CN110450885A - A kind of driving device - Google Patents
A kind of driving device Download PDFInfo
- Publication number
- CN110450885A CN110450885A CN201910707618.4A CN201910707618A CN110450885A CN 110450885 A CN110450885 A CN 110450885A CN 201910707618 A CN201910707618 A CN 201910707618A CN 110450885 A CN110450885 A CN 110450885A
- Authority
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- China
- Prior art keywords
- unit
- mounting rack
- support base
- guiding groove
- ball bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000000725 suspension Substances 0.000 claims abstract description 24
- 230000005611 electricity Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011176 pooling 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of driving devices, driving device includes suspension parts, servo motor and driving wheel, the servo motor and driving wheel are all mounted on suspension parts, suspension parts include mounting rack, support base, Buffer Unit, the support base is mounted on mounting rack in sliding manner, the Buffer Unit is fixed on mounting rack, pilot unit there are two being set on the mounting rack, two pilot units are symmetrical on mounting rack, it is set on the support base there are two being led unit, two to be led unit symmetrical on support base.Mentality of designing of the suspension parts of driving device based on bearing requirements, driving device, which obtains, has the characteristics that load-carrying members, directly can provide support force to vehicle after use, and then obtain bigger lower pressure for driving wheel, thus solve the problems, such as that driving wheel skids.
Description
Technical field
The present invention relates to the driving devices on AGV trolley.
Background technique
AGV trolley magnetically or optically waits homing guidances device equipped with electricity, can travel, have along defined guide path
The means of transport of safeguard protection and various transfer functions has been widely used in modern industry field.What AGV trolley can move
Structure basis is it with complete drive system, and drive system includes bottom plate, auxiliary wheel, driving device.The bottom of bottom plate
If there are four auxiliary wheels, driving that auxiliary wheel is unpowered, each auxiliary wheel can be freely rotated, direction is unrestricted.Driving device
Including suspension parts, servo motor, driving wheel, suspension parts include support base, swing arm, bracket.Bracket is fixedly mounted on bottom plate
On, on one end removable mounting brackets of swing arm, swing arm can swing i.e. swing arm relative to bracket in vertical plane can be relative to
Bottom plate does pendulum motion.Servo motor and driving wheel are mounted on support base, and servo motor can drive driving wheel to rotate and rotate
Direction can change, velocity of rotation is adjustable.Support base is fixed on the other end of swing arm.Driving dress there are two being set on bottom plate
It sets, two sides of AGV trolley and controlled titled with "left", "right" marker character is respectively set, and the driving wheel in two driving devices is same
When speed operation, AGV trolley can carry out forward motion and backward movement, when the driving wheel differential operation in two driving devices
When, AGV trolley can carry out turn left movement, movement of turning right, original place rotation movement.Therefore, driving device not only provides power also
It is to execute to change nyctitropic component.
In the prior art, the function that the swing arm in driving device and bracket are contributed is buffer function, and swing arm is driven when swinging
Driving wheel can make the movement of up and down motion immediately naturally, this can show buffering well when driving wheel breaks the barriers and make
With the buffer function can bring the whole stable technical effect of holding for entire AGV trolley.
Driving device contribution played in the bearing function of AGV trolley is very small.
The load-bearing of AGV trolley has benefited from the supporting role of auxiliary wheel offer.Driving device does not simultaneously have performance AGV trolley
The structure of carrying effect, establishes the required lower pressure of frictional connection entirely from driving device between driving device and ground
The gravity of itself rather than the gravity of the gravity of other components and cargo on AGV trolley.Lower pressure is bigger, drives for improving
Wheel more has with the frictional connection degree that can be established on ground promotes influence, that is, descends that pressure is bigger, getable frictional force is bigger,
And lower pressure here is typically from gravity.No matter other components on AGV trolley in addition to driving device have multiple, AGV
The cargo of trolley carrying has multiple, can not all change the frictional force between driving device and ground.So in the prior art, driving
The driving wheel of device is easy to generate slipping phenomenon with ground, when especially AGV trolley is loaded with weight.In addition, breaking the barriers
It is blocked between Shi Ruguo swing arm and bracket, then will appear the hanging situation of driving wheel, and then AGV trolley is caused to deflect or stop
Movement.
Summary of the invention
The technical problem to be solved by the present invention is to how avoid driving wheel and ground from skidding, a kind of driving dress is thus obtained
It sets.
In order to solve the above technical problems, the present invention adopts the following technical scheme: driving device includes suspension parts, servo electricity
Machine and driving wheel, the servo motor and driving wheel are all mounted on suspension parts, suspension parts include mounting rack, support base,
Buffer Unit, the support base are mounted on mounting rack in sliding manner, and the Buffer Unit is fixed on mounting rack, the peace
Pilot unit there are two setting is shelved, two pilot units are symmetrical on mounting rack, any one pilot unit all includes
First guiding groove and the second guiding groove, perpendicular to the direction of the second guiding groove, one of them leads the direction of first guiding groove
To the first guiding groove and the first guiding groove face of another pilot unit and the first guiding groove of two pilot units of unit
Direction on the contrary, the second guiding groove of two pilot units towards parallel and identical, set that there are two led on the support base
Unit, two are led that unit is symmetrical on support base, and it includes the first ball bearing and second that any one, which is led unit all,
Ball bearing, for the axial line of first ball bearing perpendicular to the axial line of the second ball bearing, one of them is led unit
The first ball bearing axial line extending direction and another by the axial line for the first ball bearing for leading unit extension
Contrary and two axial lines by the first ball bearing for leading unit are overlapped, and two by the second ball bearing for leading unit
The extending direction of axial line is parallel and identical, and first ball bearing is embedded in the first guiding groove, the second ball axis
It holds and is embedded in the second guiding groove, the support base is located between two pilot units, and the Buffer Unit includes spring, described
One end of spring and the intermediate position of support base connect, and the other end of the spring connect with mounting rack, sets on the support base
There is loading position, the loading position is located at two and is led between unit, and the servo motor and driving wheel are mounted on moving load part
On position.
Servo motor, driving wheel are mounted on the loading position of support base.Due to the suspension parts tool in the technical program
Have a load-bearing capacity, thus using when directly mounting rack can be fixed on the bottom plate of AGV trolley, in this way, driving wheel and auxiliary wheel one
Sample carries weight bearing task.Mounting rack pressure passes to support base by Buffer Unit, is ultimately applied on driving wheel, institute
To provide precompression as driving wheel by the suspension parts, and the precompression increases as load-carrying increases.Even if in sky
In the case of load, the contiguity of driving wheel and ground foundation is still far longer than suspension parts institute of the prior art based on swing arm structure
The contiguity that can be provided.
Unit is led to be arranged based on ball bearing, ball bearing can rotate in guiding groove, avoid led unit with
There is a situation where sliding frictions at guiding groove for mounting rack, are conducive to support base and freely move in a straight line on mounting rack.It is real
In the work of border, support base does the straight reciprocating motion on vertical direction on mounting rack.When driving wheel encounters barrier, only exist
The side of driving wheel is by inclined active force.Direction of motion phase of the direction of such active force with support base on mounting rack
It hands over, has the fit clearance for the fit clearance and ball bearing and guiding groove that ball bearing itself is rotatable and it is internal just
It may be implemented to respond at first near the unit of being led of preceding (being with reference to basis with AGV trolley direction of advance), then support base is another
One is led unit follow-up.Being led unit can not only guarantee that support base slides certainly on mounting rack based on ball bearing setting
Such as, it can also be ensured that support base avoids support base and mounting rack card in the response that can take advantage of a situation after by the active force on non-vertical direction
Firmly the case where.
Also spring is arranged in specific position, that is, bullet in the technical scheme for the case where blocking for support base and mounting rack
The other end of one end of spring and the connection of the intermediate position of support base, spring is connect with mounting rack, guarantee support base by spring
Active force position be always positioned at support base centre rather than the both ends of support base, also or deviate support base middle part
Other positions of position.
Pilot unit and by guide structure that unit forms is led and Buffer Unit is functionally independent, i.e., guide structure is only born
It blames guide function, Buffer Unit and is only responsible for pooling feature.Functional independence and structure independence are conducive to simplify structure, improve suspension
The stability of component operation.
The fit clearance of ball bearing itself is rotatable and it is internal fit clearance and ball bearing and guiding groove
Structure feature can play a positive role in the initial stage of response barrier, but then be needed in spring by compressed buffer stage
Inhibit the micro shaking of structure feature bring.For this purpose, Buffer Unit further includes guide post, sliding sleeve, connection frame, the guide post is solid
On support base, the guide post is equipped with inner cavity for Dingan County, and one end of the spring is protruded into the inner cavity of guide post, and the sliding sleeve is solid
It is scheduled on mounting rack, the guide post is slidably connected with sliding sleeve, and the connection frame is fixed on mounting rack, the other end of the spring
It is connect with mounting rack.Buffer stage, guide post are embedded into the sharp increase of the amount in sliding sleeve, and guide post is got over by the restriction effect from sliding sleeve
It is more, inhibit micro shaking with the mutually embedding amount of sliding sleeve from there through guide post.
In order to guarantee stress balance after suspension parts are mounted on bottom plate, the two sides of the mounting rack are equipped with connecting pin.Peace
Connecting pin is fixedly connected with bottom plate when dress.
The present invention is by adopting the above technical scheme: mentality of designing of the suspension parts of driving device based on bearing requirements, driving
Device, which obtains, has the characteristics that load-carrying members, directly can provide support force to vehicle after use, and then obtain for driving wheel
Thus bigger lower pressure solves the problems, such as that driving wheel skids.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and specific embodiments.
Fig. 1 is a kind of assembling schematic diagram of the suspension parts of driving device of the present invention；
Fig. 2 is a kind of structural schematic diagram of the suspension parts of driving device of the present invention；
Fig. 3 is a kind of structural schematic diagram of driving device of the present invention.
Specific embodiment
The drive system of AGV trolley includes bottom plate, auxiliary wheel, driving device.The bottom of bottom plate is set there are four auxiliary wheel, auxiliary
The unpowered driving of wheel is helped, each auxiliary wheel can be freely rotated, direction is unrestricted.The two sides of bottom plate are respectively provided with a driving dress
It sets, as shown in figure 3, each driving device includes suspension parts, servo motor 1, driving wheel 2.Servo motor 1 and driving wheel 2 are pacified
On suspension parts, servo motor 1 drives driving wheel 2 to rotate after being powered.As shown in Figure 1, 2, suspension parts include mounting rack
3, support base 4, Buffer Unit.
Whole mounting rack 3 is in n shape, is formed by three straight part combinations, and the straight position of two sides is all perpendicular to centre
Straight position.The two sides of mounting rack 3 are designed with pilot unit, which is straight groove structure, two pilot units
It is symmetrical on mounting rack 3.Each pilot unit includes the first guiding groove 5 and the second guiding groove 6, the first guide recess
Take up space and cross section that the second guide recess is taken up space all is in rectangle；The opening of first guiding groove 5 towards perpendicular to
The opening direction of second guiding groove 6；Between two pilot units, the first guiding groove 5 of one of pilot unit with it is another
First guiding groove 5 of positional relationship, two pilot units between the first guiding groove 5 of a pilot unit in opposite face
Towards on the contrary, the second guiding groove 6 of two pilot units towards parallel and identical.One is respectively provided in 3 two sides of mounting rack
Connecting pin 7, two 7 structures of connecting pin are identical, they are symmetrical on mounting rack 3, and the connecting pin 7 with bottom plate for connecting.
Support base 4 is mounted in sliding manner on mounting rack 3.One, which is distributed with, in the two sides of support base 4 is led unit,
Two to be led unit symmetrical on support base 4.Each being led unit includes the first ball bearing 8 and the second ball bearing
9, no matter the first ball bearing 8 or the second ball bearing 9, its own can be rotated freely after stress；First ball bearing 8
Axial line perpendicular to the second ball bearing 9 axial line；Two are led between unit, one of them is by the first rolling for leading unit
The extending direction of the axial line of pearl bearing 8 is with another by the extending direction phase of the axial line for the first ball bearing 8 for leading unit
Anti- and two axial lines by the first ball bearing 8 for leading unit are overlapped, two axle center by the second ball bearing 9 for leading unit
The extending direction of line is parallel and identical.When installation, the first ball bearing 8 is embedded in the first guiding groove 5, the second ball bearing 9
It is embedded in the second guiding groove 6, support base 4 is located between two pilot units, thus establishes between support base 4 and mounting rack 3
Flexible connection relationship.Support base 4 can do straight reciprocating motion on mounting rack 3.The intermediate position of support base 4 is equipped with convenient for peace
The through-hole for filling servo motor 1 and driving wheel 2, is herein the loading position 10 of support base 4, and loading position 10 is located at two and is led list
Between member.
Buffer Unit includes guide post 11, sliding sleeve 12, spring 13, connection frame 14.Whole connection frame 14 is also in n shape, by three
Straight part combination forms, and the straight position of two sides is all perpendicular to intermediate straight position.Connection frame 14 is fixed on mounting rack 3
On.Sliding sleeve 12 is fixed on the intermediate position on mounting rack 3 and being located at mounting rack 3, and guide post 11 is mounted on support base 4 and without language branch
Support the intermediate position of seat 4.The inner cavity of blind hole structure is equipped with inside guide post 11, inner cavity is cylindrical, its only one opening；It is interior
The center line of chamber is overlapped with the center line of guide post 11.One end of spring 13 extend into the inner cavity of guide post 11, spring 13 it is another
End is located at outside guide post 11.When installation, guide post 11 is extend into sliding sleeve 12, and the other end of spring 13 is contacted and squeezed with connection frame 14
It presses connection frame 14 and establishes a connection.In order to more preferably connect, it is equipped with bolt at the intermediate position on connection frame 14, the bolt
It protrudes into spring 13.Guide post 11 can slide in sliding sleeve 12, and the glide direction and support base 4 of guide post 11 are on mounting rack 3
The direction of motion it is parallel.
When assembling, servo motor 1 and driving wheel 2 are mounted on the loading position 10 of support base 4, the connecting pin 7 of mounting rack 3
It is fixed on bottom plate.The load-carrying of vehicle is assigned in driving device by bottom plate, is finally acted on lower driving wheel 2, driving wheel 2 by
Lower pressure and it is even closer with ground face contact.So the suspension parts can be with load-bearing, and driving wheel 2 and ground are improved by load-bearing
Exposure level.Buffer Unit is flexible to can permit the linear slide on mounting rack 3 of support base 4, thus meets to cope with driving wheel 2
To various road surfaces on barrier.
Claims (3)
1. a kind of driving device, the driving device includes suspension parts, servo motor (1) and driving wheel (2), the servo electricity
Machine (1) and driving wheel (2) are all mounted on suspension parts, it is characterised in that: the suspension parts include mounting rack (3), support
Seat (4), Buffer Unit, the support base (4) are mounted in sliding manner on mounting rack (3), and the Buffer Unit is fixed on peace
It shelves on (3), is set on the mounting rack (3) there are two pilot unit, two pilot units are symmetrical on mounting rack (3),
Any one pilot unit all includes the first guiding groove (5) and the second guiding groove (6), and the direction of first guiding groove (5) is hung down
Directly in the direction of the second guiding groove (6), the first guiding groove (5) of one of pilot unit and the first of another pilot unit
The first guiding groove (5) of guiding groove (5) face and two pilot units direction on the contrary, two pilot units the second guiding groove
(6) towards parallel and identical, set on the support base (4) there are two unit is led, two are led unit on support base (4)
Symmetrical, it includes the first ball bearing (8) and the second ball bearing (9), first ball that any one, which is led unit all,
The axial line of bearing (8) is perpendicular to the axial line of the second ball bearing (9), one of them is by the first ball bearing for leading unit
(8) extending direction of axial line is opposite by the extending direction of axial line of the first ball bearing (8) of unit is led with another
And two axial lines by the first ball bearing (8) for leading unit are overlapped, two axis by the second ball bearing (9) for leading unit
The extending direction of heart line is parallel and identical, and first ball bearing (8) is embedded in the first guiding groove (5), second rolling
Pearl bearing (9) is embedded in the second guiding groove (6), and the support base (4) is located between two pilot units, the Buffer Unit
Including spring (13), one end of the spring (13) and the intermediate position of support base (4) are connected, the other end of the spring (13)
It is connect with mounting rack (3), the support base (4) is equipped with loading position (10), and the loading position (10) is located at two and is led
Between unit, the servo motor (1) and driving wheel (2) are mounted on loading position (10).
2. driving device according to claim 1, it is characterised in that: the Buffer Unit further includes guide post (11), sliding sleeve
(12), connection frame (14), the guide post (11) are fixedly mounted on support base (4), and the guide post (11) is equipped with inner cavity, the bullet
One end of spring (13) is protruded into the inner cavity in guide post (11), and the sliding sleeve (12) is fixed on mounting rack (3), the guide post (11)
It is slidably connected with sliding sleeve (12), the connection frame (14) is fixed on mounting rack (3), the other end of the spring (13) and installation
Frame (3) connection.
3. driving device according to claim 1, it is characterised in that: the two sides of the mounting rack (3) are equipped with connecting pin (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910707618.4A CN110450885B (en) | 2019-08-01 | 2019-08-01 | Driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910707618.4A CN110450885B (en) | 2019-08-01 | 2019-08-01 | Driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110450885A true CN110450885A (en) | 2019-11-15 |
| CN110450885B CN110450885B (en) | 2024-07-19 |
Family
ID=68484612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910707618.4A Active CN110450885B (en) | 2019-08-01 | 2019-08-01 | Driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110450885B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0672704U (en) * | 1993-11-17 | 1994-10-11 | 三菱製鋼株式会社 | Height change mechanism for vehicles equipped with air spring suspension |
| JPH1173223A (en) * | 1997-08-29 | 1999-03-16 | Yazaki Kako Kk | Guided truck |
| CN106004298A (en) * | 2016-06-30 | 2016-10-12 | 华南理工大学 | AGV (automatic guided vehicle) elastic support driving device using hub motor and AGV |
| CN106494257A (en) * | 2015-09-07 | 2017-03-15 | 广州市井源机电设备有限公司 | A kind of driving suspension arrangement of automatic navigation vehicle and automatic navigation vehicle |
| CN108313161A (en) * | 2018-01-31 | 2018-07-24 | 北京理工华汇智能科技有限公司 | Robotically-driven wheel system and robot comprising it |
| CN108583735A (en) * | 2018-07-04 | 2018-09-28 | 哈工大机器人（昆山）有限公司 | It is a kind of for the drive wheel suspension damping of AGV trolleies, chassis, AGV trolleies |
| CN108725626A (en) * | 2018-06-26 | 2018-11-02 | 杭州南江机器人股份有限公司 | A kind of chassis structure of AGV |
| CN208101615U (en) * | 2017-12-29 | 2018-11-16 | 合肥中导机器人科技有限公司 | A kind of AGV driving wheel double-spring damping device and AGV trolley |
| KR20190033681A (en) * | 2017-09-21 | 2019-04-01 | (주)씨에이시스템 | Automated Guided Vehicle having Stand-alone type Wheel Drive Unit for Lateral Movement |
| CN210942032U (en) * | 2019-08-01 | 2020-07-07 | 杭州中亚机械股份有限公司 | Driving device |
-
2019
- 2019-08-01 CN CN201910707618.4A patent/CN110450885B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0672704U (en) * | 1993-11-17 | 1994-10-11 | 三菱製鋼株式会社 | Height change mechanism for vehicles equipped with air spring suspension |
| JPH1173223A (en) * | 1997-08-29 | 1999-03-16 | Yazaki Kako Kk | Guided truck |
| CN106494257A (en) * | 2015-09-07 | 2017-03-15 | 广州市井源机电设备有限公司 | A kind of driving suspension arrangement of automatic navigation vehicle and automatic navigation vehicle |
| CN106004298A (en) * | 2016-06-30 | 2016-10-12 | 华南理工大学 | AGV (automatic guided vehicle) elastic support driving device using hub motor and AGV |
| KR20190033681A (en) * | 2017-09-21 | 2019-04-01 | (주)씨에이시스템 | Automated Guided Vehicle having Stand-alone type Wheel Drive Unit for Lateral Movement |
| CN208101615U (en) * | 2017-12-29 | 2018-11-16 | 合肥中导机器人科技有限公司 | A kind of AGV driving wheel double-spring damping device and AGV trolley |
| CN108313161A (en) * | 2018-01-31 | 2018-07-24 | 北京理工华汇智能科技有限公司 | Robotically-driven wheel system and robot comprising it |
| CN108725626A (en) * | 2018-06-26 | 2018-11-02 | 杭州南江机器人股份有限公司 | A kind of chassis structure of AGV |
| CN108583735A (en) * | 2018-07-04 | 2018-09-28 | 哈工大机器人（昆山）有限公司 | It is a kind of for the drive wheel suspension damping of AGV trolleies, chassis, AGV trolleies |
| CN210942032U (en) * | 2019-08-01 | 2020-07-07 | 杭州中亚机械股份有限公司 | Driving device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110450885B (en) | 2024-07-19 |
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