CN109484513A - AGV driving device and AGV - Google Patents
AGV driving device and AGV Download PDFInfo
- Publication number
- CN109484513A CN109484513A CN201811642259.0A CN201811642259A CN109484513A CN 109484513 A CN109484513 A CN 109484513A CN 201811642259 A CN201811642259 A CN 201811642259A CN 109484513 A CN109484513 A CN 109484513A
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- agv
- vehicle frame
- driving
- connecting elements
- installation component
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Classifications
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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
-
- 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
- B62D63/04—Component parts or accessories
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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 belongs to logistics to operate technical field, and in particular to a kind of AGV driving device and the AGV including this AGV driving device.The AGV driving device includes: motor installation component；Driving motor, the driving motor are connect with the motor installation component；Driving wheel, the driving wheel are two, and the driving wheel and the driving motor are sequentially connected；Vehicle frame connecting elements, the vehicle frame connecting elements are arranged in the top of the motor installation component, and the vehicle frame connecting elements is used to be attached with the vehicle frame of the AGV；Suspended rack assembly, the suspended rack assembly is arranged between the vehicle frame connecting elements and the motor installation component, so that two driving wheels can float up and down when by uneven road surface relative to vehicle frame connecting elements, and the contrary difference in height to adapt to road surface that two driving wheels float in synchronization.
Description
Technical field
The invention belongs to logistics to operate technical field, and in particular to a kind of AGV driving device and include this AGV driving dress
The AGV set.
Background technique
AGV (Automated Guided Vehicle, automatic guided vehicle) refers to magnetically or optically to wait equipped with electricity and draw automatically
Device is led, can travel and have the transport vehicle of safeguard protection and various transfer functions along defined path of navigation.AGV exists
The fields such as Factory Logistics automation, automated assembly line are applied quite extensive.
Existing AGV chassis structure is complex, and road pavement flatness requirement is higher, when in rugged road surface uplink
It when walking, is easy to appear driving wheel and leaves road surface because jolting, so as to cause tractive force deficiency, cause skidding, direction out of control etc. existing
As.
Summary of the invention
The purpose of the present invention is at least solving one of above-mentioned problems of the prior art, which is by following skill
What art scheme was realized:
The embodiment of the present invention proposes a kind of AGV driving device, comprising: driving motor, the driving motor provide for AGV
Power；Motor installation component, the driving motor are installed on the AGV by the motor installation component；Driving wheel, the drive
Driving wheel is two, and the driving wheel and the driving motor are sequentially connected；Vehicle frame connecting elements, the vehicle frame connecting elements arrangement
In the top of the motor installation component, the vehicle frame connecting elements is used to be attached with the vehicle frame of the AGV；Suspension group
Part, the suspended rack assembly is arranged between the vehicle frame connecting elements and the motor installation component, so that two drivings
Taking turns can float up and down when by uneven road surface relative to vehicle frame connecting elements, and two driving wheels are in same a period of time
Carve the contrary difference in height to adapt to road surface floated.
In some embodiments, the suspended rack assembly includes: connecting plate, and the connecting plate is used to install structure with the motor
Part connection；Linkwork, the linkwork is connected between the connecting plate and the vehicle frame connecting elements, so that the vehicle
Frame connecting elements is connect in a manner of it can be rotated about axis with the connecting plate, when the vehicle frame connecting elements and the AGV
Vehicle frame connection when, the axis along AGV front-rear direction be arranged；Resilient snubber, the resilient snubber are connected to described
Between connecting plate and the vehicle frame connecting elements, in the two sides of the linkwork at least provided with an elastic buffer
Part.
In some embodiments, the linkwork includes: the first attachment base, and first attachment base is fixed on the company
On fishplate bar；Second attachment base, second attachment base are fixed on the vehicle frame connecting elements；Shaft, the shaft with it is described
First attachment base is fixedly connected；Wherein, second attachment base is pivotally set in the shaft.
In some embodiments, bearing is equipped between second attachment base and the shaft.
In some embodiments, the resilient snubber is spring.
In some embodiments, spring lead is fixed on the connecting plate, the spring is set in the spring
Outside guide post.
In some embodiments, the motor installation component is connect by steering assembly with the connecting plate, so that described
There is rotational freedom between connecting plate and the motor installation component.
In some embodiments, the steering assembly includes turning to support base and steering support shaft, the steering support shaft
It is pivotally connected on the steering support base, the steering support base and the fixed company of the motor installation component
It connects, the steering support shaft is fixedly connected with the connecting plate.
In some embodiments, the motor installation component includes base plate and vertical plate, and the vertical plate is fixedly connected on institute
The bottom of base plate is stated, the driving motor is fixed on the vertical plate；The vehicle frame connecting elements is frame connecting plate.
The embodiment of the present invention also proposed a kind of AGV, described including the AGV driving device in vehicle frame and above-described embodiment
AGV driving device is mounted on the bottom of the vehicle frame and the headstock close to the AGV.
The present invention has the advantages that
The AGV driving device that the embodiment of the present invention is proposed, by between vehicle frame connecting elements and motor installation component
Suspended rack assembly is set, and suspended rack assembly can enable two driving wheels when by uneven road surface relative to vehicle frame connecting elements
Float up and down, and two driving wheels float in synchronization it is contrary, to adapt to the difference in height on road surface, so that it is guaranteed that
In the case that the pavement-height locating for two driving wheels is inconsistent, two driving wheels also can be in close contact with road surface, into
And guarantee that driving wheel is capable of providing enough tractive force, occur to avoid situations such as skidding, direction out of control.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of the AGV driving device of the embodiment of the present invention；
Fig. 2 is the main view of the AGV driving device of the embodiment of the present invention；
Fig. 3 is the side view of the AGV driving device of the embodiment of the present invention；
Fig. 4 is the top view of the AGV driving device of the embodiment of the present invention；
Fig. 5 is the positional diagram of the AGV driving device of the embodiment of the present invention and the vehicle frame of AGV；
Fig. 6 is the schematic diagram of the AGV of the embodiment of the present invention.
Respectively label is expressed as follows in attached drawing:
100:AGV driving device；
110: motor installation component, 111: base plate, 112: vertical plate；
120: driving motor, 130: driving wheel, 140: vehicle frame connecting elements, 150: suspended rack assembly；
151: connecting plate, 152 linkworks, 153: resilient snubber, 154: spring lead；
161: the first attachment bases, 162: the second attachment bases, 163: shaft, 164: bearing；
170: steering assembly, 171: turning to support base, 172: turning to support shaft；
180: principle navigation system, 190: secondary navigation system；
200: vehicle frame
210: driven wheel, 220: auxiliary wheel；230 jacks；
300: headstock.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this public affairs in attached drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.It is to be able to thoroughly understand the disclosure on the contrary, providing these embodiments, and can be by this public affairs
The range opened is fully disclosed to those skilled in the art.
It should be understood that term used herein merely for description particular example embodiment purpose, and have no intention into
Row limitation.Unless the context clearly indicates otherwise, otherwise singular " one " as used in the text, "one" and " described "
Can also indicate to include plural form.The terms "include", "comprise", " containing " and " having " are inclusives, and therefore
It indicates the presence of stated feature, step, operations, elements, and/or components, but presence or addition one or more is not precluded
A other feature, step, operation, component, assembly unit, and/or their combination.Method and step, process, the Yi Jicao of described in the text
It is not interpreted as that them is necessarily required to execute with described or explanation particular order, executes sequence unless explicitly stated otherwise.Also answer
The step of working as understanding, can be used additionally or alternatively.
Although can be described in the text using term first, second, third, etc. multiple element, component, region, layer and/
Or section, still, these component, assembly units, region, layer and/or section should not be limited by these terms.These terms can be only
For a component, assembly unit, region, layer or section are distinguished with another region, layer or section.Unless context clearly refers to
Out, do not implied that when otherwise the term and other numerical terms of such as " first ", " second " etc use in the text sequence or
Person's order.Therefore, first element discussed below, component, region, layer or section are in the introduction for not departing from example embodiment
In the case of can be referred to as second element, component, region, layer or section.
For ease of description, an element as illustrated in the diagram can be described use space relativeness term in the text
Either feature is relative to another element or the relationship of feature, these relativeness terms are, for example, " inside ", " outside ", " interior
Side ", " outside ", " following ", " lower section ", " above ", " top " etc..This spatial correlation term is intended to include removing to retouch in figure
The different direction of device in use or operation except the orientation drawn.For example, being retouched if the device in figure is overturn
State for " below other elements or feature " either the element " below other elements or feature " will then be orientated "
Above other elements or feature " either " above other elements or feature ".Therefore, exemplary term " in ... lower section " can
To include in orientation upper and under.In addition device can be oriented and (be rotated by 90 ° or in other directions) and used herein
Spatial correlation descriptor correspondingly explains.
As Figure 1-Figure 4, the embodiment of the present invention proposes a kind of AGV driving device 100, it includes motor installation component
110, driving motor 120, driving wheel 130, vehicle frame connecting elements 140, suspended rack assembly 150.Wherein, driving motor 120 mentions for AGV
For power, driving motor 120 is installed on AGV by motor installation component 110, and driving wheel 130 is two, driving wheel 130 and drive
Dynamic motor 120 is sequentially connected, and vehicle frame connecting elements 140 is arranged in the top of motor installation component 110, vehicle frame connecting elements 140
Be attached for the vehicle frame with AGV, the setting of suspended rack assembly 150 vehicle frame connecting elements 140 and motor installation component 110 it
Between, so that two driving wheels 130 can float up and down when by uneven road surface relative to vehicle frame connecting elements 140, and
The contrary difference in height to adapt to road surface that two driving wheels 130 float in synchronization.
The AGV driving device 100 that the embodiment of the present invention is proposed, by installing structure in vehicle frame connecting elements 140 and motor
Suspended rack assembly 150 is set between part 110, and suspended rack assembly 150 can enable two driving wheels 130 when by uneven road surface
Float up and down relative to vehicle frame connecting elements 140, and two driving wheels 130 float in synchronization it is contrary, with suitable
The difference in height on road surface is answered, so that it is guaranteed that in the case that the pavement-height locating for two driving wheels 130 is inconsistent, two drivings
Wheel 130 also can be in close contact with road surface, and then guarantee that driving wheel 130 is capable of providing enough tractive force, to avoid skidding,
Situations such as direction out of control, occurs.
In some embodiments, driving motor 120 is two, and each driving motor 120 and a transmission of driving wheel 130 connect
It connects.When two driving motors 120 are with identical revolving speed output power, can by driving wheel 130 drive AGV advance or after
It moves back, when two driving motors 120 are with different revolving speed output powers, can be driven by the speed difference between driving wheel 130
AGV turns.
In another embodiment, driving motor 120 is one, at this point, driving motor 120 uses differential speed motor, and is led to
Differential gear is crossed to connect with two driving wheels 130.
In some embodiments, suspended rack assembly 150 includes: connecting plate 151, linkwork 152, resilient snubber 153,
In, for connecting with motor installation component 110, linkwork 152 is connected to connecting plate 151 and connects structure with vehicle frame connecting plate 151
Between part 140, connect vehicle frame connecting elements 140 in a manner of it can be rotated about axis with connecting plate 151, when vehicle frame connects
When component 140 is connect with the vehicle frame of AGV, axis is arranged along the front-rear direction (and length direction of vehicle body) of AGV, elastic buffer
Part 153 is connected between connecting plate 151 and vehicle frame connecting elements 140, in the left and right sides (left and right directions of linkwork 152
It is the width direction of vehicle body) at least provided with a resilient snubber 153.When driving wheel 130 is by uneven road surface, connection
Plate 151 will be rotated relative to vehicle frame connecting elements 140, so that two driving wheels 130 are adapted to the fluctuations on road surface
Property floating, in the process, resilient snubber 153 plays buffer function, mitigates and rushes caused by vehicle frame of the Uneven road to AGV
It hits.
In some embodiments, linkwork 152 includes the first attachment base 161, the second attachment base 162, shaft 163,
In, the first attachment base 161 is fixed on connecting plate 151, and the second attachment base 162 is fixed on vehicle frame connecting elements 140, shaft
163 are fixedly connected with the first attachment base 161, and the second attachment base 162 is pivotally set in shaft 163.
In some embodiments, bearing 164 is equipped between the second attachment base 162 and shaft 163, so that the second attachment base
162 and the first rotation between attachment base 161 it is more smooth and steady.
In some embodiments, resilient snubber 153 is spring.Preferably, spring can be arranged on connecting plate 151 to lead
To column 154, spring is set in outside spring lead 154.
In some embodiments, motor installation component 110 is connect by steering assembly 170 with connecting plate 151, so that connection
There is rotational freedom between plate 151 and motor installation component 110.AGV driving device 100 in the present embodiment is with AGV's
When the connection (as shown in Figure 5) of vehicle frame 200, the bottom of vehicle frame 200 and the headstock 300 (as shown in Figure 6) close to AGV should be mounted on.
Due to having rotational freedom between connecting plate 151 and motor installation component 110, so that when AGV needs to turn during advance
When curved, motor installation component 110 can turn to (vehicle frame 200 remains former direction at this time) in advance, control 130 edge of driving wheel later
New direction is advanced, and driving wheel 130 and motor installation component 110 can pull entire vehicle frame 200 by steering assembly 170 gradually
It is transitioned on new direction.Traditional speed difference fully relied between two driving wheels realizes the mode of AGV turning, can make to drive
Dynamic motor bears huge load, and AGV load-carrying is bigger, and the load that driving motor is born in turning is bigger.And this reality
The turning mode in example is applied, then significantly reduces the load that driving motor 120 is born, so as to improve the loading capacity of AGV.
In some embodiments, steering assembly 170 includes turning to support base 171 and turning to support shaft 172, turns to support shaft
172 are pivotally connected on steering support base 171, turn to support base 171 and the fixed company of motor installation component 110
It connects, turns to support shaft 172 and be fixedly connected with connecting plate 151.
In some embodiments, motor installation component 110 includes base plate 111 and vertical plate 112, and vertical plate 112 is fixedly connected
In the bottom of base plate 111, driving motor 120 is fixed on vertical plate 112.
In some embodiments, vehicle frame connecting elements 140 is frame connecting plate.
In some embodiments, principle navigation system 180 is installed on vehicle frame connecting elements 140, in the case of necessary, also
Secondary navigation system 190 (as shown in Figure 2) can be added.Navigation system in view of AGV is the mature prior art, therefore, this
Place is without being described in detail.
The embodiment of the present invention also proposed a kind of AGV, drive including the AGV of vehicle frame 200 (as shown in Figure 5) and above-described embodiment
Dynamic device 100, AGV driving device 100 are mounted on the bottom of vehicle frame 200.Preferably, AGV driving device 100 is arranged close to
The position of AGV headstock.
In some embodiments, AGV further includes the driven wheel 210 and auxiliary wheel 220 that 200 bottom of vehicle frame is arranged in, driven
Wheel 210 is located at the rear portion of vehicle frame 200, and auxiliary wheel 220 is located at the front of vehicle frame 200.Preferably, auxiliary wheel 220 passes through radio and tape player
Structure 230 is connect with vehicle frame 200, and auxiliary wheel 220 is allowed to recycle and transfer.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (10)
1. a kind of AGV driving device characterized by comprising
Driving motor, the driving motor provide power for AGV；
Motor installation component, the driving motor are installed on the AGV by the motor installation component；
Driving wheel, the driving wheel are two, and the driving wheel and the driving motor are sequentially connected；
Vehicle frame connecting elements, the vehicle frame connecting elements are arranged in the top of the motor installation component, and the vehicle frame connects structure
Part is used to be attached with the vehicle frame of the AGV；
Suspended rack assembly, the suspended rack assembly is arranged between the vehicle frame connecting elements and the motor installation component, so that two
A driving wheel can float up and down when by uneven road surface relative to vehicle frame connecting elements, and two drivings
Take turns the contrary difference in height to adapt to road surface floated in synchronization.
2. AGV driving device according to claim 1, which is characterized in that the suspended rack assembly includes:
Connecting plate, the connecting plate with the motor installation component for connecting；
Linkwork, the linkwork is connected between the connecting plate and the vehicle frame connecting elements, so that the vehicle frame
Connecting elements is connect in a manner of it can be rotated about axis with the connecting plate, when the vehicle frame connecting elements is with the AGV's
When vehicle frame connects, the axis is arranged along the front-rear direction of AGV；
Resilient snubber, the resilient snubber is connected between the connecting plate and the vehicle frame connecting elements, in the hinge
The two sides of connection mechanism are at least provided with a resilient snubber.
3. AGV driving device according to claim 2, which is characterized in that the linkwork includes:
First attachment base, first attachment base are fixed on the connecting plate；
Second attachment base, second attachment base are fixed on the vehicle frame connecting elements；
Shaft, the shaft are fixedly connected with first attachment base；
Wherein, second attachment base is pivotally set in the shaft.
4. AGV driving device according to claim 3, which is characterized in that second attachment base and the shaft it
Between be equipped with bearing.
5. according to AGV driving device described in Claims 2 or 3 or 4, which is characterized in that the resilient snubber is spring.
6. AGV driving device according to claim 5, which is characterized in that be fixed with spring guiding on the connecting plate
Column, the spring are set in outside the spring lead.
7. according to AGV driving device described in Claims 2 or 3 or 4, which is characterized in that the motor installation component is by turning
It is connect to component with the connecting plate, so as to have rotational freedom between the connecting plate and the motor installation component.
8. AGV driving device according to claim 7, which is characterized in that the steering assembly include turn to support base and
Support shaft is turned to, the steering support shaft is pivotally connected on the steering support base, the steering support base
It is fixedly connected with the motor installation component, the steering support shaft is fixedly connected with the connecting plate.
9. AGV driving device according to claim 1 or 2 or 3 or 4, which is characterized in that the motor installation component includes
Base plate and vertical plate, the vertical plate are fixedly connected on the bottom of the base plate, and the driving motor is fixed on the vertical plate；
The vehicle frame connecting elements is frame connecting plate.
10. a kind of AGV, which is characterized in that including vehicle frame and AGV according to any one of claim 1 to 9 driving dress
It sets, the AGV driving device is mounted on the bottom of the vehicle frame and the headstock close to the AGV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811642259.0A CN109484513A (en) | 2018-12-29 | 2018-12-29 | AGV driving device and AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811642259.0A CN109484513A (en) | 2018-12-29 | 2018-12-29 | AGV driving device and AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109484513A true CN109484513A (en) | 2019-03-19 |
Family
ID=65712009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811642259.0A Pending CN109484513A (en) | 2018-12-29 | 2018-12-29 | AGV driving device and AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109484513A (en) |
Citations (8)
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|---|---|---|---|---|
| CN1245461A (en) * | 1996-12-24 | 2000-02-23 | 凯耐提克有限公司 | Passive vehicular suspension system including roll control mechanism |
| US20030205878A1 (en) * | 2002-05-01 | 2003-11-06 | Martis Charles J. | Suspension system for a wheelchair |
| CN202357823U (en) * | 2011-11-26 | 2012-08-01 | 南通市幸福车辆厂 | Double-row-wheel balance and buffer suspension frame device for flat car |
| CN103899729A (en) * | 2014-03-24 | 2014-07-02 | 广州市远能物流自动化设备科技有限公司 | Differential driving device |
| CN104527837A (en) * | 2014-12-13 | 2015-04-22 | 河南勃达微波设备有限责任公司 | Traveling driver system of AGV (Automatic Guided Vehicle) intelligent distributing device |
| KR101682990B1 (en) * | 2015-11-13 | 2016-12-07 | 주식회사 메인텍 | Automated guided vehicles movable in various directions |
| CN208118883U (en) * | 2018-02-09 | 2018-11-20 | 杭州易动机器人技术有限公司 | A kind of suspension assembly and robot |
| CN209351500U (en) * | 2018-12-29 | 2019-09-06 | 歌尔股份有限公司 | AGV driving device and AGV |
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2018
- 2018-12-29 CN CN201811642259.0A patent/CN109484513A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1245461A (en) * | 1996-12-24 | 2000-02-23 | 凯耐提克有限公司 | Passive vehicular suspension system including roll control mechanism |
| US20030205878A1 (en) * | 2002-05-01 | 2003-11-06 | Martis Charles J. | Suspension system for a wheelchair |
| CN202357823U (en) * | 2011-11-26 | 2012-08-01 | 南通市幸福车辆厂 | Double-row-wheel balance and buffer suspension frame device for flat car |
| CN103899729A (en) * | 2014-03-24 | 2014-07-02 | 广州市远能物流自动化设备科技有限公司 | Differential driving device |
| CN104527837A (en) * | 2014-12-13 | 2015-04-22 | 河南勃达微波设备有限责任公司 | Traveling driver system of AGV (Automatic Guided Vehicle) intelligent distributing device |
| KR101682990B1 (en) * | 2015-11-13 | 2016-12-07 | 주식회사 메인텍 | Automated guided vehicles movable in various directions |
| CN208118883U (en) * | 2018-02-09 | 2018-11-20 | 杭州易动机器人技术有限公司 | A kind of suspension assembly and robot |
| CN209351500U (en) * | 2018-12-29 | 2019-09-06 | 歌尔股份有限公司 | AGV driving device and AGV |
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