wire in the inside of synchronous belt, also with teeth, so its high transmission accuracy, transmission efficiency is high, Neng Gouti
The kinematic accuracy of high automated guided vehicle so that the automated guided vehicle can adapt to it is more demanding to kinematic accuracy
Occasion.
As shown in Figure 1, a kind of optional embodiment as the utility model embodiment, the belt wheel 4 is fixed on described
The outside of wheel 3；Or the sprocket wheel is fixed on the outside of the wheel.
The present embodiment, belt wheel and flexible-belt are respectively positioned on the outside of wheel, facilitate the installation of flexible-belt, while can give bottom
Disk 1 reserves more spaces, so as to the arrangement of the installation of other devices and cable on chassis；In addition, can also drop to greatest extent
The height of low chassis promotes stationarity when automated guided vehicle traction, loading.Similarly, when lateral wheel it is fixed be chain
It takes turns, when being connected between sprocket wheel by chain, it may have identical beneficial effect.
As shown in Fig. 2, optional, the belt wheel 4 or sprocket wheel are fixed on the wheel hub of the wheel 3.
The present embodiment can select bolt that the belt wheel or sprocket wheel are fixed on the wheel hub of wheel, make belt wheel and wheel
Between it is easy to connect reliable.
As shown in Figure 1, a kind of optional embodiment as the utility model embodiment, 21 He of the first driving motor
Second driving motor 22 is arranged in the both ends on the chassis 1.
The present embodiment, two driving motors are connect with the wheel at left and right sides of chassis respectively, that is, are arranged in chassis
The left and right sides, and two driving motors are arranged in the both ends on chassis, it follows that the first driving motor and the second driving electricity
Machine by the way of diagonally arranged, can reserve bigger space on chassis to the middle position on chassis, so as on chassis its
The installation of its device and the arrangement of cable, and two driving motors will not interfere.
As shown in Figure 1, a kind of optional embodiment as the utility model embodiment, 21 He of the first driving motor
The upside on the chassis 1 is arranged in second driving motor 22.
The upside on chassis is arranged in the present embodiment, the first driving motor and the second driving motor, can reserve more to chassis
More decline space, to improve stationarity when automated guided vehicle traction, loading.
As shown in Figure 1, Figure 2 and Figure 3, as a kind of optional embodiment of the utility model embodiment, on the chassis 1
It is fixed with the first mounting base 81, the second mounting base 82, third mounting base 83 and the 4th mounting base 84；In first mounting base 81
Equipped with the first different mounting hole of multiple height (not marked in figure), first driving motor 21 by one of them described the
One mounting hole is fixed in first mounting base 81；Second mounting base 82 is equipped with the second different installation of multiple height
Hole (does not mark) in figure, and second driving motor 22 is fixed on second installation by the second mounting hole described in one of them
On seat 82；The third mounting base 83 is equipped with different the first connecting shaft (not marking in figure) of multiple height, and the chassis 1 is left
The wheel 3 that side is not connect with the first driving motor 21 is connected by bearing 10 with the first connecting shaft described in one of them；Described
Four mounting bases 84 are equipped with different the second connecting shaft (not marking in figure) of multiple height, and 1 right side of chassis is not driven with second
The wheel 3 that dynamic motor 82 connects is connected by bearing with the second connecting shaft described in one of them.
The present embodiment, the first driving motor and the second driving motor pass through the first mounting base respectively and the second mounting base is fixed
On the chassis, and the output shaft of the first driving motor and the second driving motor is connected with wheel and therefore changes first respectively
The mounting height of driving motor and the second driving motor in the first mounting base and the second mounting base, adjustable chassis relative to
The height of wheel；Similarly, by changing mounting height of the wheel in third mounting base and the 4th mounting base, adjustable chassis phase
For the height of wheel；It therefore, can be by adjusting the first driving motor height fixed in the first mounting base, second simultaneously
Driving motor height fixed in the second mounting base, wheel third mounting base and the 4th mounting base mounting height, to from
The chassis height of dynamic guide transport lorry is adjusted, to adapt to the different needs in practical application scene to chassis height.
As shown in Fig. 2, optional, the output shaft of first driving motor 21 is connected by exempting from key bushing 9 with wheel 3.
The present embodiment, exempting from key bushing is a kind of tool frictionally coupled, and bolted fastening force is passed through the conical surface by it
The surface pressing to internal diameter side is converted to, while not needing the key processing of time-consuming axis and connecting shaft portion, adjustment when assembled is made
Industry connects axis and shaft coupling portion securely, facilitates the installation between motor output shaft and wheel.
Similarly, the output shaft of second driving motor is connected by exempting from key bushing with wheel.Its technical effect and first
The output shaft of driving motor is similar by the technical effect for exempting from key bushing with wheel is connected, and details are not described herein.
Optionally, first mounting base is equipped with first mounting hole, and second mounting base is equipped with one
A second mounting hole, the third mounting base are equipped with first connecting shaft, and the 4th mounting base is equipped with
One second connecting shaft.
In the present embodiment, there are many rule for first mounting base, the second mounting base, third mounting base and the 4th mounting base
Lattice, i.e., mounting hole/connecting shaft height in the mounting base of different size is different, in this way, can select to close according to actual needs
Suitable mounting base is to obtain chassis height actually required.
As shown in Figure 1, a kind of optional embodiment as the utility model embodiment, when solid on four wheels 7
When fixed is belt wheel 4, the left and right sides on the chassis 1 is respectively arranged with tensioning wheel 6, and the tensioning wheel 6 in 1 left side of chassis is pressed against
On the flexible-belt 5 in 1 left side of chassis, the tensioning wheel 6 on 1 right side of chassis is pressed against on the flexible-belt 5 on 1 right side of chassis.
The present embodiment, tensioning wheel can effectively adjust the tensioning state of flexible-belt, promote the transfer performance of flexible-belt and make
Use the service life.
As shown in figure 4, a kind of optional embodiment as the utility model embodiment, the tensioning wheel 6 be mounted on
On the bracket 12 that the chassis 1 is fixedly connected, the tensioning wheel 6 can be moved up and down along the bracket 12.
The present embodiment, tensioning wheel can be moved up and down along bracket, it can adjust the elastic journey that tensioning wheel is pressed against flexible-belt
Degree, actual conditions when so as to be worked according to flexible-belt are made further adjustment to the tensioning state of flexible-belt, are promoted soft
The transfer performance and service life of property band.
As shown in figure 4, a kind of optional embodiment as the utility model embodiment, the bracket 12 is connected with movement
Plate 11, the tensioning wheel 6 are connected on the movable plate 11；The sliding slot that the movable plate 11 is equipped with strip (is not marked in figure
Out), the bracket 12 be equipped at least one threaded hole (not marked in figure), the movable plate 11 by pass through the sliding slot with
The bolt that threaded hole is threadedly coupled is fixed on the bracket 12.
The present embodiment can in advance recline the movable plate on the bracket, and the threaded hole is made to be located at sliding slot
Interior (can see threaded hole through the sliding slot), then passes through sliding slot for the bolt and is tightened in threaded hole, at this moment spiral shell
The movable plate is just fixed on the bracket by bolt；When adjusting height of the tensioning wheel relative to bracket, unscrew first
Then the bolt moves the movable plate, after the movable plate is moved to suitable height, then tighten the bolt i.e.
It can.
The present embodiment, can be by adjusting position of the movable plate relative to the bracket, to realize the tensioning
The adjusting of the height of wheel, the tightness for being pressed against tensioning wheel on the flexible-belt is adjustable, so as to according to flexibility
Actual conditions when with work make further adjustment to the tensioning state of flexible-belt, promote the transfer performance and use of flexible-belt
Service life.
As shown in figure 4, optional, the number of the bolt is two.The present embodiment, by two bolts by the movement
Plate is fixed on the bracket, and the reliability connected between the movable plate and the bracket, another party on the one hand can be improved
Face can prevent the movable plate from improving the reliability of entire regulating mechanism relative to the rotation of the bracket.
As a kind of optional embodiment of the utility model embodiment, vertical sliding slot, institute are offered on the bracket
The sliding block being connected in sliding slot with sliding slot sliding connection is stated, is connected between the upside of the sliding block and the upper end of the sliding slot
Have and is connected with second back-moving spring between the downside of first back-moving spring and/or the sliding block and the lower end of the sliding slot, it is described
Tensioning wheel connects on the slide block.
The present embodiment, after the tensioning wheel is pressed against on the flexible-belt, the pressure by flexible-belt is acted on, with described
The sliding block of bearing up pulley connection can slide upward or downward under the effect of the pressure of flexible-belt, meanwhile, the sliding block resets bullet first
Under spring and/or the effect of the elastic force of second back-moving spring, it is pressed against the tensioning wheel connecting with sliding block always on the flexible-belt, makes
Flexible-belt remains tensioning state, promotes the transfer performance and service life of flexible-belt.
As shown in figure 5, optional, the middle position on the upside of the chassis is connected with camera support 13, on the chassis
One end of side is connected with battery bracket 14.
The arrangement of the present embodiment driving motor and belt driver can be other devices such as camera support, battery bracket
The installation of part and cable arrange slot milling.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, the change that can be readily occurred in
Change or replace, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with right
It is required that protection scope subject to.
Claims (9)
1. a kind of automated guided vehicle, it is characterised in that: including chassis, the chassis is respectively arranged on the left side and the right side two vehicles
Wheel；
The chassis is equipped with the first driving motor and the second driving motor, and the output shaft of first driving motor and chassis are left
One of wheel of side is connected, and the output shaft of second driving motor is connected with one of wheel on the right side of chassis；
Belt wheel is respectively fixed on four wheels, the belt wheel and wheel are coaxial, between the belt wheel of chassis the same side
It is connected with flexible-belt；Or
Sprocket wheel is respectively fixed on four wheels, the sprocket wheel and wheel are coaxial, between the sprocket wheel of chassis the same side
It is connected with chain.
2. automated guided vehicle according to claim 1, it is characterised in that: the belt wheel is synchronous pulley, described soft
Property band be synchronous belt.
3. automated guided vehicle according to claim 1, it is characterised in that:
The belt wheel is fixed on the outside of the wheel；Or
The sprocket wheel is fixed on the outside of the wheel.
4. automated guided vehicle according to claim 1, it is characterised in that: first driving motor and the second driving
Motor is arranged in the both ends on the chassis.
5. automated guided vehicle according to claim 1, it is characterised in that: first driving motor and the second driving
The upside on the chassis is arranged in motor.
6. automated guided vehicle according to claim 1, it is characterised in that: be fixed with the first installation on the chassis
Seat, the second mounting base, third mounting base and the 4th mounting base；
First mounting base is equipped with the first different mounting hole of multiple height, and first driving motor passes through one of them
First mounting hole is fixed in first mounting base；
Second mounting base is equipped with the second different mounting hole of multiple height, and second driving motor passes through one of them
Second mounting hole is fixed in second mounting base；
The third mounting base is equipped with different the first connecting shaft of multiple height, on the left of the chassis not with the first driving motor
The wheel of connection is connected by bearing with the first connecting shaft described in one of them；
4th mounting base is equipped with different the second connecting shaft of multiple height, on the right side of the chassis not with the second driving motor
The wheel of connection is connected by bearing with the second connecting shaft described in one of them.
7. automated guided vehicle according to claim 1, which is characterized in that when what is fixed on four wheels is band
When wheel, tensioning wheel is respectively arranged at left and right sides of the chassis, the tensioning wheel on the left of the chassis is pressed against soft on the left of chassis
On property band, the tensioning wheel on the right side of the chassis is pressed against on the flexible-belt on the right side of chassis.
8. automated guided vehicle according to claim 7, which is characterized in that the tensioning wheel is mounted on and the chassis
On the bracket being fixedly connected, the tensioning wheel can be moved up and down along the bracket.
9. automated guided vehicle according to claim 8, it is characterised in that: the bracket is connected with movable plate, described
Tensioning wheel is connected on the movable plate；
The movable plate is equipped with the sliding slot of strip, and the bracket is equipped at least one threaded hole, and the movable plate passes through
The bolt being threadedly coupled across the sliding slot with threaded hole is fixed on the bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920202450.7U CN209552922U (en) | 2019-02-15 | 2019-02-15 | A kind of automated guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920202450.7U CN209552922U (en) | 2019-02-15 | 2019-02-15 | A kind of automated guided vehicle |
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| Publication Number | Publication Date |
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| CN209552922U true CN209552922U (en) | 2019-10-29 |
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ID=68310846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201920202450.7U Active CN209552922U (en) | 2019-02-15 | 2019-02-15 | A kind of automated guided vehicle |
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| Country | Link |
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| CN (1) | CN209552922U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846027A (en) * | 2020-08-07 | 2020-10-30 | 广东电科院能源技术有限责任公司 | Robot chassis structure |
| CN112374063A (en) * | 2020-11-24 | 2021-02-19 | 江苏赛愽智能制造研究院有限公司 | Transfer robot for aerospace manufacturing and working method thereof |
-
2019
- 2019-02-15 CN CN201920202450.7U patent/CN209552922U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846027A (en) * | 2020-08-07 | 2020-10-30 | 广东电科院能源技术有限责任公司 | Robot chassis structure |
| CN112374063A (en) * | 2020-11-24 | 2021-02-19 | 江苏赛愽智能制造研究院有限公司 | Transfer robot for aerospace manufacturing and working method thereof |
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| CP01 | Change in the name or title of a patent holder |
Address after: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
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