Heavy-load servo omni-directional driving device based on active damping and AGV

Abstract

The invention relates to a heavy-load servo omni-directional driving device based on active damping, which comprises four mutually vertical support plates, a mounting cavity is formed in the middle, two opposite support plates are wheel mounting plates, the other two opposite support plates are lifting mechanism mounting plates, the two wheel mounting plates are respectively provided with a driving wheel through a bearing, the two wheel mounting plates respectively extend outwards, extending parts are respectively provided with a driving motor, the two driving motors are independently controlled, the output ends of the driving motors are provided with driving chain wheels, and the driving chain wheels are connected with driven chain wheels through transmission chains; a lifting mechanism is mounted in the mounting cavity, two supporting shafts are symmetrically mounted on the side wall of the lifting mechanism, the two supporting shafts are rotationally connected with the corresponding lifting mechanism mounting plates respectively, a mounting plate is mounted at the output end of the top of the lifting mechanism, and a frame connecting piece is mounted at the top end of the mounting plate through a slewing bearing; the loading capacity is improved, and workpieces can be automatically leveled in the transportation process.

Description

technical field [0001] The invention relates to the field of AGV conveying equipment, in particular to a heavy-duty servo omnidirectional drive device based on active shock absorption and an AGV. Background technique [0002] In the current industrial scene, there are more and more applications of load-type AGVs, most of which are concentrated below the 10t level. The driving mechanism generally adopts a wheel train structure with a combination of a steering wheel and a universal wheel, a differential drive and a universal wheel combination. However, above the 10t level, it is firstly limited by the increase in tonnage. Due to the increase in power, the size of the steering wheel and the increase in the diameter and width of the universal wheel cannot meet the requirements for the overall size of AGV products; secondly, due to the increase in tonnage, AGV generally requires omnidirectional Drive, if the wheel train structure of differential drive and universal wheel or steer...

AI Technical Summary

Problems solved by technology

However, above the 10t level, it is firstly limited by the increase in tonnage. Due to the increase in power, the size of the steering wheel and the increase in the diameter and width of the universal wheel cannot meet the requirements for the overall size of AGV products; secondly, due to the increase in tonnage, AGV generally requires omnidirectional Drive, if the wheel train structure of differential drive and universal wheel or steering wheel and universal wheel is used, during the movement process of spinning and traversing, due to the initial force of the universal wheel reversing, the AGV will not move in place , jitter and other abnormal conditions; moreover, if the omnidirectional wheel mechanism such as mecanum wheel is used, due to factors such as high single cost of mecanum wheel, low load, short service life, high maintenance cost, etc., it cannot meet the user's requirements for cost. Low, reliable quality requirements; Finally, due to the heavy weight of the workpiece, the existing drive mechanism cannot evenly distribute the weight of the workpiece to each wheel, and frequent alarms and accelerated wear caused by local drive wheel overload will occur during the transfer process. And then affect the service life of the whole product

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