CN105947015A - AGV driving mechanism - Google Patents
AGV driving mechanism Download PDFInfo
- Publication number
- CN105947015A CN105947015A CN201610383015.XA CN201610383015A CN105947015A CN 105947015 A CN105947015 A CN 105947015A CN 201610383015 A CN201610383015 A CN 201610383015A CN 105947015 A CN105947015 A CN 105947015A
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- CN
- China
- Prior art keywords
- agv
- motor
- drive mechanism
- wheels
- wheel
- 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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- 230000007246 mechanism Effects 0.000 title claims abstract description 38
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 230000002457 bidirectional effect Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 241001518079 Plantago minuta Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses an AGV driving mechanism which comprises a driving mechanism base and fixing plates arranged at the two ends of the driving mechanism base. Driving devices are arranged on the fixing plates. An adjusting mechanism is arranged in the position of each driving device. A driving shaft buffer device is arranged on the driving mechanism base. The AGV driving mechanism comprises the two independent driving devices, through a method of reducing the distance between two wheels, the differential speed of the two wheels with the long distance is divided into the differential speed of a plurality of sets of wheels with the small distance between every two wheels, and the vehicle steering speed problem and the miniaturization problem of the value R of the distance between every two wheels of a vehicle are fundamentally solved.
Description
Technical field
The present invention relates to AGV technical field, particularly to a kind of AGV drive mechanism.
Background technology
AGV has had the history of more than 50 year, along with the extension of application, its kind from invention
Varied with what form became.At present, the walking mechanism that AGV generally uses is the four-wheel row of band steering wheel
Walking mechanism, this walking mechanism includes two running wheels, two support wheels and is distributed with rhombus.Band
The four-wheel walking mechanism of steering wheel develops on the basis of three-wheel walking mechanism, and it is equivalent to two
Individual tricycle combines, and two bogie wheels are symmetrically arranged on the center line after Plantago minuta, Qian Houche
Wheel is respectively symmetrically the isosceles triangle apex being arranged in two bogie wheel fulcrums as base.Front and back wheel
It is steering wheel and running wheel.Front and back wheel all can track homing when turning for this AGV dolly
Line tracking, mobility is better than tricycle.But, this walking mechanism there is also problems with: this walking
Mechanism AGV is not suitable for doing the fortune that rotates in place of intensive storage AGV: when car body rotates in place,
Taking turns due to the support on both sides and do not have driving force, its motility rotated and smoothness are the most inadequate.
The walking manner of AGV is mainly unidirectional walking and bidirectional walking two kinds.The AGV of unidirectional walking is little
Car, is provided with two universal wheels at body structure two, and rear end is provided with two directional wheels, in vehicle body
Being provided with a driving means below portion, the advantage of this unidirectional AGV is that vehicle body is stable, turns partly
Footpath is little.The AGV dolly of bidirectional walking, a kind of AGV singly driving bidirectional walking is at body bottom
One non-rotatable driver element is installed, four universal wheels is installed bottom vehicle body front and back end, works as AGV
During carriage walking, driving wheel drives four universal wheels to move together, and dolly in the process of walking can be in Serpentis
Shape route is advanced, and vehicle body can not balance and can not steadily keep straight on, with single AGV in the case of same load-carrying
Compare consumed power of motor relatively big, and this driving singly driving two-way type AGV of the prior art
Unit is fixing relative to vehicle body, and when AGV dolly is turned, driver element need to drive whole vehicle body
Turning together, make required torque bigger than normal, so that power of motor consumes bigger than normal, cost increases.
Summary of the invention
The technical problem to be solved is to provide a kind of AGV drive mechanism, reasonable in design, turn
To flexible and stable performance, to solve the above-mentioned multinomial defect caused in prior art.
For achieving the above object, the present invention provides following technical scheme: a kind of AGV drive mechanism,
Including drive mechanism base and the fixed plate being arranged on drive mechanism base two ends, described fixed plate sets
Driving means, described driving means is had to include drive shaft, driving wheel and motor；Described motor is arranged
In fixed plate, driving wheel is arranged on the end of drive shaft, and both relatively rotate connection, drives machine
The two ends of structure base are provided with cavity；Described drive shaft is arranged in cavity, and cavity open-mouth is provided with master
Axle bumper plate；It is connected by chain assemblies between described driving wheel and motor.
Preferably, described fixed plate is provided with at least two parallel grooves, and described motor is provided with motor
Fixing seat, bolt is connected through parallel groove with motor fixing seat bolt.
Preferably, the end of the motor top board that described motor has is provided with Limit Bearing, Limit Bearing with
Drive mechanism base contacts.
Above technical scheme is used to provide the benefit that: the AGV drive mechanism of present configuration, including
Two independent driving means, not only with the method reducing two wheel distances, by apart from two remote wheels
Differential is decomposed into the differential apart from some groups of little two wheels, fundamentally solves Vehicular turn speed
Problem and vehicle two wheel distance R value minimization problem, and made by drive shaft buffer unit
Dolly still can carry weight smooth-ride being slightly slanted, on uneven ground, it is ensured that wheel is not
Can skid in original place, be installed on four-wheel drive car body, it is achieved four drive eight to take turns the two-way row of close-coupled
Walk mode, improve vehicle and make rotary speed when arbitrary curve moves and stability.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is sectional view of the present invention；
Fig. 3 is the top view of present configuration.
Wherein, 1--drive mechanism base, 2--fixed plate, 3--drive shaft, 4--driving wheel, 5--
Motor, 6--main shaft baffle plate, 7--chain assemblies, 8--chute, 9--motor fixing seat, 10--motor
Pressing plate, 11--motor top board, 12--bolt depression bar, 13--spacing mandril, 14--push up spring guide rod, 15--
Limit spring, 16--Limit Bearing, 17--buffer spring guide rod, 18--spring adjusting plug, 19--are slow
Rush spring, 20--positions hole, 21--locating groove.
Detailed description of the invention
Describe the preferred embodiment of the present invention below in conjunction with the accompanying drawings in detail.
Fig. 1 shows the detailed description of the invention of the present invention: a kind of AGV drive mechanism, including drive mechanism
Base and the fixed plate being arranged on drive mechanism base two ends, described fixed plate is provided with driving means,
Described driving means includes drive shaft, driving wheel and motor；Described motor is arranged in fixed plate,
Driving wheel is arranged on the end of drive shaft, and both relatively rotate connection, the two ends of drive mechanism base
It is provided with cavity；Described drive shaft is arranged in cavity, and cavity open-mouth is provided with main shaft baffle plate；Described
It is connected by chain assemblies between driving wheel and motor.
In the present invention, fixed plate is provided with at least two parallel grooves, and described motor is provided with motor
Fixing seat, bolt is connected through parallel groove with motor fixing seat bolt.
In the present invention, the end of the motor top board that motor has is provided with Limit Bearing, Limit Bearing with
Drive mechanism base contacts.
The AGV drive mechanism of present configuration, including two independent driving means, not only to reduce
The method of two wheel distances, will be decomposed into apart from some groups of little two wheels apart from two remote wheel differentials
Differential, fundamentally solve Vehicular turn speed issue and vehicle two wheel distance R value minimum
Change problem, and make dolly being slightly slanted by drive shaft buffer unit, depend on uneven ground
Old can carry weight smooth-ride, it is ensured that wheel will not skid in original place, is installed in four-wheel drive
On car body, it is achieved four drive eight to take turns close-coupled bidirectional walking mode, improve vehicle and make arbitrary curve fortune
Rotary speed time dynamic and stability.
If will be decomposed into apart from little apart from two remote wheel differentials to reduce the method for two wheel distances
The differential of dry group two wheels, fundamentally solves Vehicular turn speed issue, owing to efficiently solving
Vehicle two wheel distance R value minimization problem, makes the R value of bidirectional walking driver element narrow down to originally
Part, learns from vehicle dynamic model, and, two wheel differentials certain in the time are than certain bar
Under part, the angle that two wheels rotate is inversely proportional to spacing R of two wheels, so concluding that double
Several times are improved, if one relative to tradition AGV body construction to the rotary speed of rotary drive unit
Some groups of such mechanisms are installed on individual AGV car body, are equivalent to be mounted with several quick rotation
Wheel, thus realize the raising of overall vehicle speed.
To sum up, by AGV drive mechanism on AGV car body, make the AGV dolly can be as traditional unidirectional AGV
Equally smoothly walking, the power of same loading capacity AGV unidirectional with tradition required motor is the same, required
Power of motor is low, cost-effective, and two-way owing to can control dolly by the rotating speed of four motors of control
Rotary motion, dolly operationally rotates in place without self, can reduce track and take up room, and is suitable for
Work in intensive storage.
Above is only the preferred embodiment of the present invention, it is noted that for the common skill of this area
For art personnel, without departing from the concept of the premise of the invention, it is also possible to make some deformation and
Improving, these broadly fall into protection scope of the present invention.
Claims (3)
1. an AGV drive mechanism, including drive mechanism base and be arranged on consolidating of drive mechanism base two ends
Determining plate, described fixed plate is provided with driving means, it is characterised in that: described driving means include drive shaft,
Driving wheel and motor；Described motor is arranged in fixed plate, and described driving wheel is arranged on the end of drive shaft,
Both relatively rotate connection, and the two ends of described drive mechanism base are provided with cavity；Described drive shaft is arranged on
In cavity, cavity open-mouth is provided with main shaft baffle plate；It is connected by chain assemblies between described driving wheel and motor
Connect.
AGV drive mechanism the most according to claim 1, it is characterised in that described fixed plate is provided with
Article at least two, parallel groove, described motor is provided with motor fixing seat, and bolt is solid with motor through parallel groove
Reservation bolt connects.
AGV drive mechanism the most according to claim 2, it is characterised in that the electricity that described motor has
The end of machine top board is provided with Limit Bearing, and Limit Bearing contacts with drive mechanism base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610383015.XA CN105947015A (en) | 2016-06-02 | 2016-06-02 | AGV driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610383015.XA CN105947015A (en) | 2016-06-02 | 2016-06-02 | AGV driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105947015A true CN105947015A (en) | 2016-09-21 |
Family
ID=56907469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610383015.XA Withdrawn CN105947015A (en) | 2016-06-02 | 2016-06-02 | AGV driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105947015A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106042877A (en) * | 2016-06-02 | 2016-10-26 | 芜湖智久机器人有限公司 | Adjusting mechanism of driving mechanism of AGV trolley |
| CN108583274A (en) * | 2018-03-22 | 2018-09-28 | 苏州极客嘉智能科技有限公司 | AGV differential drive mechanism with multi-angle moving function |
| CN110022829A (en) * | 2016-08-15 | 2019-07-16 | 美国锐哲有限公司 | go kart |
| CN110015356A (en) * | 2019-04-08 | 2019-07-16 | 上海富洋云网机器人股份有限公司 | Gravity lift type omnidirectional delivers formula robot |
| WO2020143547A1 (en) * | 2019-01-07 | 2020-07-16 | 共享智能铸造产业创新中心有限公司 | Heavy duty agv |
| WO2020207723A1 (en) * | 2019-04-08 | 2020-10-15 | Man Truck & Bus Se | Vehicle axle for a motor vehicle |
| CN114228821A (en) * | 2021-12-31 | 2022-03-25 | 华晓精密工业(苏州)有限公司 | Long distance chassis mechanism and AGV |
| USD988420S1 (en) | 2014-06-03 | 2023-06-06 | Razor Usa Llc | Drifting kart |
| USD993092S1 (en) | 2014-05-09 | 2023-07-25 | Razor Usa Llc | Drifting kart |
| US11786423B2 (en) | 2008-07-18 | 2023-10-17 | Ali Kermani | Drifting kart |
| USD1002743S1 (en) | 2016-05-17 | 2023-10-24 | Razor Usa Llc | Drifting kart |
| US11981380B2 (en) | 2016-08-15 | 2024-05-14 | Razor Usa Llc | Kart |
| USD1048951S1 (en) | 2015-03-19 | 2024-10-29 | Razor Usa Llc | Drifting kart |
| USD1078549S1 (en) | 2023-08-14 | 2025-06-10 | Razor Usa Llc | Cart |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204472482U (en) * | 2015-02-13 | 2015-07-15 | 浙江弘道科技有限公司 | A kind of AGV driving part structure |
| CN105035202A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Derusting wall-climbing robot for ship |
| CN205113439U (en) * | 2015-08-25 | 2016-03-30 | 福建省鲤东精密机械有限公司 | A drive steering mechanism for AGV |
| CN105966493A (en) * | 2016-05-31 | 2016-09-28 | 芜湖智久机器人有限公司 | Bidirectional rotation actuating devices for AGV |
-
2016
- 2016-06-02 CN CN201610383015.XA patent/CN105947015A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204472482U (en) * | 2015-02-13 | 2015-07-15 | 浙江弘道科技有限公司 | A kind of AGV driving part structure |
| CN105035202A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Derusting wall-climbing robot for ship |
| CN205113439U (en) * | 2015-08-25 | 2016-03-30 | 福建省鲤东精密机械有限公司 | A drive steering mechanism for AGV |
| CN105966493A (en) * | 2016-05-31 | 2016-09-28 | 芜湖智久机器人有限公司 | Bidirectional rotation actuating devices for AGV |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| USD1048952S1 (en) | 2008-07-18 | 2024-10-29 | Ali Kermani | Drifting kart |
| US11903886B2 (en) | 2008-07-18 | 2024-02-20 | Ali Kermani | Drifting kart |
| US11786423B2 (en) | 2008-07-18 | 2023-10-17 | Ali Kermani | Drifting kart |
| US12186245B2 (en) | 2008-07-18 | 2025-01-07 | Ali Kermani | Drifting kart |
| USD993092S1 (en) | 2014-05-09 | 2023-07-25 | Razor Usa Llc | Drifting kart |
| USD1063715S1 (en) | 2014-05-09 | 2025-02-25 | Razor Usa Llc | Drifting kart handle |
| USD988420S1 (en) | 2014-06-03 | 2023-06-06 | Razor Usa Llc | Drifting kart |
| USD1049248S1 (en) | 2014-06-03 | 2024-10-29 | Razor Usa Llc | Drifting kart |
| USD1048951S1 (en) | 2015-03-19 | 2024-10-29 | Razor Usa Llc | Drifting kart |
| USD1002743S1 (en) | 2016-05-17 | 2023-10-24 | Razor Usa Llc | Drifting kart |
| CN106042877A (en) * | 2016-06-02 | 2016-10-26 | 芜湖智久机器人有限公司 | Adjusting mechanism of driving mechanism of AGV trolley |
| US12497114B2 (en) | 2016-08-15 | 2025-12-16 | Razor Usa Llc | Kart |
| US11981380B2 (en) | 2016-08-15 | 2024-05-14 | Razor Usa Llc | Kart |
| CN110022829A (en) * | 2016-08-15 | 2019-07-16 | 美国锐哲有限公司 | go kart |
| CN108583274B (en) * | 2018-03-22 | 2021-05-11 | 苏州极客嘉智能科技有限公司 | AGV differential drive mechanism with multi-angle moving function |
| CN108583274A (en) * | 2018-03-22 | 2018-09-28 | 苏州极客嘉智能科技有限公司 | AGV differential drive mechanism with multi-angle moving function |
| WO2020143547A1 (en) * | 2019-01-07 | 2020-07-16 | 共享智能铸造产业创新中心有限公司 | Heavy duty agv |
| WO2020207723A1 (en) * | 2019-04-08 | 2020-10-15 | Man Truck & Bus Se | Vehicle axle for a motor vehicle |
| CN113474200B (en) * | 2019-04-08 | 2024-08-16 | 曼卡车和巴士欧洲股份公司 | Axle for a motor vehicle and motor vehicle having an axle |
| CN113474200A (en) * | 2019-04-08 | 2021-10-01 | 曼卡车和巴士欧洲股份公司 | Axle for a motor vehicle |
| CN110015356A (en) * | 2019-04-08 | 2019-07-16 | 上海富洋云网机器人股份有限公司 | Gravity lift type omnidirectional delivers formula robot |
| CN114228821A (en) * | 2021-12-31 | 2022-03-25 | 华晓精密工业(苏州)有限公司 | Long distance chassis mechanism and AGV |
| USD1078549S1 (en) | 2023-08-14 | 2025-06-10 | Razor Usa Llc | Cart |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20160921 |
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| WW01 | Invention patent application withdrawn after publication |