CN108909880B - Submerged traction type AGV - Google Patents
Submerged traction type AGV Download PDFInfo
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- CN108909880B CN108909880B CN201810859151.0A CN201810859151A CN108909880B CN 108909880 B CN108909880 B CN 108909880B CN 201810859151 A CN201810859151 A CN 201810859151A CN 108909880 B CN108909880 B CN 108909880B
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- agv
- wheel
- synchronous belt
- bevel gear
- driving wheel
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 34
- 238000010009 beating Methods 0.000 claims description 16
- 238000010073 coating (rubber) Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000002184 metal Substances 0.000 description 13
- 230000003287 optical effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 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
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004021 metal welding Methods 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a submerged traction type AGV, which comprises an AGV main body, an omni-directional caster wheel arranged at one diagonal corner of the bottom of the AGV and an omni-directional driving wheel arranged at the other diagonal corner of the bottom of the AGV, wherein the omni-directional driving wheel comprises an omni-directional driving wheel main body and a rubber covered wheel, a supporting cover is arranged above the omni-directional driving wheel main body, a large synchronous belt wheel and a small synchronous belt wheel are rotatably arranged on the supporting cover, the small synchronous belt wheel and the small synchronous belt wheel are driven to drive the large synchronous belt wheel through the output of a traveling driving motor, and finally the large synchronous belt wheel drives the rubber covered wheel to rotate through a speed reducing mechanism. The AGV ensures that the driving wheel of the AGV can rotate along 360 degrees and the AGV body does not have excessive minimum height, so that the AGV can easily submerge in the bottom of a goods shelf.
Description
Technical Field
The invention relates to the field of AGV manufacturing, in particular to a submerged traction AGV for factory/warehouse material circulation distribution.
Background
AGV (Automated Guided Vehicle), namely an automatic navigation trolley, is an unmanned automatic transport device equipped with an electromagnetic, optical or visual automatic navigation device, which can recognize a track path and a sign position, and automatically run according to a preset path to complete transport operation. With the vigorous development of the logistics industry, AGV trolleys are slowly applied.
At present, a submerged traction type AGV is often used for automatic application factories and warehouse material circulation distribution, a common driving wheel unit of the submerged traction type AGV generally adopts a differential driving wheel or steering wheel driving mode, the differential driving has a requirement on the aspect ratio of the vehicle type of the AGV, the aspect ratio is generally not allowed to be more than 2.5, and the development of the AGV is limited; although the steering wheel driving mode solves the defect of differential driving, the turning radius of the current steering wheel driving unit is large, the maximum rotation angle can only reach 270 degrees, and the minimum height is higher, so that the AGV can not truly realize omnidirectional free running, the minimum height is large, the height of the whole AGV is increased, and the difficulty of the AGV submerging in the bottom of a goods shelf is increased.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a submerged traction type AGV.
The invention is realized by the following technical scheme: the utility model provides a dive traction type AGV, includes the AGV main part, sets up the omni-directional truckle and the omni-directional drive wheel of another diagonal angle in AGV bottom, is used for connecting the electrode unit of external power source in the setting of AVG bottom, the omni-directional drive wheel includes the omni-directional drive wheel main part be provided with the supporting cover above the omni-directional drive wheel main part, the omni-directional drive wheel main part with rotate through the gyration support piece between the supporting cover and connect rotate and be provided with big synchronous pulley and little synchronous pulley, connect through the hold-in range transmission between big synchronous pulley and the little synchronous pulley the supporting cover below is provided with the walking driving motor who is used for driving little synchronous pulley; the automatic steering device comprises a driving wheel body, wherein an adhesive coating wheel is rotatably arranged on the driving wheel body, an inner gear ring is arranged on the inner side of the adhesive coating wheel, a pinion which is meshed with the inner gear ring is further arranged on the driving wheel body, a small bevel gear shaft which extends downwards is fixedly connected to the large synchronous pulley, a small bevel gear is fixedly arranged at the end part of the small bevel gear shaft, the small bevel gear is meshed with a large bevel gear, a large bevel gear shaft is fixedly connected to the middle part of the large bevel gear shaft, one side of the large bevel gear shaft is rotatably connected with the driving wheel body, a steering driving motor is fixedly connected to the other side of the large bevel gear shaft, a steering driving gear is fixedly arranged below a supporting cover, an outer ring gear is arranged on an output shaft of the steering driving motor, and the steering driving gear is meshed with the outer ring gear.
In the technical scheme, the eccentric wheel is further arranged on the supporting cover, and the eccentric wheel and the synchronous belt are propped against each other.
In the technical scheme, the inner gear ring is connected with the rubber coating wheel through bolts.
Among the above-mentioned technical scheme, the casing of AGV main part includes panel beating protecgulum, panel beating back lid and panel beating support frame, and wherein panel beating protecgulum, panel beating back lid and panel beating support frame pass through hinged joint.
In the above technical scheme, set up the intermediate cover plate on the panel beating support frame, the intermediate cover plate passes through the fastener with the panel beating support frame and is connected.
According to the technical scheme, the electrode unit comprises a fixed frame fixed on the inner side wall of the AGV main body, guide blocks capable of sliding longitudinally are movably arranged in the fixed frame, electrode sheet fixing frames are fixed at two ends of the guide blocks, the electrode sheets are arranged in the electrode sheet fixing frames, and springs for biasing the guide blocks are arranged on the upper sides of the guide blocks; the fixed frame is fixedly provided with a driving motor, an eccentric disc is connected to a motor shaft of the driving motor, a roller is arranged on the eccentric disc, and the roller abuts against the lower side of the guide block.
According to the technical scheme, the first proximity switch is arranged on the fixed frame, the second proximity switch is connected to the upper portion of the guide block through the I-shaped block, and the second proximity switch and the first proximity switch are spaced and located in the same longitudinal direction.
In the technical scheme, two guide posts are arranged in the fixed frame, the guide blocks are supported by the guide posts in a sliding manner, and the springs are sleeved on the guide posts.
The invention has the following beneficial effects: the AGV ensures that the driving wheel of the AGV can rotate along 360 degrees and the AGV body does not have excessive minimum height, so that the AGV can easily submerge in the bottom of a goods shelf.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic bottom view of the present invention.
Fig. 3 is a schematic cross-sectional view taken along A-A in fig. 2.
Fig. 4 is a schematic perspective view of an omni-directional driving wheel.
Fig. 5 is a schematic cross-sectional view of an omni-directional drive wheel.
Fig. 6 is a schematic perspective view of an electrode unit.
Fig. 7 is a schematic top view of fig. 6.
Fig. 8 is a schematic cross-sectional view taken along A-A in fig. 6.
Fig. 9 is a schematic cross-sectional view taken along B-B in fig. 8.
Description of the embodiments
The invention is described in further detail below with reference to the attached drawings and detailed description: with reference to figures 1 to 9 of the drawings,
the utility model provides a dive towed AGV, includes AGV main part 1, sets up the omni-directional truckle 100 and the omni-directional drive wheel 2 of another diagonal angle in the one pair of angle in AGV main part 1 bottom still is provided with electrode unit 3, electrode unit 3 includes electrode slice 39, is connected in order to be used for realizing AGV 7 x 24 on-line operation with the cooperation of the inside super capacitor of AGV with outside power supply through the electrode slice.
The AGV main body comprises 2 safety scanners 101 which are diagonally arranged, so that 360-degree dead-angle-free safety protection of the AGV is realized; two groups of audible and visual warning lamps 102 are arranged in front of and behind the AGV main body, and the audible and visual warning lamps 102 are used for emitting sounds and light signals to remind workshop workers, so that personnel safety is ensured; the front and the rear of the AGV are respectively provided with 1 optical sensor 103, and the optical sensors are used for identifying color bands and two-dimensional codes on the ground so that the AGV can move forwards, backwards and transversely; the AGV main body adopts two sets of telescopic traction rods 104, and the AGV stretches out of the traction rods to draw goods to a target point after submerging in the bottom of the goods shelf; four corners of the AGV are provided with 4 emergency stop and reset buttons 105, so that the handling in emergency is convenient; and a wireless receiver 106 is respectively arranged in front of and behind the AGV to ensure the normal communication between the AGV and the upper computer.
The shell of the AGV main body comprises a metal plate front cover 1a, a metal plate rear cover 1b and a metal plate supporting frame 1c, wherein the metal plate front cover 1a, the metal plate rear cover 1b and the metal plate supporting frame 1c are connected through hinges, and the metal plate front cover and the metal plate rear cover can be turned over, so that debugging and overhauling personnel can conveniently maintain internal electric elements; the sheet metal support frame forms a frame structure for sheet metal welding, has fine intensity and rigidity, and is the installation frame of all spare parts of AGV.
The middle cover plate 1d is arranged on the metal plate support frame 1c, and the middle cover plate 1d is connected with the metal plate support frame 1c through screws, so that personnel can conveniently install and maintain the middle super capacitor and the telescopic traction rod; 4 lifting rings 107 are arranged on the sheet metal support frame, so that the AGV is convenient to transport; the metal plate front cover is provided with a touch screen 108 and a control button 109 for controlling the operation of the AGV.
The omni-directional driving wheel 2 comprises an omni-directional driving wheel main body 20, a supporting cover 21 is arranged above the omni-directional driving wheel main body 20, the omni-directional driving wheel main body 20 is rotatably connected with the supporting cover 21 through a rotary supporting piece 22, a group of large synchronous pulleys 21a and two groups of small synchronous pulleys 21b are rotatably arranged on the supporting cover 21, the large synchronous pulleys 21a and the small synchronous pulleys 21b are in transmission connection through a synchronous belt 21c, an eccentric wheel 21d is further arranged on the supporting cover 21, the eccentric wheel 21d and the synchronous belt are propped against, and a walking driving motor 21e for driving the small synchronous pulleys 21b is arranged below the supporting cover 21.
The driving wheel main body 20 is rotatably provided with an encapsulating wheel 23, specifically, the middle part of the encapsulating wheel 23 is provided with an encapsulating wheel shaft 23a, the encapsulating wheel shaft 23a is rotatably connected with the driving wheel main body 20, the inner side of the encapsulating wheel is provided with an annular gear 23b, specifically, the annular gear 23b is connected with the encapsulating wheel 23 through bolts, and the driving wheel main body 20 is also provided with a pinion 24 meshed with the annular gear 23 b.
The large synchronous pulley 21a is fixedly connected with a small bevel gear shaft 25a which extends downwards, the small bevel gear 25 is fixed at the end part of the small bevel gear shaft, the small bevel gear 25 is meshed with a large bevel gear 26, the middle part of the large bevel gear 26 is fixedly connected with a large bevel gear shaft 26a, one side of the large bevel gear shaft 26a is rotationally connected with the driving wheel main body, and the small gear 24 is fixed on the other side of the large bevel gear shaft.
In the structure, the small synchronous pulley is driven by the walking driving motor, then the large synchronous pulley is connected with the eccentric wheel tensioning synchronous belt, the large synchronous pulley is connected with the small bevel gear through the small bevel gear shaft, the small bevel gear is meshed with the large bevel gear, the small bevel gear is driven by the large bevel gear shaft, the small bevel gear is meshed with the inner gear ring to drive the rubber coating wheel to rotate around the rubber coating wheel shaft, and the multi-stage reduction transmission is used for finally realizing that the walking driving motor drives the rubber coating wheel to rotate. In addition, the encoder realizes the accurate control of the rotation speed of the omni-directional driving wheel through the driving of the small synchronous pulley.
A steering driving motor 27 is fixedly arranged below the supporting cover, a steering driving gear 28 is fixed on an output shaft of the steering driving motor 27, an outer ring tooth (not shown in the drawing) is arranged on the rotary supporting member, the steering driving gear is meshed with the outer ring tooth, and the steering driving gear is driven to be meshed with the outer ring tooth on the rotary supporting member through the output force of the steering driving motor, so that the omni-directional driving wheel main body and the rubber-covered wheel in the omni-directional driving wheel main body rotate in 360 degrees. In addition, the accurate control of steering of the omni-directional driving wheel is realized through the proximity switch and the encoder of the steering driving motor.
The rotary support piece comprises two inner rings and an outer ring which are rotatably arranged, the inner rings are fixedly connected with the support cover, the outer ring is fixedly connected with the omnidirectional driving wheel main body, and the outer ring teeth are arranged on the outer ring of the rotary support piece.
The electrode unit 3 comprises a fixed frame 30, the fixed frame 30 is fixedly connected with the inner side wall of the AGV main body 1 through a connecting plate 300 arranged below the fixed frame 30, two guide posts 31 are arranged in the fixed frame 30, a guide block 32 is sleeved on the two guide posts 31, electrode sheet fixing frames 33 are fixed at two ends of the guide block 32, the electrode sheets 39 are arranged in the electrode sheet fixing frames, springs 200 for elastically biasing the guide blocks are sleeved on the guide posts 31, and the springs 200 are propped against the upper sides of the guide blocks 32.
A driving motor 33 is fixedly arranged on one side of the fixed frame 30 through a flange 201, a motor shaft of the driving motor 33 is connected with an eccentric disc 34 through a coupling 202, a roller 35 is arranged on the eccentric disc 34, and the roller 35 abuts against the lower side of the guide block 32. A first proximity switch 36 is arranged on the fixed frame 30, and a second proximity switch 37 is connected above the guide block 32 through an I-shaped block 38, and the second proximity switch and the first proximity switch are spaced and positioned in the same longitudinal direction.
The eccentric disc is driven by the driving motor to drive the guide block to slide along the guide post in the longitudinal direction, and the guide block is compressed or relaxed by matching with the spring, so that the electrode can be lifted and lowered, namely, the electrode and the ground electrode can be switched on and off. The lifting stroke of the electrode can be strictly controlled through the upper proximity switch and the lower proximity switch, so that the effectiveness and safety of electrode charging are ensured.
In this application, the encoder is disposed on the travel drive motor, the steering drive motor and the drive motor in cooperation with each other, so as to provide accurate control of the motor rotation speed.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be appreciated by those skilled in the art that the invention is not limited to the embodiments described above. The foregoing embodiments and description of the invention will be considered as illustrative only of the principles of the invention, and various modifications and changes may be made without departing from the spirit and scope of the invention. Such variations and modifications are intended to be within the scope of the present invention as claimed.
Claims (6)
1. The utility model provides a dive towed AGV, includes AGV main part, sets up the omni-directional truckle of a diagonal angle in the AGV bottom and the omni-directional drive wheel of another diagonal angle, is used for connecting external power source's electrode unit in the setting of AVG bottom, its characterized in that: the omnidirectional driving wheel comprises an omnidirectional driving wheel main body, a supporting cover is arranged above the omnidirectional driving wheel main body, the omnidirectional driving wheel main body is rotationally connected with the supporting cover through a rotary supporting piece, a large synchronous belt wheel and a small synchronous belt wheel are rotationally arranged on the supporting cover, the large synchronous belt wheel is in transmission connection with the small synchronous belt wheel through a synchronous belt, and a walking driving motor for driving the small synchronous belt wheel is arranged below the supporting cover; the automatic steering device comprises a driving wheel body, and is characterized in that an rubber coating wheel is rotationally arranged on the driving wheel body, an inner gear ring is arranged on the inner side of the rubber coating wheel, a pinion which is meshed with the inner gear ring is further arranged on the driving wheel body, a small bevel gear shaft which extends downwards is fixedly connected to the large synchronous pulley, a small bevel gear is fixedly arranged at the end part of the small bevel gear shaft, the small bevel gear is meshed with a large bevel gear, a large bevel gear shaft is fixedly connected to the middle part of the large bevel gear shaft, one side of the large bevel gear shaft is rotationally connected with the driving wheel body, a steering driving motor is fixedly arranged on the other side of the large bevel gear shaft and fixedly connected with the pinion, a steering driving gear is fixedly arranged below a supporting cover, an outer ring gear is arranged on an output shaft of the steering driving motor, the steering driving gear is meshed with the outer ring gear, an eccentric wheel is further arranged on the supporting cover, the eccentric wheel is propped against the synchronous belt, and the inner gear ring is connected with the rubber coating wheel through a bolt.
2. The submersible traction type AGV of claim 1 wherein: the shell of AGV main part includes panel beating protecgulum, panel beating back lid and panel beating support frame, and wherein panel beating protecgulum, panel beating back lid and panel beating support frame pass through hinged joint.
3. The submersible traction type AGV of claim 2 wherein: set up the intermediate cover plate on the panel beating support frame, the intermediate cover plate passes through the fastener with the panel beating support frame and is connected.
4. The submerged traction AGV of claim 1 or 3, wherein the electrode unit comprises a fixed frame fixed on the inner side wall of the AGV main body, a guide block capable of sliding along the longitudinal direction is movably arranged in the fixed frame, electrode sheet fixing frames are fixed at two ends of the guide block, the electrode sheets are arranged in the electrode sheet fixing frames, and a spring for biasing the guide block is arranged on the upper side of the guide block; the fixed frame is fixedly provided with a driving motor, an eccentric disc is connected to a motor shaft of the driving motor, a roller is arranged on the eccentric disc, and the roller abuts against the lower side of the guide block.
5. The submersible traction type AGV of claim 4 wherein: the fixed frame is provided with a first proximity switch, a second proximity switch is connected above the guide block through an I-shaped block, and the second proximity switch and the first proximity switch are spaced and located in the same longitudinal direction.
6. The submersible pull type AGV of claim 4, wherein: two guide posts are arranged in the fixed frame, the guide blocks are supported by the guide posts in a sliding manner, and the springs are sleeved on the guide posts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810859151.0A CN108909880B (en) | 2018-07-31 | 2018-07-31 | Submerged traction type AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810859151.0A CN108909880B (en) | 2018-07-31 | 2018-07-31 | Submerged traction type AGV |
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| Publication Number | Publication Date |
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| CN108909880A CN108909880A (en) | 2018-11-30 |
| CN108909880B true CN108909880B (en) | 2024-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810859151.0A Active CN108909880B (en) | 2018-07-31 | 2018-07-31 | Submerged traction type AGV |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109748200B (en) * | 2019-03-03 | 2024-04-09 | 航天通用技术(北京)有限公司 | Big spiral AGV elevating gear |
| CN110040661A (en) * | 2019-05-20 | 2019-07-23 | 山东洛杰斯特物流科技有限公司 | Twin Rudders wheel chassis and omnidirectional's AGV fork truck |
| CN114026013B (en) * | 2019-06-26 | 2024-03-05 | Abb瑞士股份有限公司 | Automatic guided vehicle and method of controlling the same |
| CN110407135B (en) * | 2019-08-28 | 2024-07-16 | 广东嘉腾机器人自动化有限公司 | Driving mechanism capable of shifting gears and AGV speed changing method |
| CN111290348B (en) * | 2019-12-18 | 2021-07-30 | 浙江工业大学 | Multi-load AGV control system capable of realizing omnidirectional movement and control method thereof |
| CN112882463A (en) * | 2021-01-11 | 2021-06-01 | 成都海瑞斯轨道交通设备有限公司 | Cutting robot system for overhauling wagon body of railway wagon |
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Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110024219A1 (en) * | 2007-05-10 | 2011-02-03 | Aarhus Universitet | Omni rotational driving and steering wheel |
| US9073423B2 (en) * | 2009-01-17 | 2015-07-07 | Boomerang Systems, Inc. | Steering and drive assembly |
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2018
- 2018-07-31 CN CN201810859151.0A patent/CN108909880B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204726551U (en) * | 2015-06-17 | 2015-10-28 | 杭州轰驰科技有限公司 | A kind of AGV conveying arrangement |
| CN105751892A (en) * | 2016-04-08 | 2016-07-13 | 浙江同筑科技有限公司 | Compact AGV (Automated Guided Vehicle) driving and steering integrated device |
| CN105882784A (en) * | 2016-05-27 | 2016-08-24 | 中国科学院宁波材料技术与工程研究所 | Omnidirectional moving platform and dynamic universal wheel thereof |
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| CN108909880A (en) | 2018-11-30 |
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Address after: 315499 No.2 Shunbei Road, Yangming Street, Yuyao City, Ningbo City, Zhejiang Province Applicant after: Ningbo Shunyu Bell Robot Co.,Ltd. Address before: 315400 Xingye Road, Yuyao City, Ningbo City, Zhejiang Province Applicant before: NINGBO SHUNYU BEIER AUTOMATION CO.,LTD. |
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