A kind of driving means of bidirectional rotation AGV dollyTechnical field
The present invention relates to AGV technical field, particularly to the driving means of a kind of bidirectional rotation AGV dolly.
Background technology
AGV has had the history of more than 50 year from invention, along with the extension of application, its kind and form become varied.At present, the walking mechanism that AGV generally uses is the four-wheel walking mechanism of band steering wheel, and this walking mechanism includes two running wheels, two support wheels and is distributed with rhombus.Four-wheel walking mechanism with steering wheel develops on the basis of three-wheel walking mechanism, it is equivalent to two tricycles to combine, two bogie wheels are symmetrically arranged on the center line after Plantago minuta, and front and back wheel is respectively symmetrically the isosceles triangle apex being arranged in two bogie wheel fulcrums as base.Front and back wheel is steering wheel and running wheel.This AGV dolly is front and back wheel all energy track homing line trackings when turning, and 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, and taking turns due to the support on both sides does not has driving force, and 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 dolly of unidirectional walking, is provided with two universal wheels at body structure two, and rear end is provided with two directional wheels, and in the middle part of vehicle body, lower section is provided with a driving means, and the advantage of this unidirectional AGV is that vehicle body is stable, radius of turn is little.The AGV dolly of bidirectional walking, a kind of AGV singly driving bidirectional walking is to install a non-rotatable driver element at body bottom, four universal wheels are installed bottom vehicle body front and back end, when AGV carriage walking, driving wheel drives four universal wheels to move together, dolly can be advanced by serpentine-like route in the process of walking, vehicle body can not balance and can not steadily keep straight on, the power of motor consumed compared with single AGV in the case of same load-carrying is bigger, and this driver element singly driving two-way type AGV of the prior art is fixing relative to vehicle body, when AGV dolly is turned, driver element need to drive whole vehicle body to turn 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 the driving means of a kind of bidirectional rotation AGV dolly, reasonable in design, turn to flexibly 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: the driving means of a kind of bidirectional rotation AGV dolly, it is characterized in that, including drive mechanism base and the fixed plate being arranged on drive mechanism base two ends, fixed plate is provided with driving means, being provided with governor motion at described driving means, described drive mechanism base is provided with drive shaft buffer unit.
Preferably, described fixed plate is the most oppositely arranged.
Preferably, described driving means includes drive shaft, driving wheel and motor, motor is arranged in fixed plate, driving wheel is arranged on the end of drive shaft, both relatively rotate connection, and the two ends of drive mechanism base are provided with cavity, and drive shaft is arranged in cavity, cavity open-mouth is provided with main shaft baffle plate, is connected by chain assemblies between 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, and bolt is connected through parallel groove with motor fixing seat bolt.
Preferably, described governor motion includes motor pressing plate and motor top board, motor pressing plate is arranged on the outer end of fixed plate, motor top board arranges between motor and drive mechanism base, motor top board is fixing relative to fixed plate to be connected, motor pressing plate is provided with the bolt depression bar contacted with motor fixing seat, spacing mandril and top spring guide rod it is provided with between motor top board and motor fixing seat, spacing mandril and top spring guide rod are arranged on motor top board, top spring leader casing is connected to limit spring, and limit spring contacts with motor fixing seat.
Preferably, the end of described motor top board is provided with Limit Bearing, and Limit Bearing contacts with drive mechanism base.
Preferably, described drive shaft buffer unit includes buffer spring guide rod, spring adjusting plug and buffer spring, drive mechanism base is provided with hole, location, buffer spring guide rod is arranged in hole, location, buffer spring is socketed on buffer spring guide rod, and spring adjusting plug is threadeded with hole, location, and contacts with buffer spring, drive shaft is provided with locating groove, and described buffer spring guide rod is stuck in locating groove.
Above technical scheme is used to provide the benefit that: the driving means of the bidirectional rotation AGV dolly of present configuration, including two independent driving means, not only with the method reducing two wheel distances, the differential apart from some groups of little two wheels will be decomposed into apart from two remote wheel differentials, fundamentally solve Vehicular turn speed issue and vehicle two wheel distance R value minimization problem, and by drive shaft buffer unit, dolly is being slightly slanted, weight smooth-ride still can be carried on uneven ground, ensure that wheel will not skid in original place, it is installed on four-wheel drive car body, realize four drivings eight and take turns close-coupled bidirectional walking 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--top spring guide rod, 15--limit spring, 16--Limit Bearing, 17--buffer spring guide rod, 18--spring adjusting plug, 19--buffer spring, 20--position 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: the driving means of a kind of bidirectional rotation AGV dolly, including drive mechanism base 1 and the fixed plate 2 being arranged on drive mechanism base 1 two ends, fixed plate 2 is provided with driving means, being provided with governor motion at driving means, drive mechanism base 1 is provided with drive shaft buffer unit.
Fixed plate 2 is the most oppositely arranged；Driving means includes drive shaft 3, driving wheel 4 and motor 5, motor 5 is arranged in fixed plate 2, driving wheel 4 is arranged on the end of drive shaft 3, both relatively rotate connection, the two ends of drive mechanism base 1 are provided with cavity, drive shaft 3 is arranged in cavity, and cavity open-mouth is provided with main shaft baffle plate 6, is connected by chain assemblies 7 between driving wheel 4 and motor 5.
Fixed plate 2 is provided with at least two parallel grooves 8, and motor 5 is provided with motor fixing seat 9, and bolt is connected through parallel groove 8 with motor fixing seat 9 bolt.
Governor motion includes motor pressing plate 10 and motor top board 11, motor pressing plate 10 is arranged on the outer end of fixed plate 2, motor top board 11 arranges between motor 5 and drive mechanism base 1, motor top board 11 is fixing relative to fixed plate 2 to be connected, motor pressing plate 10 is provided with the bolt depression bar 12 contacted with motor fixing seat 9, spacing mandril 13 and top spring guide rod 14 it is provided with between motor top board 11 and motor fixing seat 9, spacing mandril 13 and top spring guide rod 14 are arranged on motor top board 11, top spring guide rod 14 is socketed with limit spring 15, and limit spring 15 contacts with motor fixing seat 9；The end of motor top board 11 is provided with Limit Bearing 16, and Limit Bearing 16 contacts with drive mechanism base 1.
Drive shaft buffer unit includes buffer spring guide rod 17, spring adjusting plug 18 and buffer spring 19, drive mechanism base 1 is provided with hole 20, location, buffer spring guide rod 17 is arranged in hole 20, location, buffer spring 19 is socketed on buffer spring guide rod 17, spring adjusting plug 18 is threadeded with hole 20, location, and contact with buffer spring 19, drive shaft 3 is provided with locating groove 21, and buffer spring guide rod 17 is stuck in locating groove 21.
Drive shaft buffer unit makes dolly being slightly slanted, still can carry weight smooth-ride on uneven ground, ensure that wheel will not skid in original place, dolly carrying limit can be changed by regulation pressure simultaneously, make dolly can carry the goods of Different Weight series, it is beneficial to batch production, reduces cost.
After driving means uses certain time at that time, whole chain assemblies is loose, by motor pressing plate is adjusted, motor is gone fine setting, chain assemblies is allowed to be maintained under a tight state, ensureing the stability of driving wheel transmission, motor top board plays a spacing effect, prevents motor position accommodative excess.
The differential apart from some groups of little two wheels will be decomposed into reducing the method for two wheel distances apart from two remote wheel differentials, fundamentally solve Vehicular turn speed issue, owing to efficiently solving vehicle two wheel distance R value minimization problem, the R value making bidirectional walking driver element narrows down to original part, learn from vehicle dynamic model, certain in the time, under conditions of two wheel differentials ratios are certain, the angle that two wheels rotate is inversely proportional to spacing R of two wheels, so concluding that the rotary speed of bidirectional rotation driver element improves several times relative to tradition AGV body construction, if installing some groups of such mechanisms on an AGV car body, it is equivalent to be mounted with the wheel of several quick rotation, thus realize the raising of overall vehicle speed.
The AGV mover of the bidirectional rotation mechanism used, when keeping straight on, front and back wheel speed is equal, when car is turned, the drive mechanism in front can rotate a certain angle, measure angle [alpha] now by angular transducer, rear driving wheel is equivalent to steering wheel, and its speed is Vh, is drawn by Vector operation.When dolly backward going, motor steering changes, and in like manner can obtain, and travels front and controls angle of turn, and rear is steering wheel.This design can ensure that dolly car body balance and steadily keeps straight on, turns.
To sum up, by the driving means of bidirectional rotation AGV dolly on AGV car body, make AGV dolly smoothly can walk as traditional unidirectional AGV, the power of same loading capacity AGV unidirectional with tradition required motor is the same, and required motor power is low, cost-effective, and owing to dolly shake double-direction turning movement can be controlled by controlling the rotating speed of four motors, dolly operationally rotates in place without self, can reduce track and take up room, and is suitable for working in intensive storage.
Above is only the preferred embodiment of the present invention, it is noted that for the person of ordinary skill of the art, without departing from the concept of the premise of the invention, it is also possible to make some deformation and improvement, these broadly fall into protection scope of the present invention.