CN107323567A - A kind of right-angle steering method on AGV chassis - Google Patents

A kind of right-angle steering method on AGV chassis Download PDF

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Publication number
CN107323567A
CN107323567A CN201710434559.9A CN201710434559A CN107323567A CN 107323567 A CN107323567 A CN 107323567A CN 201710434559 A CN201710434559 A CN 201710434559A CN 107323567 A CN107323567 A CN 107323567A
Authority
CN
China
Prior art keywords
drive shaft
driving wheel
agv
angle steering
chassis
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.)
Pending
Application number
CN201710434559.9A
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Chinese (zh)
Inventor
陆凤鸣
葛小勇
张�杰
沈汇波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Ankong Science & Technology Co Ltd
Original Assignee
Zhejiang Ankong Science & Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhejiang Ankong Science & Technology Co Ltd filed Critical Zhejiang Ankong Science & Technology Co Ltd
Priority to CN201710434559.9A priority Critical patent/CN107323567A/en
Publication of CN107323567A publication Critical patent/CN107323567A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for

Abstract

The invention discloses a kind of right-angle steering method on AGV chassis, preset orthogonal both direction be respectively X to and Y-direction, comprise the following steps:S1, chassis are provided with X to the drive shaft and driving wheel with Y-direction simultaneously;S2, X is set to drive shaft as main drive shaft;S3, X are performed to drive shaft, and X is performed to driving wheel, the hovering of Y-direction driving wheel;S4, Y-direction drive shaft snap into X in drive shaft;S5, Y-direction drive shaft are performed, and X is performed to drive shaft, and X is hanging to driving wheel.The present invention can make AGV ground colleague's ability be greatly improved, and the AGV developed using this method, and simple in construction, cost is relatively low.

Description

A kind of right-angle steering method on AGV chassis
【Technical field】
The present invention relates to the technical field of AGV technical field, particularly AGV chassis right-angle steering.
【Background technology】
AGV full name Automated Guided Vehicle, i.e., autonomous guiding Travel vehicle, in automatic Material Handling System To extensive use.During machine tooling, limited by lathe level of processing itself, a complete workpiece is needed in multiple machines Operation break-down is carried out plus processing on bed, and the time that some technique is processed on certain a machine tool is shorter, and lower one of technique is in secondary Process time on lathe is longer, and this is accomplished by carrying out intelligent scheduling, present solution to the semi-finished product of upper level machine tooling Method mostly carries out Job Scheduling using manipulator, but the bulk of manipulator is limited serious, can not be adapted to various Applied in changeable occasion, and use AGV can be by playing the dispatching methods of AGV flexibilities, to the workpiece of lathe streamline It is scheduled.
During the common AGV traveling that tracks, guide, can not typically finish at a right angle along ground signal index wire target The action of steering, and in many workplaces, such as machine tooling workshop, because the dense degree in workshop is high, so especially needing AGV is wanted to have the ability turned by a small margin, so as to adapt to the high density layouts at scene.
90 degree of AGV are directly to can enable AGV be applied in itself at the scene of many high density layouts, but now AGV do not have practicable related art scheme, so needing a kind of to realize the right-angle steering method on AGV chassis.
【The content of the invention】
The purpose of the present invention is exactly to solve the problems of the prior art, proposes a kind of right-angle steering method on AGV chassis, energy AGV ground colleague's ability is enough set to be greatly improved, and the AGV developed using this method, simple in construction, cost is relatively low.
To achieve the above object, the present invention proposes a kind of right-angle steering method on AGV chassis, presets orthogonal two Individual direction be respectively X to and Y-direction, comprise the following steps:
S1, chassis are provided with X to the drive shaft and driving wheel with Y-direction simultaneously;
S2, X is set to drive shaft as main drive shaft;
S3, X are performed to drive shaft, and X is performed to driving wheel, the hovering of Y-direction driving wheel;
S4, Y-direction drive shaft snap into X in drive shaft;
S5, Y-direction drive shaft are performed, and X is performed to drive shaft, and X is hanging to driving wheel.
Preferably, the particular content of the step S2 is:AGV motor is connected on to X to drive shaft, X to Driving wheel highly fixation is non-adjustable.
Preferably, in the step S3, the hovering of Y-direction driving wheel is by setting lever construction, hanging Y-direction driving wheel Sky, and the unpowered input of Y-direction drive shaft.
Preferably, the particular content of the step S4 is:In Y-direction drive shaft and X to setting gear pair between drive shaft Transmission, and leverage is set in Y-direction drive shaft, the leverage connects a rectilinear movement executor.
Preferably, the particular content of the step S5 is:The diameter of Y-direction driving wheel is more than diameters of the X to driving wheel, Y After being snapped into drive shaft in X phase drive shafts, Y-direction driving wheel is landed, and X is maked somebody a mere figurehead to driving wheel.
Preferably, the rectilinear movement executor is pneumatic cylinder, set between the pneumatic cylinder and the Y-direction drive shaft Connecting rod, makes multiple Y-direction drive shaft synchronization actions.
Beneficial effects of the present invention:The present invention draws power in X by using Y-direction drive shaft to overlap joint in drive shaft, really The power source for protecting two mutually perpendicular directions is unified, so as to reduce the structure complexity on AGV chassis, reduces cost;By using Leverage where rectilinear movement executor driving Y-direction drive shaft so that Y-direction driving wheel is hanging or X is hanging to driving wheel Mode realizes the right angle commutation on AGV chassis, and implementation is very simple, with practical feasibility.
The feature and advantage of the present invention will be described in detail by embodiment combination accompanying drawing.
【Brief description of the drawings】
Fig. 1 is the overall flow block diagram of the right-angle steering method on AGV chassis of the present invention;
Fig. 2 is the structural representation of specific embodiment two in the present invention.
In figure:1- chassis overhangs, the power transmission shafts of 2- first, the driving wheels of 3- first, 4- second driving shafts, 5- second bevel gears, 6- first bevel gears, 7- sleeves, 8- bush supports, 9- drive blocks, the driving wheels of 10- second, 11- reversing bars, 12- bearings, 13- gas Cylinder.
【Embodiment】
Embodiment one:Refering to Fig. 1, a kind of right-angle steering method on AGV chassis of the invention presets orthogonal two sides To respectively X to and Y-direction, comprise the following steps:
S1, chassis are provided with X to the drive shaft and driving wheel with Y-direction simultaneously;
S2, X is set to drive shaft as main drive shaft;
S3, X are performed to drive shaft, and X is performed to driving wheel, the hovering of Y-direction driving wheel;
S4, Y-direction drive shaft snap into X in drive shaft;
S5, Y-direction drive shaft are performed, and X is performed to drive shaft, and X is hanging to driving wheel.
The particular content of the step S2 is:AGV motor is connected on to X to drive shaft, X is to driving wheel height Fixation is non-adjustable.
In the step S3, the hovering of Y-direction driving wheel is by setting lever construction, to make Y-direction driving wheel hanging, and Y-direction is driven Input that moving axis is unpowered.
The particular content of the step S4 is:In Y-direction drive shaft and X to setting gear auxiliary driving, and Y-direction between drive shaft Leverage is set in drive shaft, and the leverage connects a rectilinear movement executor.
The particular content of the step S5 is:The diameter of Y-direction driving wheel is more than diameters of the X to driving wheel, and Y-direction drive shaft is taken After being connected in X phase drive shafts, Y-direction driving wheel is landed, and X is maked somebody a mere figurehead to driving wheel.
The rectilinear movement executor is pneumatic cylinder, sets connecting rod between the pneumatic cylinder and the Y-direction drive shaft, makes Multiple Y-direction drive shaft synchronization actions.
Embodiment two:As a kind of form of embodiment one, it is the concrete structureization statement to embodiment one, is embodied The method for being still the present invention creates core;
Can right-angle steering AGV chassis, including chassis overhang 1 is arranged on two first power transmission shafts 2 on chassis overhang 1, First power transmission shaft 2 is provided at both ends with the first driving wheel 3, it is characterised in that:Position of first power transmission shaft 2 close to two ends First bevel gear 6 is respectively arranged with, each first bevel gear 6 has a second bevel gear for engaging connection 5, often It is provided with a second driving shaft 4 in the individual second bevel gear 5,2 vertical points of the second driving shaft 4 and the first power transmission shaft Cloth;The medial extremity of second driving shaft 4, which is provided with one, has axial constraint, radially free sleeve 7, and outboard end is fixedly connected Have and bush support 8 is hinged with the second driving wheel 10, the sleeve 7, the bottom of bush support 8 is fixed on the chassis overhang On 1.The drive block 9 being each provided with the sleeve 7 on a drive block 9, two relative sleeves 7 is hinged.Two groups are hinged Drive block 9 between be provided with one and the relatively turnable reversing bar 11 of drive block 9.The centre position of reversing bar 11 is set There is a bearing being hinged 12.The lower section of bearing 12 is provided with a cylinder 13, expansion link and the bearing 12 of the cylinder 13 It is fixedly connected, the cylinder body of cylinder 13 is fixedly connected with chassis overhang 1.The wheel rim lowest part of first driving wheel 3 is higher than second The wheel rim lowest part of driving wheel 10, when the backhaul of cylinder 13 is shunk, second driving shaft 4 is under the support of bush support 8, the second cone Gear 5 departs from first bevel gear 6, and the second driving wheel 10 departs from ground.When the first driving wheel 3 lands, cylinder 13 Expansion link shrinks, and reversing bar 11, drive block 9 and sleeve 7 decline, under lever principle effect, under the medial extremity of second driving shaft 4 Drop, outboard end rises, and makes the second driving wheel 10 liftoff;When needing right-angle steering, the expansion link elongation of cylinder 13, the second driving Wheel 10, which declines, to land, and the first driving wheel 3 is liftoff, and the first power transmission shaft 2 continues in external impetus when being rotated by, due to first Bevel gear 6 and the engagement of second bevel gear 5 so that second driving shaft 4 drives the second driving wheel 10 to rotate.
The present invention, by setting orthogonal two groups of power transmission shafts on AGV chassis overhang, and passes through cylinder and thick stick Rod principle, lifts one of which power transmission shaft, so that the driving wheel in different groups of power transmission shafts can switch and ground Contacted so that AGV can carry out right-angle steering therewith, substantially increase mobile flexibilities of the AGV in high density occasion.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after Scheme belong to protection scope of the present invention.

Claims (6)

1. a kind of right-angle steering method on AGV chassis, preset orthogonal both direction be respectively X to and Y-direction, its feature exists In comprising the following steps:
S1, chassis are provided with X to the drive shaft and driving wheel with Y-direction simultaneously;
S2, X is set to drive shaft as main drive shaft;
S3, X are performed to drive shaft, and X is performed to driving wheel, the hovering of Y-direction driving wheel;
S4, Y-direction drive shaft snap into X in drive shaft;
S5, Y-direction drive shaft are performed, and X is performed to drive shaft, and X is hanging to driving wheel.
2. the right-angle steering method on AGV chassis as claimed in claim 1, it is characterised in that:The particular content of the step S2 For:AGV motor is connected on to X to drive shaft, X is non-adjustable to driving wheel highly fixation.
3. the right-angle steering method on AGV chassis as claimed in claim 1, it is characterised in that:In the step S3, Y-direction driving Wheel hovering is by setting lever construction, to make Y-direction driving wheel hanging, and the unpowered input of Y-direction drive shaft.
4. the right-angle steering method on AGV chassis as claimed in claim 1, it is characterised in that:The particular content of the step S4 For:Leverage, the thick stick are set in gear auxiliary driving, and Y-direction drive shaft to being set between drive shaft in Y-direction drive shaft and X Linkage connects a rectilinear movement executor.
5. the right-angle steering method on AGV chassis as claimed in claim 1, it is characterised in that:The particular content of the step S5 For:The diameter of Y-direction driving wheel is more than diameters of the X to driving wheel, after Y-direction drive shaft is snapped into X phase drive shafts, Y-direction driving wheel Land, X is maked somebody a mere figurehead to driving wheel.
6. the right-angle steering method on AGV chassis as claimed in claim 4, it is characterised in that:The rectilinear movement executor is Pneumatic cylinder, connecting rod is set between the pneumatic cylinder and the Y-direction drive shaft, makes multiple Y-direction drive shaft synchronization actions.
CN201710434559.9A 2017-06-09 2017-06-09 A kind of right-angle steering method on AGV chassis Pending CN107323567A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710434559.9A CN107323567A (en) 2017-06-09 2017-06-09 A kind of right-angle steering method on AGV chassis

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710434559.9A CN107323567A (en) 2017-06-09 2017-06-09 A kind of right-angle steering method on AGV chassis

Publications (1)

Publication Number Publication Date
CN107323567A true CN107323567A (en) 2017-11-07

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108029297A (en) * 2018-01-12 2018-05-15 台州市智诚工业设计有限公司 A kind of small-sized quick agriculture seeding plough
CN108982116A (en) * 2018-06-27 2018-12-11 北京艾瑞思机器人技术有限公司 Transport vehicle and its chassis parameter calibration method, device and computer-readable medium
CN110525392A (en) * 2019-10-09 2019-12-03 达闼科技(北京)有限公司 A kind of chassis of Omni-mobile, Omni-mobile chassis system and robot system
CN110841941A (en) * 2019-10-10 2020-02-28 西安交通大学 Automatic steering photovoltaic cell cleaning robot and use method thereof

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6035677A (en) * 1983-08-09 1985-02-23 Showa Aircraft Ind Co Ltd Travel system
US20030183427A1 (en) * 2002-04-01 2003-10-02 Sanyo Electric Co., Ltd. Method of climbing up/down a step, bogie and wheelchair
WO2006061150A2 (en) * 2004-12-08 2006-06-15 Lke Gesellschaft Für Logistik- Und Kommunikations- Equipment Mbh Transport device for stacked goods requiring transport
CN201162023Y (en) * 2007-12-29 2008-12-10 中冶南方工程技术有限公司 Furnace hearth cap exchanging vehicle for vertical annealing oven
CN101823504A (en) * 2010-04-15 2010-09-08 东华理工大学 Device for assisting automobile in movement
CN202574446U (en) * 2012-06-12 2012-12-05 广东新会中集特种运输设备有限公司 Bidirectional translation trolley

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6035677A (en) * 1983-08-09 1985-02-23 Showa Aircraft Ind Co Ltd Travel system
US20030183427A1 (en) * 2002-04-01 2003-10-02 Sanyo Electric Co., Ltd. Method of climbing up/down a step, bogie and wheelchair
WO2006061150A2 (en) * 2004-12-08 2006-06-15 Lke Gesellschaft Für Logistik- Und Kommunikations- Equipment Mbh Transport device for stacked goods requiring transport
CN201162023Y (en) * 2007-12-29 2008-12-10 中冶南方工程技术有限公司 Furnace hearth cap exchanging vehicle for vertical annealing oven
CN101823504A (en) * 2010-04-15 2010-09-08 东华理工大学 Device for assisting automobile in movement
CN202574446U (en) * 2012-06-12 2012-12-05 广东新会中集特种运输设备有限公司 Bidirectional translation trolley

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108029297A (en) * 2018-01-12 2018-05-15 台州市智诚工业设计有限公司 A kind of small-sized quick agriculture seeding plough
CN108982116A (en) * 2018-06-27 2018-12-11 北京艾瑞思机器人技术有限公司 Transport vehicle and its chassis parameter calibration method, device and computer-readable medium
CN108982116B (en) * 2018-06-27 2020-07-03 北京旷视机器人技术有限公司 Transport vehicle and chassis parameter calibration method, device and computer readable medium thereof
CN110525392A (en) * 2019-10-09 2019-12-03 达闼科技(北京)有限公司 A kind of chassis of Omni-mobile, Omni-mobile chassis system and robot system
CN110841941A (en) * 2019-10-10 2020-02-28 西安交通大学 Automatic steering photovoltaic cell cleaning robot and use method thereof

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Application publication date: 20171107

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