CN221113416U - Double-wheel differential flat AGV mobile robot - Google Patents
Double-wheel differential flat AGV mobile robot Download PDFInfo
- Publication number
- CN221113416U CN221113416U CN202323464172.8U CN202323464172U CN221113416U CN 221113416 U CN221113416 U CN 221113416U CN 202323464172 U CN202323464172 U CN 202323464172U CN 221113416 U CN221113416 U CN 221113416U
- Authority
- CN
- China
- Prior art keywords
- bracket
- bottom plate
- mobile robot
- wheel
- flat plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000725 suspension Substances 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a double-wheel differential flat AGV mobile robot, comprising: the upper end of the bottom plate is connected with a flat plate through a plurality of third brackets; the walking assembly comprises a first suspension assembly and a second suspension assembly which are respectively arranged at the front end and the rear end of the trolley, the first suspension assembly comprises a first bracket which is rotationally connected with the bottom plate at the middle part, and the two ends of the first bracket are connected with first universal wheels; the second suspension assembly is provided with two groups, is symmetrically arranged on the left side and the right side of the trolley and comprises a second bracket rotationally connected with the bottom plate, and second universal wheels and driving wheels are respectively connected on the second bracket and on the two sides of the rotational connection part of the second bracket and the bottom plate. Through the setting of second suspension element, no matter have protruding, sunken or slope on the road surface of traveling, the drive wheel can have stable contact all the time with ground, guaranteed its steady frictional force all the time with ground, and then guarantee the stability of traveling.
Description
Technical Field
The utility model relates to the technical field of transportation, in particular to a double-wheel differential flat AGV mobile robot.
Background
With the gradual development of the technology of a computer integrated manufacturing system and the wide application of a flexible manufacturing system and an automatic stereoscopic warehouse along with factory automation, mobile robot equipment such as an AGV (automatic guided vehicle) is used as a necessary automatic carrying and loading and unloading means for connecting and adjusting a discrete logistics system and continuously operating the discrete logistics system, and the application range and the application scale of the mobile robot equipment are larger and larger. An AGV is a mobile robot equipped with an automatic guidance device such as electromagnetic and photoelectric devices, and capable of automatically traveling along a predetermined trajectory. Along with the improvement of the automation degree of enterprises, the method is widely applied to the fields of logistics, assembly and the like, and the safety of the method is more and more important in complex factory use scenes.
However, when the existing AGV mobile robot encounters the conditions of pits, slopes and the like on the driving road surface, the driving wheel is easy to suspend or semi-suspend to form idle running, so that the driving wheel is caused to skid, the stability of transported objects is influenced, even the transported objects fall off, and great hidden danger is caused to the safety of transportation. Therefore, how to ensure the stability of the transportation process is a matter that the person skilled in the art needs to consider.
Disclosure of utility model
The utility model aims at: the utility model provides a dull and stereotyped AGV mobile robot of double round differential to easily appear the drive wheel unsettled when transporting in the solution prior art and cause the scheduling problem that skids.
The technical scheme of the utility model is as follows: a dual-wheel differential flat plate AGV mobile robot comprising:
the upper end of the bottom plate is connected with a flat plate through a plurality of third brackets;
The walking assembly comprises a first suspension assembly and a second suspension assembly which are respectively arranged at the front end and the rear end of the trolley, the first suspension assembly comprises a first bracket which is rotationally connected with the bottom plate at the middle part, and the two ends of the first bracket are connected with first universal wheels;
The second suspension assembly is provided with two groups, is symmetrically arranged on the left side and the right side of the trolley and comprises a second bracket rotationally connected with the bottom plate, and second universal wheels and driving wheels are respectively connected on the second bracket and on the two sides of the rotational connection part of the second bracket and the bottom plate.
Preferably, the axial direction of the first bracket and the bottom plate rotating motion is mutually perpendicular to the axial direction of the second bracket and the bottom plate rotating motion.
Preferably, the second bracket is further connected to the base plate through an elastic component, and the elastic component applies a driving force for rotating the second bracket on the base plate, so that the driving wheel has a downward movement tendency.
Preferably, the elastic component sets up the one end that is close to the drive wheel at the second support, including the dead lever that the lower extreme runs through the second support and is connected with the bottom plate, the upper end of dead lever is provided with the dog, the cover is equipped with the spring on the dead lever, just the spring sets up between dog and second support.
Preferably, the second bracket is provided with a first elongated hole, and the fixing rod is connected with the first elongated hole.
Preferably, the second bracket is connected with a driving device, and the driving device can drive the driving wheel to rotate.
Preferably, the drive wheel is disposed between the first universal wheel and the second universal wheel.
Preferably, the front end and the rear end of the bottom plate are both provided with anti-collision beams.
Compared with the prior art, the utility model has the advantages that:
(1) Through the arrangement of the second suspension assembly, no matter the travelling road surface is provided with a bulge, a recess or a slope, the driving wheel can be always in stable contact with the ground, so that the stable friction force between the driving wheel and the ground is ensured, and the travelling stability is further ensured;
(2) Through the arrangement of the spring assembly, the downward driving force is applied to the driving wheel, so that the contact friction between the driving wheel and the ground is further increased, and the running is more stable;
(3) The symmetrical driving devices of the two second hanging sets are independently arranged and respectively drive the driving wheels at two sides to rotate, and the operations such as turning of the AGV can be realized through speed difference; the first suspension assembly can be used as a front wheel set or a rear wheel set of the advancing direction, is connected with the rotation of the bottom plate, and can adjust the balance between the two first universal wheels through the relative rotation of the bottom plate during turning, so that the stability of the AGV walking is guaranteed.
Drawings
The utility model is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a schematic diagram of a dual-wheel differential flat AGV mobile robot according to the present utility model;
FIG. 2 is a schematic view of the dual-wheel differential flat AGV mobile robot of the present utility model with the outer shell removed;
Fig. 3 is a schematic structural view of the base plate according to the present utility model.
Wherein: a bottom plate 1, a third bracket 11 and a shell 12;
a flat plate 2;
The walking assembly 3, the first suspension assembly 31, the first bracket 311, the first universal wheel 312, the second suspension assembly 32, the second bracket 321, the extension portion 3211, the first elongated hole 3212, the second universal wheel 322, the driving wheel 323, the driving device 324, the elastic assembly 33, the fixing rod 331, the stop block 332 and the spring 333.
Detailed Description
The following describes the present utility model in further detail with reference to specific examples:
as shown in fig. 1-3, a dual-wheel differential flat plate AGV mobile robot includes:
The bottom plate 1 and the upper end of the bottom plate 1 are connected with a flat plate 2 through a plurality of third brackets 11. The third brackets 11 are distributed at the upper end of the bottom plate 1 to realize stable support of the flat plate 2. When transporting goods, the goods is placed on the flat plate 2, and the upper end of the flat plate 2 can be provided with anti-slip, limiting structures and the like according to actual transportation requirements so as to protect the transported goods. The clearance between the bottom plate 1 and the flat plate 2 has a certain height, and forms a certain space through the shell 12 encircling the bottom plate 1, and the control mechanism, the battery and the like of the AGV are all installed in the space, meanwhile, in order to reduce the overall height of the flat plate 2AGV mobile robot, the first suspension assembly 31 and the second suspension assembly 32 are also installed at the upper end of the bottom plate 1, but the lower ends of the first universal wheel 312, the second universal wheel and the driving wheel penetrate through and protrude out of the bottom plate 1 so as to be in contact with the ground.
The traveling assembly 3 includes a first suspension assembly 31 and a second suspension assembly 32 provided at front and rear ends of the cart, respectively. The first suspension assembly 31 comprises a first bracket 311 which is rotatably connected with the bottom plate 1 at the center, and first universal wheels 312 are connected to two ends of the first bracket 311.
In this embodiment, the flat plate 2AGV mobile robot can travel forward or backward, and therefore, the first suspension assembly 31 (or the second suspension assembly 32) may be disposed at the front end or the rear end of the forward direction, and for convenience of description, the first suspension assembly 31 is disposed at the front end of the forward direction.
The lower end of the first bracket 311 at the center is rotatably connected with the upper end of the bottom plate 1, and the connection is positioned at the center of the bottom plate 1 in the left-right direction. The two first universal wheels 312 are symmetrically arranged, and the upper ends of the first universal wheels 312 are connected with the lower ends of the end parts of the first brackets 311, so that the first brackets 311 are supported more conveniently, and the bottom plate 1 is supported through the first brackets 311.
The second suspension assembly 32 is disposed at the rear end of the pallet 2AGV mobile robot, which is provided with two sets and symmetrically disposed at the left and right sides of the carriage. The second suspension assembly 32 includes a second bracket 321 rotatably coupled to the base plate 1, and a second universal wheel 322 and a driving wheel 323 are respectively coupled to the second bracket 321 at both sides of a rotational coupling portion thereof with the base plate 1.
In this embodiment, the second universal wheel 322 and the driving wheel 323 are respectively connected to two sides of the connection position of the second bracket 321 and the bottom plate 1, but the connection positions are not necessarily symmetrical, and the connection position of the second bracket 321 and the bottom plate 1 is not necessarily the center position of the second bracket 321; the driving wheel 323 is connected to an end of the second bracket 321 near the first suspension assembly 31, the second universal wheel 322 is connected to an end of the second bracket 321 far from the first suspension assembly 31, and the second universal wheel 322 is located at a rear end of the traveling direction of the AGV traveling robot, and the driving wheel 323 is near a middle portion of the traveling direction thereof. The axial direction of the rotational movement at the rotational connection of the first bracket 311 and the base plate 1 is perpendicular to the axial direction of the rotational movement at the rotational connection of the second bracket 321 and the base plate 1. The second bracket 321 is connected with a driving device 324, and the driving device 324 can drive the driving wheel 323 to rotate; wherein, two driving devices 324 respectively arranged on two symmetrical second brackets 321 are mutually independent, and different rotating speeds of two driving wheels 323 are respectively controlled by the two driving devices, so that the turning of the flat plate 2AGV is completed.
The second bracket 321 is also connected to the base plate 1 through an elastic member 33, and the elastic member 33 applies a driving force to the second bracket 321 to rotate it on the base plate 1 so that the driving wheel 323 tends to move downward. The elastic component 33 is disposed at one end of the second support 321 near the driving wheel 323, and includes a fixing rod 331 with a lower end penetrating the second support 321 and connected to the bottom plate 1, a stop block 332 is disposed at an upper end of the fixing rod 331, a spring 333 is sleeved on the fixing rod 331, and the spring 333 is disposed between the stop block 332 and the second support 321. The second bracket 321 is provided with a first elongated hole 3212, and the fixing rod 331 is connected to the first elongated hole 3212.
In this embodiment, the second bracket 321 extends at an end far from the second universal wheel 322 to form an extension portion 3211, and the first elongated hole 3212 is disposed at the extension portion 3211. When the fixing rod 331 passes through the first elongated hole 3212, a certain gap is formed between the fixing rod 331 and the first elongated hole so as to facilitate mutual movement; the fixing rod 331 may be a half-tooth bolt, which is in threaded connection with the stop block 332, and the position of the stop block 332 on the fixing rod 331 can be adjusted by rotating the stop block 332 so as to adjust the compression amount of the spring 333, thereby controlling the elastic force exerted by the spring 333 on the second bracket 321. In other embodiments, the elastic member 33 may be disposed at other positions of the second bracket 321, such as when the elastic member 33 is disposed at a side close to the second universal wheel 322 with respect to the connection between the second bracket 321 and the base plate 1, the elastic member 33 is disposed between the second bracket 321 and the base plate 1, which applies an upward elastic force to the side of the second universal wheel 322 of the second bracket 321. Of course, the spring 333 in the elastic component 33 may also be other elastic devices, such as rubber, elastic sheet, etc. In other embodiments, the function of the elastic member 33 may be achieved by a torsion spring provided at the rotational connection of the second bracket 321 with the base plate 1.
In this embodiment, taking the forward movement of the flat plate 2AGV mobile robot as an example, when the flat plate 2AGV mobile robot encounters a protrusion on the ground, the flat plate runs to the first universal wheel 312 to pass through the protrusion, the first universal wheel 312 is slightly lifted, and under the cooperation of the spring 333, the second bracket 321 rotates to enable the driving wheel 323 to move downwards to be continuously attached to the ground; when driving to the driving wheel 323 and passing the bulge, the driving wheel 323 is slightly lifted upwards, but continuously clings to the ground under the cooperation of the spring 333 component; when the second universal wheel 322 is driven to the convex, the second universal wheel 322 is slightly lifted, so that the driving wheel 323 still clings to the ground downwards. Similarly, when the flat plate 2AGV mobile robot is transported to the condition that the ground is sunken or inclined, the driving wheel 323 can still be always clung to the ground, and the effective driving is always ensured.
It should be noted that, in general, the design distance between the bottom plate 1 of the flat plate 2AGV mobile robot and the ground is smaller, the overall height is smaller, the driving road surface condition is relatively flat, and the inclination of the design slope is also generally smaller; the above-mentioned protrusions and depressions are generally caused by long-term use or other unexpected situations, and are small in extent, and the flat plate 2AGV mobile robot cannot pass through.
The above embodiments are only for illustrating the technical concept and features of the present utility model, and are intended to enable those skilled in the art to understand the content of the present utility model and implement the same according to the content of the present utility model, and are not intended to limit the scope of the present utility model. It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments and that the present utility model may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore desired that the present utility model be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (8)
1. Two-wheeled differential dull and stereotyped AGV mobile robot, its characterized in that includes:
the upper end of the bottom plate is connected with a flat plate through a plurality of third brackets;
The walking assembly comprises a first suspension assembly and a second suspension assembly which are respectively arranged at the front end and the rear end of the trolley, the first suspension assembly comprises a first bracket which is rotationally connected with the bottom plate at the middle part, and the two ends of the first bracket are connected with first universal wheels;
The second suspension assembly is provided with two groups, is symmetrically arranged on the left side and the right side of the trolley and comprises a second bracket rotationally connected with the bottom plate, and second universal wheels and driving wheels are respectively connected on the second bracket and on the two sides of the rotational connection part of the second bracket and the bottom plate.
2. The dual-wheel differential flat plate AGV mobile robot according to claim 1 wherein: the axial direction of the first bracket and the axial direction of the rotating motion of the bottom plate are mutually perpendicular to the axial direction of the rotating motion of the second bracket and the bottom plate.
3. The dual-wheel differential flat plate AGV mobile robot according to claim 1 wherein: the second support is also connected with the bottom plate through an elastic component, and the elastic component applies a driving force for enabling the second support to rotate on the bottom plate, so that the driving wheel has a downward movement trend.
4. The dual-wheel differential flat plate AGV mobile robot according to claim 3 wherein: the elastic component sets up the one end that is close to the drive wheel at the second support, runs through the second support including the lower extreme and with the dead lever that the bottom plate is connected, the upper end of dead lever is provided with the dog, the cover is equipped with the spring on the dead lever, just the spring sets up between dog and second support.
5. The dual-wheel differential flat plate AGV mobile robot according to claim 4 wherein: the second bracket is provided with a first strip-shaped hole, and the fixing rod is connected with the first strip-shaped hole.
6. The dual-wheel differential flat plate AGV mobile robot according to claim 1 wherein: the second bracket is connected with a driving device, and the driving device can drive the driving wheel to rotate.
7. The dual-wheel differential flat plate AGV mobile robot according to claim 1 wherein: the drive wheel is disposed between the first universal wheel and the second universal wheel.
8. The dual-wheel differential flat plate AGV mobile robot according to claim 1 wherein: and the front end and the rear end of the bottom plate are respectively provided with an anti-collision beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323464172.8U CN221113416U (en) | 2023-12-19 | 2023-12-19 | Double-wheel differential flat AGV mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323464172.8U CN221113416U (en) | 2023-12-19 | 2023-12-19 | Double-wheel differential flat AGV mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221113416U true CN221113416U (en) | 2024-06-11 |
Family
ID=91366022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323464172.8U Active CN221113416U (en) | 2023-12-19 | 2023-12-19 | Double-wheel differential flat AGV mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221113416U (en) |
-
2023
- 2023-12-19 CN CN202323464172.8U patent/CN221113416U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105947506B (en) | A kind of warehouse Intelligent transfer robot | |
| US11584181B2 (en) | Self leveling autonomous guided vehicle | |
| KR102140480B1 (en) | Wheel driving device for use of Automated Guided Vehicle | |
| US7468592B2 (en) | Apparatus for moving center of gravity of robot, and system and method using the same | |
| EP3875353A1 (en) | Unmanned guided carrier and chassis therefor | |
| CN214734180U (en) | Unmanned transport automated guided vehicle | |
| CN221113416U (en) | Double-wheel differential flat AGV mobile robot | |
| CN209906284U (en) | AGV dolly jacking device | |
| CN106882040B (en) | Traction type AGV dolly | |
| CN206201888U (en) | A kind of multi link independent suspension chassis for heavily loaded AGV | |
| CN111362190A (en) | Fork transport AGV | |
| WO1993025398A1 (en) | A guide wheel assembly for a trolley and a trolley equipped therewith | |
| CN212290091U (en) | Material transportation moving platform based on differential drive | |
| CN210133017U (en) | Driving mechanism and automatic guide trolley | |
| CN208278199U (en) | A kind of latent jacking type automated guided vehicle | |
| CN212605547U (en) | Logistics trolley | |
| CN116118871A (en) | AGV trolley chassis, AGV trolley and laser anti-collision radar detection method thereof | |
| CN216070261U (en) | Universal intelligent trolley chassis | |
| JP2000351385A (en) | Automatically guided vehicle | |
| CN214776251U (en) | Driving wheel suspension system of AGV (automatic guided vehicle) carrying trolley for relay sorting | |
| CN214729231U (en) | Universal wheel structure of AGV (automatic guided vehicle) carrying trolley for relay sorting | |
| CN210882400U (en) | Robot with suspension mechanism | |
| CN210191285U (en) | Automatic guiding carrier | |
| CN110980592A (en) | Lifting device suitable for AGV | |
| CN113650702A (en) | Universal intelligent trolley chassis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |