CN104589983A - Agv driving device and agv - Google Patents
Agv driving device and agv Download PDFInfo
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- CN104589983A CN104589983A CN201410749109.5A CN201410749109A CN104589983A CN 104589983 A CN104589983 A CN 104589983A CN 201410749109 A CN201410749109 A CN 201410749109A CN 104589983 A CN104589983 A CN 104589983A
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- guide pillar
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- agv
- middle plate
- housing
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Abstract
The invention belongs to the field of automatic control, and provides an AGV driving device. The AGV driving device comprises driving wheels (1), an outer frame (2), two driving motors (4) and a magnetic navigation device (5). The AGV driving device is characterized in that the driving device further comprises a vibration damping system (3), a middle plate (6), a center shaft (7) and a center shaft flange (8), the outer frame (2) is a hollow rectangular frame body, the two driving motors (4) are fixed on the inner side of the long side of the outer frame (2) side by side, the center shaft (7) is fixed to the side faces of the two driving motors, the top end of the center shaft (7) is fixed to the middle plate (6), the center shaft flange (8) is fixed to the middle plate (6), and the fixed position of the center shaft flange (8) and the middle plate (6) corresponds to the fixed position of the center shaft (7) and the middle plate (6). According to the technical scheme, the AGV driving device has the advantages of being good in vibration damping effect, long in service life and low in height.
Description
Technical field
The invention belongs to automation field, particularly relate to a kind of AGV actuating device and AGV.
Background technology
Automatic guided vehicle (English full name: Automatic Guided Vehicle, English abbreviation: AGV) system has developed into one of professional branch maximum in production logistics system.Existing AGV actuating device as shown in Figure 1, comprising: shell, drive wheel 1 and drive motor.
In the scheme realizing prior art, find that prior art exists following technical matters:
In prior art, the actuating device of AGV limit due to structure, it is highly all very high, this is narrow at AGV field field of application, in addition, the damping of existing AGV actuating device is the damping spring installing in the vertical direction, this spring can only realize vertical damping, and for the damping of horizontal direction without any effect, damping effect is poor.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of AGV actuating device, and it is high that it mainly solves prior art height, the shortcoming of damping effect difference.
The invention provides a kind of AGV actuating device, described actuating device comprises: drive wheel, housing, two drive motor and magnetic navigation; Described actuating device also comprises: shock mitigation system, middle plate, axis and middle shaft flange; Wherein, housing is the oblong framework of hollow, and two drive motor are fixed on inside the long limit of housing side by side, and the side of axis and two drive motor is fixed, top and the middle plate of axis are fixed, middle shaft flange fix with middle plate and fixed position and axis corresponding with the fixed position of middle plate;
Described shock mitigation system comprises: two guide pillar baffle plates, two spring guide pillars and springs; Wherein, guide pillar baffle plate is fixed on the diagonal angle place of housing, and guide pillar baffle plate is U-shaped baffle plate; Spring guide pillar comprises: horizontal guide pillar, upper guide post head, lower guide pillar head, upper latch and lower latch; Wherein, horizontal guide pillar is arranged in the mesopore of spring, and upper guide post head and lower guide pillar head are fixed with the top and bottom of horizontal guide pillar respectively; Upper guide post head and middle plate are provided with the pin hole coordinated with upper latch; The bottom of lower guide pillar head and guide pillar baffle plate is provided with the pin hole coordinated with lower latch; Upper latch is provided with through upper guide post head and middle plate the pin hole coordinated with upper latch; Lower latch is provided with through the bottom of lower guide pillar head and guide pillar baffle plate the pin hole coordinated with lower latch.
Optionally, middle plate with middle shaft flange in the middle part of perforate correspondence position be provided with through hole; Axis is also provided with access opening at the correspondence position of through hole; Magnetic navigation is fixed on outside the minor face of housing, and the minor face arranged outside of housing has metallic channel.
On the other hand, provide a kind of AGV, described AGV comprises above-mentioned AGV actuating device.
In embodiments of the present invention, the structure of technical scheme AGV actuating device provided by the invention makes highly low, and in addition, its damping adopts double damping spring design, and it has the effect of horizontal shock-absorbing, so it has the advantage of good damping effect.
Accompanying drawing explanation
The constructional drawing of the AGV actuating device that Fig. 1 provides for prior art;
Fig. 2 is the constructional drawing of AGV actuating device provided by the invention;
Fig. 3 is the constructional drawing of spring guide pillar provided by the invention;
Fig. 4 is the constructional drawing of shock mitigation system provided by the invention.
Attached number in the figure illustrates:
Drive wheel 1, housing 2, shock mitigation system 3, two drive motor 4, magnetic navigation 5, middle plate 6, axis 7 and middle shaft flange 8, guide pillar baffle plate 30, spring guide pillar 31, spring 315, horizontal guide pillar 310, upper guide post head 311, lower guide pillar head 312, upper latch 313 and lower latch 314, through hole 61, metallic channel 23.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The invention provides a kind of AGV actuating device, this actuating device comprises as shown in Figure 2: drive wheel 1, housing 2, shock mitigation system 3, two drive motor 4, magnetic navigation 5, middle plate 6, axis 7 and middle shaft flanges 8; Wherein, housing 2 is the oblong framework of hollow, two drive motor 4 are fixed on inside the long limit of housing 2 side by side, the side of axis 7 and two drive motor is fixed, the top of axis 7 and middle plate 6 are fixed, middle shaft flange 8 fix with middle plate 6 and fixed position and axis 7 corresponding with the fixed position of middle plate 6;
Shock mitigation system 3 as shown in Figure 3,4, comprising: two guide pillar baffle plates, 30, two spring guide pillars 31 and spring 315; Wherein, guide pillar baffle plate 30 is fixed on the diagonal angle place of housing 2, and guide pillar baffle plate 30 is U-shaped baffle plate; Spring guide pillar 31 comprises: horizontal guide pillar 310, upper guide post head 311, lower guide pillar head 312, upper latch 313 and lower latch 314; Wherein, horizontal guide pillar 310 is arranged in the mesopore of spring 315, and upper guide post head 311 and lower guide pillar head 312 are fixed with the top and bottom of horizontal guide pillar 310 respectively; Upper guide post head 311 and middle plate 6 are provided with the pin hole coordinated with upper latch 313; The bottom of lower guide pillar head 312 and guide pillar baffle plate 30 is provided with the pin hole coordinated with lower latch 314; Upper latch 313 is provided with through upper guide post head 311 and middle plate 6 pin hole coordinated with upper latch 313; Lower latch 314 is provided with through the bottom of lower guide pillar head 312 and guide pillar baffle plate 30 pin hole coordinated with lower latch 314.
Structure provided by the invention due to drive motor is arranged on hollow frame long limit inside, so it can reduce height, in addition, the shock mitigation system arranged is by arranging U-shaped baffle plate and arranging, lower guide pillar head, because upper latch 313 and lower latch are only just through upper, the pin hole of lower guide pillar head, so it only plays the effect of a location, be not fixing, like this when vibration occurs actuating device, especially when there is vibration in horizontal direction, the U mouth that its spring guide pillar 31 just can depart from U-shaped baffle plate is in the horizontal direction protruding, due to the effect of middle springs, just can realize the damping of horizontal direction, for the damping of vertical direction, its also without any impact, so it has the advantage of good damping effect.
Optionally, above-mentioned middle plate 6 with middle shaft flange 8 in the middle part of perforate correspondence position be provided with through hole 61; Axis 7 is also provided with access opening at the correspondence position of through hole 61; Magnetic navigation 5 is fixed on outside the minor face of housing 2, and the minor face arranged outside of housing 2 has metallic channel 23.Being arranged by this to allow actuating device institute live wire all occur from middle part, and such advantage is, actuating device when rotated, middle part outlet will not be subject to Effect of Rotation, and institute's live wire not easily damages, thus decreases maintenance, reduce cost, in addition, too increase the service life of AGV.
The present invention also provides a kind of AGV device, and this device comprises above-mentioned AGV actuating device.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. an AGV actuating device, described actuating device comprises: drive wheel (1), housing (2), two drive motor (4) and magnetic navigation (5); It is characterized in that, described actuating device also comprises: shock mitigation system (3), middle plate (6), axis (7) and middle shaft flange (8); Wherein, the oblong framework that housing (2) is hollow, two drive motor (4) are fixed on inside the long limit of housing (2) side by side, axis (7) is fixed with the side of two drive motor, the top of axis (7) and middle plate (6) are fixed, middle shaft flange (8) fix with middle plate (6) and fixed position and axis (7) corresponding with the fixed position of middle plate (6);
Described shock mitigation system (3) comprising: two guide pillar baffle plates (30), two spring guide pillars (31) and springs (315); Wherein, guide pillar baffle plate (30) is fixed on the diagonal angle place of housing (2), and guide pillar baffle plate (30) is U-shaped baffle plate; Spring guide pillar (31) comprising: horizontal guide pillar (310), upper guide post head (311), lower guide pillar head (312), upper latch (313) and lower latch (314); Wherein, horizontal guide pillar (310) is arranged in the mesopore of spring (315), and upper guide post head (311) and lower guide pillar head (312) are fixed with the top and bottom of horizontal guide pillar (310) respectively; Upper guide post head (311) and middle plate (6) are provided with the pin hole coordinated with upper latch (313); The bottom of lower guide pillar head (312) and guide pillar baffle plate (30) is provided with the pin hole coordinated with lower latch (314); Upper latch (313) is provided with the pin hole coordinated with upper latch (313) through upper guide post head (311) and middle plate (6); Lower latch (314) is provided with through the bottom of lower guide pillar head (312) and guide pillar baffle plate (30) pin hole coordinated with lower latch (314).
2. actuating device according to claim 1, is characterized in that, middle plate (6) is being provided with through hole (61) with middle shaft flange (8) middle part perforate correspondence position; Axis (7) is also provided with access opening at the correspondence position of through hole (61); Magnetic navigation (5) is fixed on outside the minor face of housing (2), and the minor face arranged outside of housing (2) has metallic channel (23).
3. an AGV, is characterized in that, described AGV comprises AGV actuating device as claimed in claim 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749109.5A CN104589983B (en) | 2014-12-09 | 2014-12-09 | AGV driving device and AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749109.5A CN104589983B (en) | 2014-12-09 | 2014-12-09 | AGV driving device and AGV |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104589983A true CN104589983A (en) | 2015-05-06 |
| CN104589983B CN104589983B (en) | 2019-10-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410749109.5A Active CN104589983B (en) | 2014-12-09 | 2014-12-09 | AGV driving device and AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104589983B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106740730A (en) * | 2016-12-26 | 2017-05-31 | 芜湖哈特机器人产业技术研究院有限公司 | AGV with enhanced feature drives |
| CN109050196A (en) * | 2018-08-22 | 2018-12-21 | 山东临工工程机械有限公司 | The highly automated regulating device of the magnetic navigation sensor of AGV trolley |
| CN109501857A (en) * | 2018-11-14 | 2019-03-22 | 沈阳慧远自动化设备有限公司 | A kind of AGV self-level(l)ing differential steering gear |
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| DE69812492T2 (en) * | 1997-07-23 | 2004-04-08 | Kabushiki Kaisha Toyota Jidoshokki, Kariya | Support structure for cylinders |
| DE102009047144A1 (en) * | 2009-11-25 | 2011-05-26 | Robert Bosch Gmbh | Wheel suspension for vehicle, has shock absorber system and actuator between vehicle wheel and vehicle body, where shock absorber system has passive carrier spring |
| DE102012015974A1 (en) * | 2012-08-11 | 2013-02-28 | Daimler Ag | Suspension assembly for supporting vibrating unit relative to supporting structure in body assembly of motor vehicle, comprises a damping device that damps the relative movement of suspension assembly along a specific direction |
| CN203460651U (en) * | 2013-09-02 | 2014-03-05 | 东莞新能源科技有限公司 | Damping device and automatic guided vehicle |
| CN104118292A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | Integrated AGV driving and lifting mechanism |
| CN204109723U (en) * | 2014-08-29 | 2015-01-21 | 深圳市佳顺伟业科技有限公司 | The actuating device of AGV and AGV |
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2014
- 2014-12-09 CN CN201410749109.5A patent/CN104589983B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69812492T2 (en) * | 1997-07-23 | 2004-04-08 | Kabushiki Kaisha Toyota Jidoshokki, Kariya | Support structure for cylinders |
| DE102009047144A1 (en) * | 2009-11-25 | 2011-05-26 | Robert Bosch Gmbh | Wheel suspension for vehicle, has shock absorber system and actuator between vehicle wheel and vehicle body, where shock absorber system has passive carrier spring |
| DE102012015974A1 (en) * | 2012-08-11 | 2013-02-28 | Daimler Ag | Suspension assembly for supporting vibrating unit relative to supporting structure in body assembly of motor vehicle, comprises a damping device that damps the relative movement of suspension assembly along a specific direction |
| CN203460651U (en) * | 2013-09-02 | 2014-03-05 | 东莞新能源科技有限公司 | Damping device and automatic guided vehicle |
| CN104118292A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | Integrated AGV driving and lifting mechanism |
| CN204109723U (en) * | 2014-08-29 | 2015-01-21 | 深圳市佳顺伟业科技有限公司 | The actuating device of AGV and AGV |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106740730A (en) * | 2016-12-26 | 2017-05-31 | 芜湖哈特机器人产业技术研究院有限公司 | AGV with enhanced feature drives |
| CN106740730B (en) * | 2016-12-26 | 2018-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | AGV drivings with enhanced feature |
| CN109050196A (en) * | 2018-08-22 | 2018-12-21 | 山东临工工程机械有限公司 | The highly automated regulating device of the magnetic navigation sensor of AGV trolley |
| CN109050196B (en) * | 2018-08-22 | 2020-07-14 | 临沂临工智能信息科技有限公司 | Automatic height adjusting device for magnetic navigation sensor of AGV (automatic guided vehicle) |
| CN109501857A (en) * | 2018-11-14 | 2019-03-22 | 沈阳慧远自动化设备有限公司 | A kind of AGV self-level(l)ing differential steering gear |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104589983B (en) | 2019-10-22 |
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| C06 | Publication | ||
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| CB02 | Change of applicant information |
Address after: 518000, Guangdong, Shenzhen, Longhua New District Guanlan street, South Road, Science Park, C building on the third floor Applicant after: SHENZHEN CASUN INTELLIGENT ROBOT Co.,Ltd. Address before: 518000, Guangdong, Shenzhen, Longhua New District Guanlan street, South Road, Science Park, C building on the third floor Applicant before: SHENZHEN CASUN TECHNOLOGY Co.,Ltd. |
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| COR | Change of bibliographic data | ||
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| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 215515 Building 1, miaoquan Industrial Park, Guli Town, Changshu City, Suzhou City, Jiangsu Province Patentee after: Suzhou Jiashun intelligent robot Co.,Ltd. Address before: 518000 floor 3, building C, Yili Science Park, huanguan South Road, Guanlan street, Longhua New District, Shenzhen, Guangdong Province Patentee before: SHENZHEN CASUN INTELLIGENT ROBOT Co.,Ltd. |
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| CP03 | Change of name, title or address |