CN107284552A - A kind of automatical pilot transportation vehicle and its driving steering mechanism - Google Patents
A kind of automatical pilot transportation vehicle and its driving steering mechanism Download PDFInfo
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- CN107284552A CN107284552A CN201710667281.XA CN201710667281A CN107284552A CN 107284552 A CN107284552 A CN 107284552A CN 201710667281 A CN201710667281 A CN 201710667281A CN 107284552 A CN107284552 A CN 107284552A
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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)
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- Mechanical Engineering (AREA)
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Abstract
Steering mechanism is driven the invention discloses one kind, including anti-vibration component, rotation bearing component and chassis assembly, anti-vibration component includes the upper mounting plate and lower installation board that stacks arrangement and relative can move up and down, lower installation board is provided with centre bore, the limited post between upper mounting plate and lower installation board provided with corner feedback device, multiple shock-proof springs and for limiting maximum spacing between upper mounting plate and lower installation board；Rotation bearing component includes rotary shaft and rotary shaft fixed seat through centre bore and that rotate coaxially cooperation, and the upper end of rotary shaft is coaxially connected with steering synchronizing wheel and lower end and chassis assembly are affixed, and rotary shaft fixed seat and lower installation board are affixed.This programme reduces the structural complexity of driving steering mechanism, reduces organization volume, shorter work on the spot environment is can adapt in traction and transportation in the case where not influenceing to travel, transporting.Include the automatical pilot transportation vehicle of above-mentioned driving steering mechanism the invention also discloses a kind of.
Description
Technical field
Machine is turned to the present invention relates to mobile robot technology field, more particularly to a kind of automatical pilot transportation vehicle and its driving
Structure.
Background technology
Automatical pilot transportation vehicle (abbreviation AGV) is that one kind is equipped with the homing guidance device such as electromagnetism, optics, can be along regulation
Guided path is travelled, the transport vehicle with safeguard protection and various mobile load functions, belongs to wheeled mobile robot category.For
The working environment that mobile space is small, steering space is small is adapted to, its drive mechanism is typically always integrally formed formula structure with steering mechanism,
Steering mode be generally divided into it is independent deflect wheeled, differential speed driven type and Mecanum is wheeled etc., and AGV full side can be achieved
Position turning function, but independent deflection is wheeled and the wheeled mechanism load ability of Mecanum shows slightly not enough relative to differential speed driven type.
And existing differential steering formula drive mechanism one side structure is complex, volume is still larger, in traction, handling process still
Relatively low work on the spot environment is not adapted to；On the other hand on flat smooth road surface or there can only be the road traveling of minimum obstacle,
Make vehicle body unstable, when mechanism is in roughness pavement operation, the reduction of driving wheel bottom surface adhesive force, or even influence dolly traveling essence
, there is transportation safety hidden danger in degree.Differential steering mode is used existing driving steering mechanism more, but general device volume is larger, height
Degree is higher, and more difficult adaptation roughness pavement.
The content of the invention
It is larger in order to solve the complicated of existing driving steering mechanism presence, volume, can not in traction, transportation
The problem of adapting to shorter work on the spot environment, includes the drive the invention provides a kind of new driving steering mechanism with a kind of
The automatical pilot transportation vehicle of dynamic steering mechanism.
The technical scheme that the present invention is provided is specific as follows：
One kind driving steering mechanism, applied to automatical pilot transportation vehicle, including anti-vibration component, rotation bearing component and chassis
Component, wherein,
The anti-vibration component includes the upper mounting plate and lower installation board that stacks arrangement and relative can move up and down, it is described under
Installing plate is provided with centre bore, and corner feedback device, multiple shock-proof springs are provided between the upper mounting plate and the lower installation board
And for limiting the limited post of maximum spacing between the upper mounting plate and the lower installation board；
The rotation bearing component includes rotary shaft and rotary shaft through the centre bore and that rotate coaxially cooperation
Fixed seat, the upper end of the rotary shaft is coaxially connected with steering synchronizing wheel and lower end and the chassis assembly are affixed, the rotation
Axle fixed seat and the lower installation board are affixed.
Preferably, in above-mentioned driving steering mechanism, the chassis assembly includes the inclination for being used to support two ends driving wheel
Rotating shaft and the axis with the inclination rotating shaft interconnection, the two ends of the axis are connected to a rotary shaft and fixed
Plate, two rotation axis fixing plates are rotatable by the relatively described inclination rotating shaft of the axis.
Preferably, in above-mentioned driving steering mechanism, the lower end of two rotation axis fixing plates is fixed in revolution and fixed
Plate.
Preferably, in above-mentioned driving steering mechanism, the lower installation board is fixed in the lower end of the limited post, it is described on
Installing plate is slidably matched by spacing hole with the limited post, and the upper end of the limited post, which is provided with, to be located above the upper mounting plate
Defining flange.
Preferably, in above-mentioned driving steering mechanism, positioning is additionally provided between the upper mounting plate and the lower installation board
Lead, the shock-proof spring is set in the positioning guide column periphery.
Preferably, in above-mentioned driving steering mechanism, the centre bore both sides have been arranged symmetrically multiple shock-proof springs.
Preferably, in above-mentioned driving steering mechanism, the upper mounting plate, which is provided with, is located at being available for above the centre bore
It is described to turn to the upper centre bore that synchronizing wheel runs through.
Preferably, in above-mentioned driving steering mechanism, provided with installation between the upper centre bore and the steering synchronizing wheel
Gap.
Preferably, in above-mentioned driving steering mechanism, the corner feedback device includes being fixed on the lower installation board
Planetary gear mounting seat and the first planetary gear for being rotationally connected with the planetary gear mounting seat, first planetary gear passes through
Upper timing belt and the steering synchronizing wheel drive connection, the wheel footpath phase of the wheel footpath of first planetary gear and the steering synchronizing wheel
Deng.
The driving steering mechanism that the present invention is provided, including anti-vibration component, rotation bearing component and chassis assembly, wherein, keep away
Shake component includes the upper mounting plate and lower installation board that stacks arrangement and relative can move up and down, and lower installation board is provided with centre bore,
Provided with corner feedback device, multiple shock-proof springs and for limiting upper mounting plate and lower peace between upper mounting plate and lower installation board
The limited post of maximum spacing between dress plate；Rotation bearing component includes rotary shaft that is through centre bore and rotating coaxially cooperation
With rotary shaft fixed seat, the upper end of rotary shaft is coaxially connected with steering synchronizing wheel and lower end is affixed with chassis assembly, and rotary shaft is solid
Reservation is affixed with lower installation board.
The present invention can make rotation bearing component make full use of anti-vibration component by opening up centre bore on anti-vibration component
Space, so that the structure between the upper lower installation board of anti-vibration component is compacter, while by corner feedback device and shock-absorbing bullet
Spring etc. is arranged between lower installation board, further reduces mechanism overall volume, reduces mechanism whole height.It can be seen that, this
Invention reduces the structural complexity of driving steering mechanism, reduces organization volume in the case where not influenceing to travel, transporting,
Shorter work on the spot environment is can adapt in traction and transportation.
Include the automatical pilot transportation vehicle of above-mentioned driving steering mechanism present invention also offers a kind of.The homing guidance is transported
The derivation for the beneficial effect that the derivation for the beneficial effect that car is produced is brought with above-mentioned driving steering mechanism is substantially similar,
Therefore repeat no more herein.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the general assembly structural representation for driving steering mechanism in the specific embodiment of the invention；
Fig. 2 is the driving steering mechanism obstacle detouring schematic diagram in the specific embodiment of the invention；
Fig. 3 is the chassis assembly structural representation in the specific embodiment of the invention；
Fig. 4 is the corner feedback device structural representation in the specific embodiment of the invention.
Fig. 1 is into Fig. 4：
11- upper mounting plates, 12- limited posts, 13- lower installation boards, 14- positioning guide columns, the upper centre bores of 15-, 16- shock-absorbing bullets
Spring, 21- turn to synchronizing wheel, 22- rotary shafts, 23- rotary shafts fixed seat, 31- driving wheels, 32- chains, 33- motors, 34-
Rotate axis fixing plate, 35- axis, 36- motor reducers, 37- motor fixing plates, 38- tilt rotating shaft, 39- revolution fixed plate,
310- minor sprockets, 311- chains grinding wheel press cap, 312- drivings grinding wheel press cap, 313- big sprocket wheels, the upper timing belts of 41-, 42- code-discs, 43- planets
Take turns timing belt, the planets of 48- second under mounting seat, 44- mounting seats centre bore, the planetary gears of 45- first, 46- code-discs synchronizing wheel, 47-
Wheel.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 to Fig. 4 is refer to, Fig. 1 is the general assembly structural representation for driving steering mechanism in the specific embodiment of the invention,
Fig. 2 is the driving steering mechanism obstacle detouring schematic diagram in the specific embodiment of the invention, and Fig. 3 is the chassis in the specific embodiment of the invention
Modular construction schematic diagram, Fig. 4 is the corner feedback device structural representation in the specific embodiment of the invention.
In a kind of specific embodiment scheme, the invention provides a kind of driving steering applied to automatical pilot transportation vehicle
Mechanism, the mechanism mainly includes anti-vibration component, three parts of rotation bearing component and chassis assembly, wherein, anti-vibration component includes
Arrangement and the upper mounting plate 11 and lower installation board 13 that relative can move up and down are stacked, lower installation board 13 is provided with centre bore, upper peace
Fill between plate 11 and lower installation board 13 provided with corner feedback device, multiple shock-proof springs 16 and for limiting the and of upper mounting plate 11
The limited post 12 of maximum spacing between lower installation board 13；Rotation bearing component includes through centre bore and rotates coaxially cooperation
Rotary shaft 22 and rotary shaft fixed seat 23, the upper end of rotary shaft 22 is coaxially connected with steering synchronizing wheel 21 and lower end and chassis group
Part is affixed, and rotary shaft fixed seat 23 and lower installation board 13 are affixed.
Anti-vibration component specifically includes upper mounting plate 11, limited post 12, lower installation board 13, shock-proof spring 16 and corner feedback dress
Put.Upper mounting plate 11 and lower installation board 13 can pass through the relative resilient movement up and down of shock-proof spring 16, it is preferable that centre bore both sides
Be arranged symmetrically multiple shock-proof springs 16, as shown in figure 1, be arranged such, can make above and below load distribution between installing plate more
Plus it is uniform, it is to avoid vehicle body rocks.Preferably, positioning guide column 14 is additionally provided between upper mounting plate 11 and lower installation board 13,
Shock-proof spring 16 is set in the periphery of positioning guide column 14, as depicted in figs. 1 and 2, is arranged such, it is ensured that shock-proof spring 16 is steady
Surely it is arranged on predeterminated position, it is to avoid it is moved.In addition, the effect of limited post 12 be between the upper lower installation board of limitation most
Big spacing, it is to avoid draw bad shock-proof spring 16 or upper mounting plate 11 to depart from lower installation board 13, limited post 12 away from excessive between the two
The overall security of anti-vibration component is not only increased, but also upper mounting plate can be limited by designing the height of limited post 12
Ultimate range between 11 and lower installation board 13, in this way, just the volume of anti-vibration component can be made compacter.Need explanation
It is that the structure type of limited post 12 can have a variety of, it is preferable that lower installation board is fixed in the lower end of the limited post 12 in this programme
On 13, upper mounting plate 11 is slidably matched by spacing hole with limited post 12, i.e. upper guard plate 11 can glide along along limited post 12
Dynamic, the upper end of limited post 12 is provided with the defining flange for being located at the top of upper mounting plate 11, as shown in Fig. 2 the defining flange external diameter is big
In the aperture of the spacing hole of upper mounting plate 11, so that upper guard plate 11 can not depart from limited post 12.Certainly, people in the art
The one end of limited post 12 with flange or limited block can also be connected to the lower section of lower installation board 13 by member, and limited post 12 is another
End is fixed on upper mounting plate 11, is repeated no more herein.
The centre bore that lower installation board 13 is opened up is used to assemble rotation bearing component, and rotary shaft fixed seat 23 may pass through the center
Kong Bingyu lower installation boards 13 are fixedly connected, so that rotation bearing component is consolidated by rotary shaft fixed seat 23 and lower installation board 13
Connect.Rotary shaft fixed seat 23 is nested inside with rotary shaft 22, and rotary shaft 22 rotates coaxially cooperation with rotary shaft fixed seat 23, when
When mechanism needs to turn to, under the dynamic action of motor 33, rotary shaft 22 is turned in the internal rotating of rotary shaft fixed seat 23
Synchronizing wheel 21 and the upper end of rotary shaft 22 are affixed and are rotated together with rotary shaft 22.Rotary shaft 22 and chassis assembly are affixed, to realize
The turning function of chassis assembly.
In mechanism running, oppressed due to car body weight and drive steering mechanism, the close proximity to ground of driving wheel 31, now,
Shock-proof spring 16 is compressed and provides adhesive force for driving wheel 31；When running into road barrier, shock-proof spring 16 will be played and kept away
Shake is acted on.
The present invention can make rotation bearing component make full use of anti-vibration component by opening up centre bore on anti-vibration component
Space, so that the structure between the upper lower installation board of anti-vibration component is compacter, while by corner feedback device and shock-absorbing bullet
Spring 16 etc. is arranged between lower installation board, further reduces mechanism overall volume, reduces mechanism whole height.It can be seen that,
The present invention reduces the structural complexity for driving steering mechanism, reduces mechanism body in the case where not influenceing to travel, transport
Product, can adapt to shorter work on the spot environment in traction and transportation.
The chassis assembly that refer in Fig. 3, this programme includes：Driving wheel 31, chain 32, motor 33, rotary shaft are solid
Fixed board 34, axis 35, motor reducer 36, motor fixing plate 37, tilt rotating shaft 38, it is revolution fixed plate 39, big sprocket wheel 313, small
Sprocket wheel 310, chain grinding wheel press cap 311 and driving grinding wheel press cap 312 etc..The center that rotating shaft 38 is located at chassis assembly is tilted, by tilting
Motor fixing plate 37, big sprocket wheel 313 and driving wheel 31 are respectively sequentially installed with the center of rotating shaft 38 to direction of both ends, its
In, driving wheel 31 with tilt the coaxial cooperation of rotating shaft 38 and can around tilt rotating shaft 38 axis rotation, driving wheel 31 be directly with
The part of ground contact.One end of motor fixing plate 37 is affixed with tilting rotating shaft 38, and the other end is connected with motor reducer 36, electricity
Machine decelerator 36 connects the output shaft of motor 33, and the output revolving shaft of motor reducer 36 is connected with minor sprocket 310, minor sprocket
310 are connected by chain 32 with big sprocket wheel 313, and the walking and differential that mechanism can be achieved under the driving of motor 33 turn
To etc. function, the sprocket diameter of minor sprocket 310 is less than the sprocket diameter of big sprocket wheel 313, therefore can realize the transmission for slowing down and increasing and turning round
Effect.Driving grinding wheel press cap 312 is separately mounted to tilt the shaft end position of rotating shaft 38, and axial limiting effect is played to driving wheel 31；Chain
Grinding wheel press cap 311 is separately mounted to the roller end of motor reducer 36, and axial limiting effect is played to minor sprocket 310.
It should be noted that axis 35 is with tilting the interconnection of rotating shaft 38, the two ends of axis 35 are connected to a rotation
Rotating shaft fixed plate 34, two rotation axis fixing plates 34 are rotatable by the above-mentioned relative tilt rotating shaft 38 of axis 35.Axis 35 with
The interconnection of rotating shaft 38 is tilted, the height of chassis assembly can be further reduced, make overall structure compacter.Specifically, this
Axis 35 in specific embodiment scheme is fixedly connected with tilting the square crossing of rotating shaft 38, and tilt rotating shaft 38 is provided centrally with one
The individual pilot hole intersected vertically with own axes, together with axis 35 is just interference fitted with the pilot hole, as seen from Figure 3, axis
35 sequentially pass through first piece of rotation axis fixing plate 34, tilt rotating shaft 38 and second piece of rotation axis fixing plate 34, wherein, tilt rotating shaft
38 center and axis 35 are affixed, and axis 35 is the structures such as circular shaft or bent axle, and therefore, those skilled in the art can be with root
Axis 35 is arranged according to different demands and the intersecting angle between rotating shaft 38, not necessarily vertical relation is tilted.Axis 35
Two ends are connected with two rotation axis fixing plates 34 by bearing rotary respectively.Two rotation axis fixing plates 34 pass through the portions such as connecting plate
Part and rotary shaft 22 are affixed, so that rotation bearing component links together with chassis assembly, realize the steering work(of chassis assembly
Energy.
Fig. 2 and Fig. 3 are referred to, when the driving wheel 31 of side runs into obstacle, because there is difference in height in mechanism both sides bottom surface,
In addition to the shock-absorbing effect of shock-proof spring 16, the side drive wheel 31 for having obstacle will rotate and raise around axis 35, so that more
Obstacle is easily passed over, during especially by pit, the driving wheel 31 of pit is absorbed in the case where tilting the booster action of rotating shaft 38, institute
The difference in height of generation will obtain effective compensation.Due to eliminating, ground level is poor, and the hanging phenomenon in the side of driving wheel 31 will no longer
Occur, the problem of solving during obstacle detouring that vehicle body is unstable, there is transportation safety hidden danger reduces rough road in face of mechanism
The influence of the stress concentration phenomenon caused.
Preferably, the lower end of two rotation axis fixing plates 34 is fixedly connected with revolution fixed plate 39, from the figure 3, it may be seen that rotation
Rotating shaft fixed plate 34 is arranged in the front and rear sides for tilting rotating shaft 38, and its upper end and rotary shaft 22 are affixed, and lower end is fixed with revolution
Plate 39 is affixed, and three is fixedly connected with each other, so as to further enhancing firm effect.
Fig. 1 and Fig. 4 are refer to, corner feedback device is arranged on lower installation board 13, mainly included：Upper timing belt 41, code
Disk 42, planetary gear mounting seat 43, mounting seat centre bore 44, the first planetary gear 45, code-disc synchronizing wheel 46, lower timing belt 47, second
Planetary gear 48 etc., the wheel footpath of the first planetary gear 45 is more than the wheel footpath of the second planetary gear 48, and planetary gear mounting seat 43 is fixed on lower peace
Fill on plate 13, the first planetary gear 45 is hinged by mounting seat centre bore 44 with planetary gear mounting seat 43, and passes through upper timing belt 41
It is connected with the steering synchronizing wheel 21 of rotation bearing component, and wheel footpath of the wheel footpath of the first planetary gear 45 with turning to synchronizing wheel 21
It is equal.Second planetary gear 48 is located at the underface of the first planetary gear 45 and, second planet coaxial affixed with the first planetary gear 45
Wheel 48 is by lower timing belt 47 and the V belt translation of code-disc synchronizing wheel 46, the wheel footpath of the second planetary gear 48 and the wheel footpath of code-disc synchronizing wheel 46
Equal, code-disc synchronizing wheel 46 and code-disc 42 are coaxially connected and are fixed in planetary gear mounting seat 43, are arranged such, and rotating shaft 22 turns
Speed is equal with the rotating speed of the first planetary gear 45, the second planetary gear 48 and code-disc synchronizing wheel 46, and the corner of rotating shaft 22 just can be with
1 is carried out by corner feedback device:Single-ring encoder can be used in 1 transmission, code-disc 42.When 31 differential speed rotation of driving wheel, chassis
Component drives steering synchronizing wheel 21 to rotate by rotary shaft 22, and most rotational angle is accurately transferred to by corner feedback device at last
In code-disc 42, in the electric signal input controller finally produced, the deviation produced in the process of running with real time correction mechanism.
Preferably, this programme is offered on upper mounting plate 11 being available for steering synchronizing wheel 21 to run through above centre bore
Upper centre bore 15, as shown in figure 1, rotation bearing component rotary shaft 22 connection turn to synchronizing wheel 21 stretch out in lower installation board 13
Centre bore above, when upper mounting plate 11 and lower installation board 13 are close to each other, the spacing between upper lower installation board diminishes, i.e.
Also diminish for accommodating rotary shaft 22 and turning to the space of synchronizing wheel 21, now, using the upper centre bore 15 of upper mounting plate 11, just
Steering synchronizing wheel 21 can be made to make full use of the space of the thickness direction of upper mounting plate 11, so that upper mounting plate 11 and lower peace
Filling plate 13 can be further towards.
In order to further improve the installing space between upper lower installation board, this programme also offers use on upper mounting plate 11
In accommodating the hole arranged of corner feedback device, this is hole arranged communicated with above-mentioned upper installing hole 15 and formed one be similar to it is digital
The hole of " 8 " shape, may be designed in oval well format.First planetary gear 45 of corner feedback device is arranged at planetary gear installation
On seat 43 and can be through upper mounting plate 11 it is hole arranged, the height of the first planetary gear 45 is highly consistent simultaneously with turning to synchronizing wheel 21
And both are connected by upper timing belt 41, it is arranged such, corner feedback device and rotation bearing component and lower installation board 13
Relative position then keep constant, only upper mounting plate 11 can be moved up and down with respect to lower installation board 13.This programme passes through in upper peace
Centre bore 15 is opened up on dress plate 11 and hole arranged, the space availability ratio between lower installation board is improved, so that shock-absorbing
Modular construction is compacter.In addition, the line at center of the center of the first planetary gear 45 with turning to synchronizing wheel 21 is preferably designed for
It is parallel with the long side of upper mounting plate 11, i.e. parallel with straight trip direction before and after driving wheel 31, it is arranged so as to, driving can be turned to
Device integrally keeps symmetrical, so as to improve stability.
Preferably, it is arranged so as to provided with gap is installed between upper centre bore 15 and steering synchronizing wheel 21, the drive can be facilitated
Dynamic transfer is in assembling process, and operating personnel will turn to synchronizing wheel 21 and are installed in rotary shaft 22 manually, or will rotation
Axle 22 is installed in rotary shaft fixed seat 23.
Compared with prior art, this programme has the advantages that：
1st, the driving steering mechanism designed by the present invention, is being equipped with the parts such as shock-proof spring, axis and rotary shaft
On the basis of, on the premise of both having possessed certain obstacle climbing ability, higher bottom surface adhesive force, overall structure is more simplified, in reducing
Structure between axle height, upper lower installation board is compacter, meanwhile, corner feedback device is deposited in inside installing plate, further
Mechanism overall volume is reduced, mechanism whole height is reduced；
2nd, the driving steering mechanism designed by the present invention, axis and shock-proof spring part remain original obstacle climbing ability and
On the premise of shock-proof effect sufficient, effective bottom surface adhesive force and operation stability are provided for the operation of AGV vehicles, it is ensured that
AGV normally travel, while greatly reducing the influence for the stress concentration phenomenon that rough road is produced in face of mechanism；
3rd, the driving steering mechanism designed by the present invention, corner feedback device is by many synchronous belt mechanisms 1:1 rotating ratio
It is lower that runner deflection angle is accurately transferred to single-ring encoder, traditional encoder or magnetic coder is instead of, is being ensured
Cost is reduced on the premise of corner feedback function；
4th, the present invention can not only be individually used for the driving steering of AGV dollies, multigroup can also use cooperatively, meanwhile, each
It can be used in class logistic storage floor truck, be applicable with very high.
Include the automatical pilot transportation vehicle of above-mentioned driving steering mechanism present invention also offers a kind of.The homing guidance is transported
The derivation for the beneficial effect that the derivation for the beneficial effect that car is produced is brought with above-mentioned driving steering mechanism is substantially similar,
Therefore repeat no more herein.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. one kind driving steering mechanism, applied to automatical pilot transportation vehicle, it is characterised in that including anti-vibration component, rotation load-bearing
Component and chassis assembly, wherein,
The anti-vibration component includes the upper mounting plate (11) and lower installation board (13) that stacks arrangement and relative can move up and down, institute
Lower installation board (13) is stated provided with centre bore, dress is fed back provided with corner between the upper mounting plate (11) and the lower installation board (13)
Put, multiple shock-proof springs (16) and for limiting between the upper mounting plate (11) and the lower installation board (13) maximum spacing
Limited post (12)；
The rotation bearing component includes rotary shaft (22) and rotary shaft through the centre bore and that rotate coaxially cooperation
Fixed seat (23), the upper end of the rotary shaft (22) is coaxially connected with steering synchronizing wheel (21) and lower end is consolidated with the chassis assembly
Connect, the rotary shaft fixed seat (23) and the lower installation board (13) are affixed.
2. driving steering mechanism according to claim 1, it is characterised in that the chassis assembly includes being used to support two ends
The inclination rotating shaft (38) of driving wheel (31) and the axis (35) with described inclination rotating shaft (38) interconnection, the axis (35)
Two ends be connected to one rotation axis fixing plate (34), two it is described rotation axis fixing plates (34) pass through the axis
(35) relatively described inclination rotating shaft (38) is rotatable.
3. driving steering mechanism according to claim 2, it is characterised in that under two rotation axis fixing plates (34)
End is fixed in revolution fixed plate (39).
4. driving steering mechanism according to claim 1, it is characterised in that institute is fixed in the lower end of the limited post (12)
Lower installation board (13) is stated, the upper mounting plate (11) is slidably matched by spacing hole with the limited post (12), the limited post
(12) upper end is provided with the defining flange being located above the upper mounting plate (11).
5. driving steering mechanism according to claim 1, it is characterised in that the upper mounting plate (11) and the lower installation
Positioning guide column (14) is additionally provided between plate (13), the shock-proof spring (16) is set in the positioning guide column (14) periphery.
6. driving steering mechanism according to claim 1, it is characterised in that the centre bore both sides have been arranged symmetrically multiple
The shock-proof spring (16).
7. driving steering mechanism according to claim 1, it is characterised in that the upper mounting plate (11) is provided with positioned at described
The upper centre bore (15) that the steering synchronizing wheel (21) is run through is available for above centre bore.
8. driving steering mechanism according to claim 7, it is characterised in that the upper centre bore (15) turns to together with described
Provided with installation gap between step wheel (21).
9. driving steering mechanism according to claim 1, it is characterised in that the corner feedback device includes being fixed on institute
State the planetary gear mounting seat (43) on lower installation board (13) and be rotationally connected with the planetary gear mounting seat (43) first
Planetary gear (45), first planetary gear (45) is connected by upper timing belt (41) with the steering synchronizing wheel (21), institute
The wheel footpath for stating the first planetary gear (45) is equal with the wheel footpath of the steering synchronizing wheel (21).
10. a kind of automatical pilot transportation vehicle, it is characterised in that turned to including driving as claimed in any one of claims 1-9 wherein
Mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710667281.XA CN107284552A (en) | 2017-08-07 | 2017-08-07 | A kind of automatical pilot transportation vehicle and its driving steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710667281.XA CN107284552A (en) | 2017-08-07 | 2017-08-07 | A kind of automatical pilot transportation vehicle and its driving steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107284552A true CN107284552A (en) | 2017-10-24 |
Family
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Cited By (4)
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| CN109455247A (en) * | 2018-12-21 | 2019-03-12 | 银河水滴科技（北京）有限公司 | AGV material transfer trolley |
| CN109501857A (en) * | 2018-11-14 | 2019-03-22 | 沈阳慧远自动化设备有限公司 | A kind of AGV self-level(l)ing differential steering gear |
| CN110316279A (en) * | 2019-05-24 | 2019-10-11 | 广州市中立智能装备科技有限公司 | A kind of omnidirectional's differential driving steering wheel |
| CN117565985A (en) * | 2023-12-29 | 2024-02-20 | 威海天特智能科技有限公司 | Intelligent traction robot |
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| CN117565985A (en) * | 2023-12-29 | 2024-02-20 | 威海天特智能科技有限公司 | Intelligent traction robot |
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