CN106476929A - A kind of AGV dolly of omnidirectional submarine - Google Patents
A kind of AGV dolly of omnidirectional submarine Download PDFInfo
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- CN106476929A CN106476929A CN201611142265.0A CN201611142265A CN106476929A CN 106476929 A CN106476929 A CN 106476929A CN 201611142265 A CN201611142265 A CN 201611142265A CN 106476929 A CN106476929 A CN 106476929A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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Abstract
A kind of AGV dolly of omnidirectional submarine, including vehicle frame and drive module, described drive module includes motor and driving wheel, and described drive module also includes the first jackshaft, steering wheel, gear train and conductive plastic potentiometer；Described first jackshaft is arranged in the middle part of described casing, and its lower end is inserted described casing and fixed with casing, and its top extends straight up and passes described casing；Described steering wheel is rotatably mounted around the top of described first jackshaft；Described gear train includes two intermeshing first gears and second gear, and described first gear suit is fixed on the output shaft of described conductive plastic potentiometer, and described second gear suit is fixed on the top of described first jackshaft, and it is fixed on described steering wheel.Conductive plastic potentiometer receives the information of displacement, senses the information of magnetic stripe with navigation sensor, and the direction of AGV dolly is finely adjusted.
Description
Technical field
The present invention relates to AGV dolly field, a kind of AGV dolly of particularly omnidirectional submarine.
Background technology
AGV is the english abbreviation of automatic guided vehicle (Automated Guided Vehicle).Refer to be equipped with electromagnetism or
The homing guidance device such as optics, can travel along the guide path of regulation, have safeguard protection and the fortune of various transfer function
Defeated car, AGV belongs to the category of wheeled mobile robot (WMR --- Wheeled Mobile Robot).
The distinguishing feature of AGV dolly is unmanned, can with safeguards system in the case of being not required to want manual guidance automatically
Travel, flexible, automatization and intelligent level are high.AGV dolly can change according to storage goods yard requirement, technological process of production etc.
Become and flexible configuration, and the expense that operating path changes is very cheap compared with the transmission line of traditional conveyer belt or rigidity.
If being furnished with charging crane, AGV dolly can also realize goods or material handling and carrying with other logistics equipments from mobile interface
Full process automatization.In addition, AGV dolly also has the characteristics that clean manufacturing, and it is dynamic that AGV dolly relies on the accumulator carrying to provide
Power, running noise is extremely low, pollution-free, can apply the place requiring working environment cleaning in many.
Between the drive module of existing AGV dolly and control module, the transmission of signal is not accurate, so by controlling
Module is controlled to drive module, when driving it to move ahead or turning to, the deviation on route easily, brings not to using
Just.
Content of the invention
For drawbacks described above, it is an object of the invention to the AGV proposing a kind of drive control accurately omnidirectional's submarine is little
Car.
For reaching this purpose, the present invention employs the following technical solutions：
A kind of AGV dolly of omnidirectional submarine, including vehicle frame and drive module, described drive module include motor and
Driving wheel, described motor is arranged in casing, and described casing is arranged on described vehicle frame, and described in two, driving wheel is separately mounted to
Outside described casing, described motor drives described driving wheel to rotate by wheel shaft；
Described drive module also includes the first jackshaft, steering wheel, gear train and conductive plastic potentiometer；
Described first jackshaft is arranged in the middle part of described casing, and its lower end is inserted described casing and fixed, thereon with casing
Portion extends straight up and passes described casing；
Described steering wheel is rotatably mounted around the top of described first jackshaft；Described gear train includes two and mutually nibbles
The first gear closed and second gear, described first gear suit is fixed on the output shaft of described conductive plastic potentiometer, described
Second gear suit is fixed on the top of described first jackshaft, and it is fixed on described steering wheel.
Preferably, described first jackshaft be respectively provided on two sides with one group of damping spring group, described damping spring group upper
End is fixed on described steering wheel, and the lower end of described damping spring group is fixed on described casing.
Preferably, the top of described drive module is provided with automatic lifting module, and described automatic lifting module is arranged on described
Vehicle frame；
Described lifting module includes fixed disk, lifting motor, disk and lifting bearing；
Described fixed disk suit is fixed on the top of described first jackshaft；
Described disk is fixed on the rotary shaft of described lifting motor, and described lifting bearing bias is fixed on the outer of described disk
Side end face；Described lifting bearing is arranged on below described fixed disk so that described lifting motor is driving described disc rotary
During, described lifting bearing can make lifting action by described fixed disk with described drive module.
Preferably, the rotary shaft of described lifting motor is fixed with eccentric cam fastener, described disk is fixed on described inclined
Cardiac prominence wheel fastener；
Described eccentric cam fastener be respectively provided on two sides with proximity switch, the control of described proximity switch and described AGV dolly
Molding block electrically connects.
Preferably, described lifting motor is fixed on motor mounting plate, and described motor mounting plate is arranged on described vehicle frame；
Shown proximity switch is fixed on described motor mounting plate.
Preferably, described disk is arranged on mounting blocks by unilateral bearing, and described mounting blocks are arranged on described vehicle frame.
Preferably, the lower section of described fixed disk is arranged at intervals with and compresses disk, and the described disk suit that compresses is fixed on described first
The top of jackshaft, described lifting bearing is arranged on described fixed disk and compresses between disk, and described lifting bearing can prop up described
Continue to move downward after the end face compressing disk.
Preferably, be provided with traction rod assembly below the vehicle frame plane of described vehicle frame, described traction rod assembly include traction frame,
Drawing bar, hold-down bars, spring, flange part, rotating disk, traction electric machine and traction bearing；
Described traction frame is suspended vacantly the inner side in described vehicle frame plane；
Described drawing bar is vertically extended on the middle part of described traction frame, and its upper end can stretch out institute straight up
State vehicle frame plane；The lower end of described hold-down bars is fixed on the bottom surface of described traction frame, and the inner chamber of described drawing bar is stretched in its upper end；
Described spring is sleeved on described hold-down bars, and its upper end props up the top surface of described inner chamber, and the lower end of described spring props up described traction
The bottom surface of frame；
Described flange part is fixed on the lateral wall of the lower end of described drawing bar by nut suit, and its end face is to described traction
The outside of rod extends；Described rotating disk is fixed on the front end of the rotary shaft of described traction electric machine, and described traction bearing is eccentric fixing
In the end face outside of described rotating disk, and it is arranged on the top of described rotating disk, and tangent with described flange part.
Preferably, described inductive switch and induction pieces are also included, described induction pieces are arranged on the outer face of described rotating disk；
Described inductive switch and induction pieces electrical connection, described inductive switch is electrically connected with the control module of described AGV dolly.
Preferably, described flange part is down the integral structure part of "Ji" type.
Beneficial effects of the present invention：When needing former road to run back and forth, the control module of AGV dolly is read by RFID
Write device and navigation sensor receives information, first travel along a direction, travel along original opposite direction after the completion of loading, pass through
Conductive plastic potentiometer receives the information of displacement, senses the information of magnetic stripe with navigation sensor, and the direction of AGV dolly is entered
Row fine setting, is carried out the operating of both forward and reverse directions, realizes travel directions by 4 motors to the driving wheel in 2 groups of drive modules
Traveling.
When needing to carry out omnidirectional's operation, control module passes through navigation sensor, rfid interrogator receives information, first edge
A direction travels, and navigation sensor senses the change information of magnetic stripe, and control module receives signal and passes to control signal
Drive module, changes traffic direction；Conductive plastic potentiometer senses displacement signal, passes to control module, direction is carried out micro-
Adjust, navigation sensor senses the change information of magnetic stripe again, and control module receives signal and control signal is passed to driving mould
Block, changes traffic direction again, and conductive plastic potentiometer senses displacement signal, passes to control module, direction is finely adjusted,
It is achieved thereby that omnidirectional's transport.
Brief description
Fig. 1 is the top view of an embodiment of the AGV dolly of omnidirectional's submarine of the present invention；
Fig. 2 is the axonometric chart of an embodiment of the AGV dolly of omnidirectional's submarine of the present invention；
Fig. 3 is the sectional view of an embodiment of drive module in the present invention；
Fig. 4 is the scheme of installation of an embodiment of drive module and automatic lifting module in the present invention；
Fig. 5 is the scheme of installation of an embodiment of lifting motor and lifting bearing in the present invention；
Fig. 6 is the structural representation of an embodiment drawing rod assembly in the present invention；
Fig. 7 is the sectional view of an embodiment drawing rod assembly in the present invention.
Wherein：Vehicle frame 1, vehicle frame plane 100；
Drive module 2, motor 21, driving wheel 22, the first jackshaft 23, steering wheel 24, gear train 25, first gear
251, second gear 252, conductive plastic potentiometer 26；
Casing 3, damping spring group 4；
Automatic lifting module 5, fixed disk 51, lifting motor 52, disk 53, lift bearing 54, eccentric cam fastener 55, connect
Nearly switch 56, compresses disk 57；
Motor mounting plate 6, mounting blocks 7；
Traction rod assembly 8, traction frame 81, drawing bar 82, inner chamber 820, hold-down bars 83, spring 84, flange part 85, rotating disk
86, draw bearing 87, inductive switch 88, induction pieces 89；
Control module 9, RFID read-write module 10, navigation sensor 11, angular transducer 12, set of cells 13.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
As shown in Figures 3 and 4, the AGV dolly of a kind of omnidirectional submarine, including vehicle frame 1 and drive module 2, described driving
Module 2 includes motor 21 and driving wheel 22, and described motor 21 is arranged in casing 3, and described casing 3 is arranged on described
Vehicle frame 1, driving wheel 22 described in two is separately mounted to outside described casing 3, and described motor 21 drives described drive by wheel shaft
Driving wheel 22 rotates；
Described drive module 2 also includes the first jackshaft 23, steering wheel 24, gear train 25 and conductive plastic potentiometer 26；
Described first jackshaft 23 is arranged in the middle part of described casing 3, and its lower end is inserted described casing 3 and fixed with casing 3,
Its top extends straight up and passes described casing 3；
Described steering wheel 24 is rotatably mounted around the top of described first jackshaft 23；Described gear train 23 includes two
Intermeshing first gear 251 and second gear 252, described first gear 251 suit is fixed on described conductive plasticss current potential
The output shaft of device 26, described second gear 252 suit is fixed on the top of described first jackshaft 23, and it is fixed on described turning
To disk 24.
As shown in Figures 1 and 2, the AGV dolly of a kind of omnidirectional submarine, including 2, two controls of 1, two drive modules of vehicle frame
Molding block 10, two navigation sensors 11 of 9, RFID read-write module, angular transducer 12 and set of cells 13, each drives mould
Block 2 is connected with control module 9, and two drive modules 2 are symmetrically mounted on vehicle frame 1 bottom, and two control modules 9 are symmetrically mounted on
On vehicle frame 1, two navigation sensors 9 are arranged in the front and back axis of vehicle frame 1, and are connected with control module 9, to read ground
The magnetic strip information in face simultaneously feeds back to control module 9, and control module 9 sends corresponding control signal to driving according to the signal of feedback
Module 2, makes AGV dolly walk along ground magnetic strip line and maintains vehicle body stable；4 angular transducers 12 are respectively symmetrically and are arranged on 2
In individual drive module, and it is connected with control module 9, for detecting the angle between drive module 2 and vehicle frame 1.RFID read-write
Module 10 is arranged on immediately below vehicle frame 1 and is connected with control module 9, for detecting ground magnetic card road sign and signal being passed to control
Molding block 9, control module 9, according to the information of the read magnetic card road sign of RFID read-write module 10, sends corresponding control signal to drive
Dynamic model block 2, so that executing corresponding action, such as turns to, accelerate etc.；Two set of cells 13 are arranged on vehicle frame 1 and are distributed in RFID reading
Writing module 10 both sides, provide power source to all electrical equipments on AGV and instrument.
In the present embodiment, it is symmetrically mounted at the bottom of described vehicle frame 1 before and after two described drive modules 2, described in two
Motor 21 is separately positioned on the both sides of casing 3, and described driving wheel 22 is arranged on outside shown casing 31, described motor
21 drive described driving wheel 22 to rotate by wheel shaft 22；Driving wheel 22 is driven to rotate respectively by two motors 21, motion
Flexibly.
When dolly needs to turn to, steering wheel 24 is driven device with rotation, and the steering wheel 24 of rotation passes through in first
Heart axle 23 drives casing 3 and its driving wheel 22 of both sides to turn to simultaneously, so that whole dolly turns to.And steering wheel 24 is at it
In rotation process, second gear 252 is driven to rotate by first gear 251, second gear 252 is with conductive plastic potentiometer 26
Operating, the signal of oneself mechanical displacement is converted into electric signal, passes to the control mould of AGV dolly by conductive plastic potentiometer 26
Block 9.
When needing former road to run back and forth, the control module 9 of AGV dolly passes through rfid interrogator 10 and navigation sensing
Device 11 receives information, first travels along a direction, travels along original opposite direction, by conductive plasticss current potential after the completion of loading
Device 26 receives the information of displacement, senses the information of magnetic stripe with navigation sensor 11, and the direction of AGV dolly is finely adjusted,
By 4 motors 21, the driving wheel 22 in 2 groups of drive modules is carried out with the operating of both forward and reverse directions, realizes the row of travel directions
Sail.
When needing to carry out omnidirectional's operation, control module 9 passes through navigation sensor 11, and rfid interrogator 10 receives letter
Breath, first travels along a direction, and navigation sensor 11 senses the change information of magnetic stripe, and control module 9 receives signal and will control
Signal processed passes to drive module 2, changes traffic direction；Conductive plastic potentiometer 26 senses displacement signal, passes to control module
9, direction is finely adjusted, navigation sensor 11 senses the change information of magnetic stripe again, control module 9 receives signal and will control
Signal processed passes to drive module 2, changes traffic direction again, and conductive plastic potentiometer 26 senses displacement signal, passes to control
Module 9, is finely adjusted to direction, it is achieved thereby that omnidirectional's transport.
Described first jackshaft 23 be respectively provided on two sides with one group of damping spring group 4, the upper end of described damping spring group 4 is solid
It is scheduled on described steering wheel 24, the lower end of described damping spring group 4 is fixed on described casing 3.
Damping spring group 4 includes damping spring 41 and support bar 42, and the upper end of described support bar 42 is fixed on described steering
Disk 24, its lower end is fixed on described casing 3；Described damping spring 41 is sleeved on described support bar 41, and its upper end props up described
The lower surface of steering wheel 24, lower end props up the upper surface of described casing 3, using the elastic characteristic of damping spring 41, alleviates AGV little
Fluctuating in running for the car is jolted, the problem in raising condition, it is to avoid the kinds of goods of dolly or apparatus are through jolting and affecting
Various quality or precision.
As shown in Fig. 3, Fig. 4 and Fig. 5, the top of described drive module 2 is provided with automatic lifting module 5, described automatic lifting
Module 5 is arranged on described vehicle frame 1；
Described lifting module 5 includes fixed disk 51, lifting motor 52, disk 53 and lifting bearing 54；
Described fixed disk 51 suit is fixed on the top of described first jackshaft 23；
Described disk 53 is fixed on the rotary shaft of described lifting motor 52, and described lifting bearing 54 bias is fixed on described circle
The end face outside of disk 53；Described lifting bearing 54 is arranged on described fixed disk 51 lower section so that described lifting motor 52 is driving
During described disk 53 rotation, described lifting bearing 54 can be risen with described drive module 2 by described fixed disk 51
Fall action.
Lifting motor 52 is arranged on the side of the first jackshaft 23, and described lifting bearing 54 stretches under described fixed disk 51
Side；Lifting motor 52 rotates with disk 53, and on disk 53, eccentric fixing lifting bearing 54 rotates with it, when lifting bearing
After 54 are rotated upwardly into the position contacting tangent with fixed disk 51 lower surface, continue up rotation, by fixed disk 51 jack-up upwards,
The driving wheel 22 of casing 3 and casing 3 both sides is lifted (lifting motor 52 stops operating) by the first jackshaft 23 by fixed disk 51,
Universal wheel on vehicle frame 1 is contacted with ground and (when driving wheel 22 is contacted with ground, between universal wheel and ground, there is height
Difference), AGV dolly arbitrarily changes direction by universal wheel, convenient transfer；After appropriate location transferred to by AGV dolly, lifting motor 52
Continue to operate forward, lifting bearing 54 is rotated down and disengaged with fixed disk 51, and fixed disk 51 is with the first jackshaft 23 He
Casing 3 falls to the ground in the presence of respective gravity again, reduce bodywork height, continue through drive module 2 forward or to
After advance, easy to adjust.
Eccentric cam fastener 55 is fixed with the rotary shaft of described lifting motor 52, described disk 53 is fixed on described bias
Cam fastener 55；
Described eccentric cam fastener 55 be respectively provided on two sides with proximity switch 56, described proximity switch 56 is little with described AGV
The control module electrical connection of car.
Described eccentric cam fastener 55 be respectively provided on two sides with proximity switch 56, one of proximity switch 56 to drive mould
The rise of block 2 is measured, and another proximity switch 56 is measured to the landing of drive module 2, by proximity switch 56
The number of times turning over according to eccentric cam fastener 55, by its signal transmission to control module 9, control module 9 is by automatic lifting mould
Block 5 controls the lifting of drive module 2, and the degree that automatically controls is high, easy to use.
Described lifting motor 52 is fixed on motor mounting plate 6, and described motor mounting plate 6 is arranged on described vehicle frame 1；
Shown proximity switch 56 is fixed on described motor mounting plate 6.
Save assembly space, improve space utilization rate, cramped construction, improve the serviceability of device.
Described disk 53 is arranged on mounting blocks 7 by unilateral bearing, and described mounting blocks 7 are arranged on described vehicle frame 1.
Described disk 53 is installed in rotation on mounting blocks 7, improves the stability of its operation；And disk 53 and installation
Installation between block 7 is realized by unilateral bearing, that is, disk 53 can only rotate around direction with lifting bearing 54 it is ensured that
Proximity switch 56 turns over, to eccentric cam fastener 55, the precision that number of times is detected.
The lower section of described fixed disk 51 is arranged at intervals with and compresses disk 57, and described disk 57 suit that compresses is fixed in described first
The top of countershaft 23, described lifting bearing 54 is arranged on described fixed disk 51 and compresses between disk 57, described lifting bearing 54 energy
Continue to move downward after the end face compressing disk 57 described in propping up.
Lifting bearing 54 is rotated down and is disengaged with fixed disk 51, and disk 53 is rotated further, and described lifting bearing 54 supports
Residence continues to move downward after stating the end face compressing disk 57, press against and compresses disk 57 and whole casing 3 falls to the ground downwards again,
Reduce bodywork height, easy to adjust.
As shown in FIG. 6 and 7, it is provided with traction rod assembly 8, described drawing bar group below the vehicle frame plane 100 of described vehicle frame 1
Part 8 includes traction frame 81, drawing bar 82, hold-down bars 83, spring 84, flange part 85, rotating disk 86, traction electric machine and traction bearing
87；
Described traction frame 81 is suspended vacantly the inner side in described vehicle frame plane 100；
Described drawing bar 82 is vertically extended on the middle part of described traction frame 81, and its upper end can be stretched straight up
Go out described vehicle frame plane 100；The lower end of described hold-down bars 83 is fixed on the bottom surface of described traction frame 83, its upper end stretch into described in lead
Draw the inner chamber 820 of rod 82；Described spring 84 is sleeved on described hold-down bars 83, and its upper end props up the top surface of described inner chamber 820, described
The lower end of spring 83 props up the bottom surface of described traction frame 83；
Described flange part 85 is fixed on the lateral wall of the lower end of described drawing bar 82 by nut suit, and its end face is to described
The outside of drawing bar 82 extends；Described rotating disk 86 is fixed on the front end of the rotary shaft of described traction electric machine, described traction bearing
87 bias are fixed on the end face outside of described rotating disk 86, and it is arranged on the top of described rotating disk 86, and with described flange
Part 85 is tangent.
In the present embodiment, traction electric machine (in figure is not drawn into) is arranged on the side of traction frame 81, and traction electric machine is rotated
When disk 86 rotates, in rotating disk 86, eccentric fixing traction bearing 87 concomitant rotation, turns to the end contact with flange part 85
After be rotated further, drive drawing bar 82 to be relatively fixed rod against flange part 85 and 83 move downward, spring 83 is also with described fixation
Moving down of rod 83 is compressed downwardly, until drawing bar 82 is built in the lower section of vehicle frame plane 100 completely.Need by drawing bar 82 to
On stretch out the groove snapping on shelf, when so that shelf is fixed on vehicle frame 1, continue through rotating disk 86 rotate traction bearing 87,
So that traction bearing 87 is disengaged with flange part 85, the spring 83 being compressed recovers deformation upwards, promote drawing bar 82 to transport upwards
Move and stretch out vehicle frame plane 100, snapping in the groove on shelf makes shelf be fixed in vehicle frame plane 100, high degree of automation,
Easy to use.
Also include described inductive switch 88 and induction pieces 89, described induction pieces 89 are arranged on the outer end of described rotating disk 86
Face；Described inductive switch 88 and induction pieces 89 electrically connect, and described inductive switch 88 is electrically connected with the control module of described AGV dolly
Connect.
Inductive switch 88 measures the number of times that induction pieces 89 pass through, and this times signal is passed to control module 9, control module
9 output corresponding signals control the running of traction rod assembly 8, high degree of automation, control precisely, easy to use.
Described flange part 85 is the integral structure part of "Ji" type.
Structure is simple, compact assembling structure, and cost performance is high.
Describe the know-why of the present invention above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed to by any way.Based on explanation herein, the technology of this area
Personnel do not need to pay other specific embodiments that performing creative labour can associate the present invention, and these modes fall within
Within protection scope of the present invention.
Claims (10)
1. the AGV dolly of a kind of omnidirectional submarine, including vehicle frame and drive module, described drive module includes motor and drive
Driving wheel, described motor is arranged in casing, and described casing is arranged on described vehicle frame, and driving wheel described in two is separately mounted to institute
State outside casing, described motor drive described driving wheel to rotate by wheel shaft it is characterised in that：
Described drive module also includes the first jackshaft, steering wheel, gear train and conductive plastic potentiometer；
Described first jackshaft is arranged in the middle part of described casing, and its lower end is inserted described casing and fixed with casing, and its top is erected
Directly upwardly extend and pass described casing；
Described steering wheel is rotatably mounted around the top of described first jackshaft；Described gear train include two intermeshing
First gear and second gear, described first gear suit is fixed on the output shaft of described conductive plastic potentiometer, and described second
Gear set is fixed on the top of described first jackshaft, and it is fixed on described steering wheel.
2. omnidirectional according to claim 1 submarine AGV dolly it is characterised in that：The both sides of described first jackshaft
It is respectively equipped with one group of damping spring group, the upper end of described damping spring group is fixed on described steering wheel, described damping spring group
Lower end is fixed on described casing.
3. omnidirectional according to claim 1 submarine AGV dolly it is characterised in that：The top of described drive module sets
There is automatic lifting module, described automatic lifting module is arranged on described vehicle frame；
Described lifting module includes fixed disk, lifting motor, disk and lifting bearing；
Described fixed disk suit is fixed on the top of described first jackshaft；
Described disk is fixed on the rotary shaft of described lifting motor, and described lifting bearing bias is fixed on the outboard end of described disk
Face；Described lifting bearing is arranged on below described fixed disk so that described lifting motor is in the process driving described disc rotary
In, described lifting bearing can make lifting action by described fixed disk with described drive module.
4. omnidirectional according to claim 3 submarine AGV dolly it is characterised in that：The rotary shaft of described lifting motor
On be fixed with eccentric cam fastener, described disk is fixed on described eccentric cam fastener；
Described eccentric cam fastener be respectively provided on two sides with proximity switch, the control mould of described proximity switch and described AGV dolly
Block electrically connects.
5. omnidirectional according to claim 4 submarine AGV dolly it is characterised in that：Described lifting motor is fixed on electricity
On machine installing plate, described motor mounting plate is arranged on described vehicle frame；
Shown proximity switch is fixed on described motor mounting plate.
6. the omnidirectional's submarine according to claim 3 or 4 AGV dolly it is characterised in that：Described disk passes through one-way shaft
Hold and be arranged on mounting blocks, described mounting blocks are arranged on described vehicle frame.
7. omnidirectional according to claim 3 submarine AGV dolly it is characterised in that：The lower section interval of described fixed disk
It is provided with and compresses disk, the described disk that compresses is set with the top being fixed on described first jackshaft, and described lifting bearing is arranged on described
Fixed disk and compress between disk, described lifting bearing can prop up described in compress the end face of disk after continue to move downward.
8. omnidirectional according to claim 1 submarine AGV dolly it is characterised in that：Under the vehicle frame plane of described vehicle frame
Side is provided with traction rod assembly, and described traction rod assembly includes traction frame, drawing bar, hold-down bars, spring, flange part, rotating disk, leads
Draw motor and traction bearing；
Described traction frame is suspended vacantly the inner side in described vehicle frame plane；
Described drawing bar is vertically extended on the middle part of described traction frame, and its upper end can stretch out described car straight up
Frame plane；The lower end of described hold-down bars is fixed on the bottom surface of described traction frame, and the inner chamber of described drawing bar is stretched in its upper end；Described
Spring is sleeved on described hold-down bars, and its upper end props up the top surface of described inner chamber, and the lower end of described spring props up described traction frame
Bottom surface；
Described flange part is fixed on the lateral wall of the lower end of described drawing bar by nut suit, and its end face is to described drawing bar
Outside extends；Described rotating disk is fixed on the front end of the rotary shaft of described traction electric machine, and described traction bearing bias is fixed on institute
State the end face outside of rotating disk, and it is arranged on the top of described rotating disk, and tangent with described flange part.
9. omnidirectional according to claim 8 submarine AGV dolly it is characterised in that：Also include described inductive switch and
Induction pieces, described induction pieces are arranged on the outer face of described rotating disk；Described inductive switch and induction pieces electrical connection, described sensing
Switch is electrically connected with the control module of described AGV dolly.
10. omnidirectional according to claim 8 submarine AGV dolly it is characterised in that：Described flange part is to fall " several " word
The integral structure part of type.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611142265.0A CN106476929A (en) | 2016-12-12 | 2016-12-12 | A kind of AGV dolly of omnidirectional submarine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611142265.0A CN106476929A (en) | 2016-12-12 | 2016-12-12 | A kind of AGV dolly of omnidirectional submarine |
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| CN108423084A (en) * | 2018-02-01 | 2018-08-21 | 上海明匠智能系统有限公司 | A kind of omnidirectional's automatic guided vehicle |
| CN108583733A (en) * | 2018-07-02 | 2018-09-28 | 宝鸡赫威特机械科技有限公司 | AGV transport vehicles for the delivery of heavy tubular materials |
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| CN108583733A (en) * | 2018-07-02 | 2018-09-28 | 宝鸡赫威特机械科技有限公司 | AGV transport vehicles for the delivery of heavy tubular materials |
| CN108583733B (en) * | 2018-07-02 | 2024-02-23 | 宝鸡赫威特机械科技有限公司 | AGV transport vehicle for carrying heavy tubular materials |
| CN108909880A (en) * | 2018-07-31 | 2018-11-30 | 宁波舜宇贝尔自动化有限公司 | One kind slipping into towed AGV |
| CN108909880B (en) * | 2018-07-31 | 2024-03-08 | 宁波舜宇贝尔机器人有限公司 | Submerged traction type AGV |
| CN109131640A (en) * | 2018-10-16 | 2019-01-04 | 深圳市今天国际智能机器人有限公司 | Omnidirectional's steering wheel |
| CN111137374A (en) * | 2018-11-02 | 2020-05-12 | 杭州海康机器人技术有限公司 | Unmanned guided vehicle and chassis thereof |
| CN110282046B (en) * | 2019-05-06 | 2021-02-19 | 广东博智林机器人有限公司 | Wheel steering system and transport robot |
| CN110282046A (en) * | 2019-05-06 | 2019-09-27 | 广东博智林机器人有限公司 | Wheel group driving device, wheel steering system and transportation robot |
| CN110466591A (en) * | 2019-07-09 | 2019-11-19 | 红云红河烟草(集团)有限责任公司 | A kind of AGV deflecting roller manual operation device |
| WO2021027572A1 (en) * | 2019-08-15 | 2021-02-18 | 燕山大学 | Active-passive differential series-parallel supporting leg, gravity closing-based series-parallel supporting leg and six-degree-of-freedom posture adjustment robot platform |
| CN110606142A (en) * | 2019-08-15 | 2019-12-24 | 燕山大学 | Series-parallel supporting leg based on ground sealing and movable posture adjusting platform thereof |
| CN112758571A (en) * | 2020-12-04 | 2021-05-07 | 芜湖哈特机器人产业技术研究院有限公司 | Omnidirectional hidden traction type AGV |
| CN113184425A (en) * | 2021-03-25 | 2021-07-30 | 广东白云学院 | Logistics distribution is service AGV dolly in coordination |
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