CN211809954U - Bidirectional latent traction type magnetic navigation AGV - Google Patents
Bidirectional latent traction type magnetic navigation AGV Download PDFInfo
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- CN211809954U CN211809954U CN202020219397.4U CN202020219397U CN211809954U CN 211809954 U CN211809954 U CN 211809954U CN 202020219397 U CN202020219397 U CN 202020219397U CN 211809954 U CN211809954 U CN 211809954U
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Abstract
The utility model provides a two-way towed magnetic navigation AGV that hides. Two-way towed magnetic navigation AGV frame of hiding, drive wheel subassembly, auxiliary wheel subassembly, traction assembly, battery, counter weight, control system, auxiliary wheel subassembly is including directional wheel, directional wheel mounting panel, universal wheel mounting panel, switching motor, switching cam, switching spring axle, universal wheel mounting panel one end is fixed in the frame, its bottom surface is equipped with the spring axle the universal wheel, the bottom of spring axle is equipped with directional wheel mounting panel, and install directional wheel, switching motor install equally in the universal wheel mounting panel, the main shaft that switches the motor extends to directional wheel mounting panel bottom, and install the cam. The utility model provides a two-way towed magnetic navigation AGV that hides has solved prior art's AGV in the technical problem that the auxiliary wheel influences AGV operating stability.
Description
Technical Field
The utility model relates to a AGV field, concretely relates to two-way towed magnetic navigation AGV that hides.
Background
AGVs are currently widely used in the industry, where magnetic navigation AGVs that use magnetic strips laid on the ground to navigate belong to a more commonly used category.
The AGV in the prior art usually adopts the speed difference of the driving wheels at two sides to realize steering, so that the auxiliary wheels only adopt unpowered universal wheels to meet the requirements. Although the universal wheels can synchronously turn along with the movement track when going straight or turning, the universal wheels are easy to shake due to terrain interference when going straight, and can experience a short chaotic stage when switching from a turning state to a straight state and switching to a backward movement, so that the vehicle body greatly swings, and the stable operation of the AGV is influenced.
SUMMERY OF THE UTILITY MODEL
For the technical problem who solves among the prior art AGV auxiliary wheel influence AGV operating stability, the utility model provides a be equipped with surely, universal switching mechanism to solve the two-way towed magnetic navigation AGV that hides of above-mentioned problem.
A bidirectional latent traction type magnetic navigation AGV comprises a frame, a driving wheel assembly, auxiliary wheel assemblies, traction assemblies, a battery, a balance weight and a control system, wherein the driving wheel assembly is arranged in the middle of the frame, the battery and one group of auxiliary wheel assemblies are sequentially arranged at one end of the frame along the movement direction of the driving wheel assembly, the balance weight and the other group of auxiliary wheel assemblies and the control system are sequentially arranged at the other end of the frame, and the two groups of traction assemblies are respectively arranged at the positions of the two groups of auxiliary wheel assemblies and extend out of the top of the frame;
the auxiliary wheel subassembly includes directional wheel, directional wheel mounting panel, universal wheel mounting panel, switching motor, switches the cam, switches the spring axle, universal wheel mounting panel one end is fixed in the frame, its bottom surface is equipped with the spring axle the universal wheel, the bottom of spring axle is equipped with directional wheel mounting panel, and install directional wheel, the switching motor install equally in the universal wheel mounting panel, the main shaft of switching motor extends to directional wheel mounting panel bottom, and install the cam.
The utility model provides a two-way towed magnetic navigation AGV that hides still includes the lifting unit in a preferred embodiment, the lifting unit is including promoting motor, promotion cam, promotion spring shaft, the drive wheel subassembly passes through promote spring shaft install in the frame, the axle sleeve of spring shaft expands certain width outward as promoting the board, it is fixed in to promote the motor the frame, the main shaft extends to promote the board bottom, and install promote the cam.
In a preferred embodiment of the bidirectional submarine traction type magnetic navigation AGV provided by the present invention, the control system includes a control panel, a PLC, a motor driver, a landmark sensor, a radio frequency identification sensor, an obstacle detection sensor, and an audible and visual warning device;
the control panel is arranged at the top of the tail end of the frame, the PLC is arranged below the PLC and in the frame, the motor driver is arranged in the middle of the frame, the landmark sensor and the radio frequency identification sensor are arranged at the bottom of the frame, the obstacle detection sensor and the acousto-optic warning device are arranged at the front end and the rear end of the frame, the PLC is connected with other parts in the control system through circuits, and the motor driver is connected with motors through circuits.
The utility model provides a two-way towed magnetic navigation AGV that hides's a preferred embodiment, control panel is sunken formula structure, and its button height is less than the frame top surface.
The utility model provides a two-way towed magnetic navigation AGV that hides in a preferred embodiment, the head and the tail both ends of frame are equipped with a crash pad respectively.
Compared with the prior art, the utility model provides a two-way towed magnetic navigation AGV that hides supplementary wheel subassembly is provided with decides, universal switching mechanism, switches directional wheel, universal wheel and moves as the auxiliary wheel respectively alone when going straight with turning to, guarantees AGV homoenergetic steady operation when going straight with turning to.
Two-way latent towed magnetic navigation AGV1 the drive wheel subassembly is equipped with hoist mechanism will when being dragged the whole unsettled of drive wheel subassembly has reduceed the resistance that the motor caused when dragging greatly.
Two-way towed magnetic navigation AGV that hides control panel adopts sunken form's structure, and the button is hidden in sunken, avoids producing the scraping with the goods.
Drawings
Fig. 1 is a schematic structural diagram of a bidirectional latent traction type magnetic navigation AGV provided by the present invention;
FIG. 2 is a schematic view of the housing of FIG. 1 with the housing removed;
FIG. 3 is another perspective of FIG. 2;
FIG. 4 is a schematic structural diagram of a driving wheel assembly and a lifting assembly of the two-way submarine traction type magnetic navigation AGV according to the present invention;
FIG. 5 is a schematic structural diagram of an auxiliary wheel assembly and a traction assembly of the two-way submarine traction type magnetic navigation AGV according to the present invention;
fig. 6 is another perspective of fig. 5.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Please refer to fig. 1, fig. 2, and fig. 3, which are a schematic structural diagram of a bidirectional latent magnetic guided vehicle AGV, a schematic structural diagram of fig. 1 with a housing removed, and another view of fig. 2.
The bidirectional latent traction type magnetic navigation AGV1 comprises a frame 11, a driving wheel assembly 12, an auxiliary wheel assembly 13, a traction assembly 14, a lead-acid storage battery 15, a counterweight 16, a control system 17, a lifting assembly 18 and a crash pad 19.
Please refer to fig. 4, which is a schematic structural diagram of a driving wheel assembly and a lifting assembly in a bidirectional latent magnetic navigation AGV according to the present invention.
The driving wheel assembly 12 comprises two driving motors 21, two driving wheels 22, two sets of sprocket transmission mechanisms 23, a main shaft 24 and a main shaft mounting plate 25.
The main shaft mounting plate 25 is located in the middle of the frame 11 and is connected with the workshop 11 through the lifting assembly 18. The main shaft 24 is horizontally fixed on the main shaft mounting plate 25, two ends of the main shaft are respectively provided with one driving wheel 22 through bearings, and the two driving motors 21 are arranged on the other two sides of the main shaft mounting plate 25, face opposite directions and are respectively connected with one driving wheel 22 close to the main shaft through a group of sprocket transmission mechanisms 23.
The lift assembly 18 includes a lift spring shaft 81, a lift motor 82, a lift cam 83, and a lift plate 84. The lifting spring shaft 81 comprises a lifting shaft 85, a lifting shaft sleeve 86 sleeved on the outer wall of the shaft and a lifting spring 87 arranged in the shaft.
The bottom end of the lifting shaft 85 is fixed to the main shaft mounting plate 25, the middle outer side is sleeved with the lifting shaft sleeve 86, the lifting shaft is fixed to the frame 11 through another support plate (not shown in fig. 3), and the top outer edge is fixed with a circle of the lifting plate 84. The top end of the lifting spring 87 in the lifting shaft 85 is connected with the frame 11.
The lift motor 82 is fixed to the frame, and a main shaft extends to the bottom of the lift plate 84 and is fixed with the lift cam 83.
Please refer to fig. 2 and fig. 3, which are a schematic structural diagram of the bidirectional latent traction-type magnetic navigation AGV and another view angle of fig. 2, respectively.
The distal end of the drive wheel assembly 12 is provided with a battery compartment (which is part of the housing and is shown removed), and two of the lead-acid batteries 15 are placed in a battery tray 52 provided with rollers and handles, together with the battery tray 52, in the battery compartment.
Please refer to fig. 5 and fig. 6, which are schematic structural diagrams of the auxiliary wheel assembly and the traction assembly of the bidirectional latent magnetic navigation AGV according to the present invention, and another view angle thereof.
The far end of the battery compartment is provided with a group of auxiliary wheel assemblies 13, which comprise a universal wheel mounting plate 31, a universal wheel 32, a directional wheel mounting plate 33, a directional wheel 34, a directional wheel spring shaft 35, a switching motor 36 and a switching cam 37. The directional wheel spring shaft 35 comprises a directional shaft 51, a directional shaft sleeve 52 sleeved on the outer wall of the directional shaft, and a directional spring 53.
The universal wheel mounting plate 31 is of a two-layer stepped structure, wherein the bottom surface of the lower layer is provided with two universal wheels 32, the upper layer is provided with two through holes, the through holes are respectively provided with one directional shaft sleeve 52, one end of a directional shaft 51 is fixed on the directional wheel mounting plate 33, and the other end of the directional shaft sequentially penetrates through a directional spring 53 and the directional shaft sleeve 52. The switching motor 36 is installed on the top of the lower layer of the universal wheel mounting plate 31, and the spindle penetrates through the vertical part of the universal wheel mounting plate 31 to the bottom of the directional wheel mounting plate 33 and is fixed with the switching cam 37.
The traction assemblies 14 are fixed at positions above the universal wheel mounting plate 31, the main body parts of the traction assemblies are fixed on the frame 11, and the traction shafts of the traction assemblies penetrate out of the frame 11.
The far end of the auxiliary wheel assembly 13 is the end of the frame 11, and a crash pad 19 is horizontally arranged outside the far end.
Please refer to fig. 2 and fig. 3, which are a schematic structural diagram of the bidirectional latent traction-type magnetic navigation AGV and another view angle of fig. 2, respectively.
The proximal end of the drive wheel assembly 12 is provided with a weight magazine (removed) in which a plurality of weights 16 are placed to balance the weight of the lead acid battery 15.
The near end of the counterweight cabin is provided with another auxiliary wheel assembly 13, and the specific structure of the auxiliary wheel assembly 13 is consistent with that of the auxiliary wheel assembly 13 at the far end of the battery cabin.
The proximal end of this said auxiliary wheel assembly 13 is provided with a control cartridge (removed) for mounting said control system 17. The control system 17 includes a control panel 71, a PLC controller 72, a motor driver 73, a landmark sensor 74, a radio frequency identification sensor 75, an obstacle detection sensor 76, and an audible and visual warning device 77.
The control panel 71 is laid on the top of the control cabin and is used as a part of the shell. The control panel 71 is of a sinking structure, and the keys are all arranged in the recesses.
The motor driver 73 is disposed in the middle of the frame 11, i.e., beside the driving wheel assembly 12. The landmark sensor 74 is disposed at a position below the middle portion of the frame 11, i.e., at the bottom of the driving wheel assembly 12 on the side of the control cabin. The rfid sensor 75 is disposed at the bottom of the control chamber. The two sets of obstacle detection sensors 76 and the sound and light warning device 77 are respectively arranged at the head end and the tail end of the frame 11.
The PLC controller 72 is located in the control cabin and is connected to other devices in the control system 17 through a circuit. And a DC-DC converter 78 for supplying power to the components is also arranged in the control cabin.
The near end of the control cabin is the end of the frame 11, and another anti-collision pad 19 is horizontally arranged on the outer side of the control cabin.
In specific implementation, the two driving motors 21 respectively drive the two driving wheels 22 to move, and steering is realized through the speed difference between the two driving motors.
In straight line operation, the directional wheel 34 is pushed out downwards under the action of the directional spring 53, the universal wheel 32 is lifted and suspended, and only the directional wheel 34 acts as an auxiliary wheel. Ensure the normal straight movement of the AGV without shaking.
When steering is needed, the switching motor 36 operates to drive the switching cam 37 to rotate, the directional wheel mounting plate 33 and the directional wheel 34 are jacked up and suspended, and only the universal wheel 32 serves as an auxiliary wheel. And ensuring that the AGV normally turns.
When the two-way latent magnetic navigation AGV1 is not acting as a power unit, but is acting as a slave unit. The lifting motor 82 operates to rotate the lifting cam 83, so as to push the lifting plate 84 to move upwards, thereby moving the driving wheel assembly 12 upwards integrally. The drive wheel 22 is suspended to reduce drag.
Compared with the prior art, the utility model provides a two-way towed magnetic navigation AGV1 of hiding auxiliary wheel subassembly 13 is provided with decides, universal switching mechanism, switches directional wheel, universal wheel respectively and moves as the auxiliary wheel alone when craspedodrome with turning to, guarantees that the AGV homoenergetic steady operation when craspedodrome with turning to.
Two-way latent towed magnetic navigation AGV1 drive wheel assembly 12 is equipped with hoist mechanism 18 will when being dragged the whole unsettled of drive wheel assembly 12 has reduceed the resistance that the motor caused when dragging greatly.
Control panel 71 of two-way latent towed magnetic navigation AGV1 adopts sunken form's structure, and the button is hidden in sunken, avoids producing the scraping with the goods.
The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes made by the present specification can be changed, or directly or indirectly applied to other related technical fields, and all the same principles are included in the protection scope of the present invention.
Claims (5)
1. A bidirectional latent traction type magnetic navigation AGV comprises a frame, a driving wheel assembly, auxiliary wheel assemblies, traction assemblies, a battery, a balance weight and a control system, wherein the driving wheel assembly is arranged in the middle of the frame, the battery and one group of auxiliary wheel assemblies are sequentially arranged at one end of the frame along the movement direction of the driving wheel assembly, the balance weight and the other group of auxiliary wheel assemblies and the control system are sequentially arranged at the other end of the frame, and the two groups of traction assemblies are respectively arranged at the positions of the two groups of auxiliary wheel assemblies and extend out of the top of the frame;
the method is characterized in that: the auxiliary wheel subassembly includes directional wheel, directional wheel mounting panel, universal wheel mounting panel, switching motor, switches the cam, switches the spring axle, universal wheel mounting panel one end is fixed in the frame, its bottom surface is equipped with the spring axle the universal wheel, the bottom of spring axle is equipped with directional wheel mounting panel, and install directional wheel, the switching motor install equally in the universal wheel mounting panel, the main shaft of switching motor extends to directional wheel mounting panel bottom, and install the cam.
2. The bidirectional submarine towed magnetic navigation AGV of claim 1, characterized in that: still including promoting the subassembly, it includes promotion motor, promotion cam, promotion spring shaft to promote the subassembly, the drive wheel subassembly passes through promote spring shaft install in the frame, the axle sleeve of spring shaft expands certain width outward as promoting the board, the promotion motor is fixed in the frame, the main shaft extends to promote the board bottom, and install promote the cam.
3. The bidirectional submarine towed magnetic navigation AGV of claim 1, characterized in that: the control system comprises a control panel, a PLC, a motor driver, a landmark sensor, a radio frequency identification sensor, an obstacle detection sensor and acousto-optic warning equipment;
the control panel is arranged at the top of the tail end of the frame, the PLC is arranged below the PLC and in the frame, the motor driver is arranged in the middle of the frame, the landmark sensor and the radio frequency identification sensor are arranged at the bottom of the frame, the obstacle detection sensor and the acousto-optic warning device are arranged at the front end and the rear end of the frame, the PLC is connected with other parts in the control system through circuits, and the motor driver is connected with motors through circuits.
4. A bidirectional latent magnetic traction AGV according to claim 3, characterized in that: the control panel is of a concave structure, and the height of a button of the control panel is lower than that of the top surface of the frame.
5. The bidirectional submarine towed magnetic navigation AGV of claim 1, characterized in that: the head end and the tail end of the frame are respectively provided with an anti-collision pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020219397.4U CN211809954U (en) | 2020-02-27 | 2020-02-27 | Bidirectional latent traction type magnetic navigation AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020219397.4U CN211809954U (en) | 2020-02-27 | 2020-02-27 | Bidirectional latent traction type magnetic navigation AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211809954U true CN211809954U (en) | 2020-10-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020219397.4U Active CN211809954U (en) | 2020-02-27 | 2020-02-27 | Bidirectional latent traction type magnetic navigation AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211809954U (en) |
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2020
- 2020-02-27 CN CN202020219397.4U patent/CN211809954U/en active Active
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Effective date of registration: 20221206 Address after: Room 101, building 2, ruisu science and Technology Park, 2 Kecheng Road, Suzhou Industrial Park, 215000, Jiangsu Province Patentee after: SUZHOU HEZIXING INTELLIGENT TECHNOLOGY CO.,LTD. Address before: Room 103 and 104, building 2, central Zhigu, No.189, Section 2, Renmin Middle Road, quantang street, Changsha Economic Development Zone, Hunan 410000 Patentee before: Changsha and Zisheng Intelligent Technology Co.,Ltd. |