CN108622229A - A kind of AGV switching mechanisms, chassis, AGV - Google Patents
A kind of AGV switching mechanisms, chassis, AGV Download PDFInfo
- Publication number
- CN108622229A CN108622229A CN201810662432.7A CN201810662432A CN108622229A CN 108622229 A CN108622229 A CN 108622229A CN 201810662432 A CN201810662432 A CN 201810662432A CN 108622229 A CN108622229 A CN 108622229A
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- turnover bracket
- shaft
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- 230000007246 mechanism Effects 0.000 title claims abstract description 64
- 230000007306 turnover Effects 0.000 claims abstract description 85
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 17
- 239000002184 metal Substances 0.000 claims description 11
- 238000005452 bending Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 7
- 230000008859 change Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000008439 repair process Effects 0.000 description 4
- 229910001209 Low-carbon steel Inorganic materials 0.000 description 3
- 229910001566 austenite Inorganic materials 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229910001220 stainless steel Inorganic materials 0.000 description 3
- 239000010935 stainless steel Substances 0.000 description 3
- 230000002463 transducing effect Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 229910001105 martensitic stainless steel Inorganic materials 0.000 description 2
- 208000002193 Pain Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229910000734 martensite Inorganic materials 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of AGV switching mechanisms, chassis and AGV, the switching mechanism includes motor mounting plate (10), turnover bracket (11), motor (12), motor direct-connected gear (13), the direct-connected gear of rotary shaft (14), rotary shaft (16), sensor stand (17), rotating shaft bearing seat (19), bearing (20) and position-limit mechanism；Whether the flip-flop movement that position-limit mechanism is used to detect the turnover bracket (11) reaches control threshold.AGV switching mechanisms, chassis and AGV realize that compact-sized, bearing capacity is big, the high technique effect of torque transmission efficiency.
Description
Technical field
The present invention relates to robot architecture's technical field, more particularly to a kind of AGV switching mechanisms, chassis and it is loaded with
State the AGV on mechanism and chassis.
Background technology
With the swift and violent growth of the business of delivery industry, the intelligentized application of delivery industry is more and more, and manual sorting is
Through that can not complete huge sorting task, this chassis can be used for quickly sorting courier packages to be had in a sorting system
Many sorting machine people's operations, sorting machine people export picking to specified package, then walking to specified throwing goods mouth, profit
45 ° are overturn with itself tray dumping mechanism, package will smoothly put into specified throwing goods mouth, and then sorting machine people walking is to waiting for
Order the Wait Orders such as area.Sorting machine people is generally used for 10 kilograms of packages below.For sorting machine people, in fact
Now the component of the core of sorting function is the switching mechanism on its chassis AGV.By the switching mechanism, sorting machine people can be real
The fixed point of stock object is launched.The performance of the switching mechanism determines the crucial performances such as efficiency and the accuracy of sorting movement.
But existing AGV switching mechanisms exist：Dynamic torque is insufficient, and the transmission efficiency of torque is relatively low, it is complicated not
It easily repairs, the problems such as service life is limited.Based on above-mentioned technical problem, it is desirable to provide a kind of compact-sized, bearing capacity
Greatly, the high switching mechanism of torque transmission efficiency and the chassis AGV and the AGV of the switching mechanism are equipped with.
Invention content
The technical problem to be solved by the present invention is to：Dynamic torque existing for existing AGV switching mechanisms is insufficient, torque
The problems such as transmission efficiency is relatively low, complicated to be not easy to repair, and service life is limited
The technical scheme adopted by the invention to solve the technical problem is that：
A kind of AGV switching mechanisms, the switching mechanism include motor mounting plate 10, turnover bracket 11, motor 12, motor
The direct-connected gear 14 of direct-connected gear 13, rotary shaft, rotary shaft 16, sensor stand 17, rotating shaft bearing seat 19, bearing 20 and limit
Position mechanism；Motor mounting plate 10 is used to support motor 12 and rotary shaft 16；Motor direct-connected gear 13 passes through expansion sleeve 21 and bushing
22 are connected to the rotating output shaft of motor 12 and realize transmission；Motor direct-connected gear 14 with 13 gear of motor direct-connected gear by stinging
It closes and realizes transmission, motor direct-connected gear 14 is fixed with rotary shaft 16 and rotary shaft 16 is driven to rotate；Rotary shaft 16 drives solid thereon
Fixed turnover bracket 11 carries out flip-flop movement；Whether the flip-flop movement that position-limit mechanism is used to detect the turnover bracket 11 reaches
To control threshold.
Further, motor mounting plate 10 is with the smaller lower part in area larger top and area, motor mounting plate 10
The top of a side surface motor 12 is installed, the top of motor mounting plate 10 is provided with the first through hole and the second through hole,
The rotating output shaft of motor 12 is passed through by first through hole of motor mounting plate 10, extends to the another of motor mounting plate 10
Side and from the other side of first through hole stretch out.
Further, it is equipped on the rotating output shaft of motor 12 and its close-fitting bushing 22, motor direct-connected gear
13 are nested on the bushing 22 on the outside of the rotating output shaft of the motor 12, and realize the rotation of the rotating output shaft of the motor 12
Transmission；The direct-connected gear 14 of rotary shaft is set up in parallel with motor direct-connected gear 13；Rotary shaft 16 is by way of key connection from shaft
14 center of direct-connected gear passes through, and realizes and be sequentially connected with the direct-connected gear 14 of rotary shaft；The rotation of rotary shaft 16 and motor 12
Output shaft is arranged in parallel, which passes through the second through hole of motor mounting plate 10, and its both ends is revolved by two pieces respectively
Shaft bearing seat 19 supports.
Further, it is respectively arranged with the installation of the first and second turnover bracket with flat installing port in 16 both sides of rotary shaft
Part all has and the mutually matched flat shape of flat installing port of rotary shaft 16 in the side end of a pair of of turnover bracket 11
Fluting can be used together with the mutual fitting of flat installing port of the both sides of rotary shaft 16 in the open end of turnover bracket 11
Screw fastens, to realize being fixed to each other and being driven for the runing rest 11 and rotary shaft 16.
Further, position-limit mechanism includes upper limit contact 15 and upper limit level sensor 18.
Further, it is also equipped with upper limit contact in the end that at least one turnover bracket 11 is connect with rotary shaft 16
15, which includes from top to bottom interconnecting piece, arc shaped rotary transfer part and contact, and wherein interconnecting piece has right angle by one
The metal sheet of bending shape is constituted, and the end side surface of the sheet form of the right angle bending shape and the turnover bracket 11
Shape is mutually coincide；The interconnecting piece is coated on the outer surface of 11 end of turnover bracket, and logical with the end of turnover bracket 11
Screw is crossed to be fixedly connected, arc rotary portion is located at the lower section of interconnecting piece, towards 16 side of rotary shaft side have with
The identical groove of 16 outer rim shape of rotary shaft, the curved edge of the groove surround the outer rim of part rotary shaft 16, and contact is located at arc
The end of shape rotating part, the surface for the metal sheet that a surface shape is rectangle, the metal sheet are passed towards upper limit
The direction of the shrapnel of sensor 18, and with the movement of turnover bracket 11 being flipped up, the contact can be with the shrapnel
Contact, to detect whether the movement being flipped up described in the turnover bracket 11 reaches control threshold.
Further, the bushing 22 for the part that the rotating output shaft of motor 12 is stretched out from the other side of first through hole
Upper nested expansion sleeve 21, the expansion sleeve 21 is by the effect of the stress bolt of high intensity, in the rotating output shaft of motor 12
Huge enclasping force is generated between bushing 22 and motor direct-connected gear 13, realizes the rotating output shaft and its housing 22 of motor 12
Between motor direct-connected gear 13 without key connection.
Further, it is the thicker shaft body part of diameter in the medium position of rotary shaft 16, one in shaft body part
End has set gradually the gear mounting portions with key connection hole and the first overturning branch with flat installing port from inside to outside
Frame installation section；The other end in shaft body part has set gradually the second turnover bracket with flat installing port from inside to outside
Installation section and bearing mount portion；Wherein gear mounting portions are for installing the direct-connected gear 14 of rotary shaft, motor being passed through to install
It second through hole of plate 10 and is installed in the bearing 20 of a rotating shaft bearing seat 19；First and second turnover bracket mounting portion
Divide for installing a pair of of turnover bracket 11；Bearing mount portion is used to be installed on the bearing 20 of another rotating shaft bearing seat 19.
A kind of chassis AGV equipped with the switching mechanism, which further comprises bottom plate 101, lower limit passes
Sensor 103, sensor stand 104, supporting rod 105, multiple universal wheels 106, bearing 107, a pair of of drive component 108 and multiple ten thousand
To wheel mounting plate 109；The same side of upper limit level sensor 18 is set in the switching mechanism 102, also sets up limit sensors
103, for controlling the position turned under turnover bracket 11；Supporting rod 105 is installed, the supporting rod 105 and chassis on chassis 101
101 are fixedly connected, and extend vertically upwards；The supporting rod 105 is provided with sensor stand 104, the sensor stand 104 1
End is fixed on supporting rod 105, and the other end faces away to be extended on the outside of the direction horizontal direction of switching mechanism 102；The sensor branch
The other end of frame 104 is equipped with lower limit level sensor 103, is provided with lower limit shrapnel on the lower limit level sensor 103, and with
The movement of the downward overturning of turnover bracket 11, the lower surface of the turnover bracket 11 can be contacted with the lower limit shrapnel
Turn over whether movement reaches control threshold under turnover bracket to detect.
A kind of AGV with the chassis AGV is arranged shell, location navigation component and is led on the chassis AGV
Believe component.
AGV switching mechanisms, chassis and AGV provided by the invention, have the advantages that：It is compact-sized, it uses
Then gear drive, the direct-connected gear of upset motor drive turnover bracket by gear, transmission torque is larger, is rotated using same root
Axis drives turnover bracket, cargo more stable when overturning；Bearing capacity is big, and gear will not skid, and torque is big；Control mode is soft can
The abrasion for preventing component, prolongs the service life；Facilitate repair maintenance.
Description of the drawings
Fig. 1 is the structural upright schematic diagram for the switching mechanism that the embodiment of the present invention 1 provides.
Fig. 2 is the texture edge front view for the switching mechanism that the embodiment of the present invention 1 provides.
Fig. 3 is sectional view of the switching mechanism that provides of the embodiment of the present invention 1 along A-A lines.
Fig. 4 is the structural schematic diagram of rotary shaft in the embodiment of the present invention 1.
Fig. 5 is the structural schematic diagram of turnover bracket in the embodiment of the present invention 1.
Fig. 6 is the structural schematic diagram on the chassis AGV that the embodiment of the present invention 2 provides.
The chassis AGV that Fig. 7 provides for the embodiment of the present invention 2 turns over state diagram.
Specific implementation mode
The present invention is described in more detail below with reference to accompanying drawings, which show the preferred embodiment of the present invention,
It should be appreciated that those skilled in the art can change invention described herein and still realize beneficial effects of the present invention.Cause
This, following description should be understood as the widely known of those skilled in the art, and be not intended as limitation of the present invention.
For clarity, not describing whole features of practical embodiments.In the following description, it is not described in detail well known function
And structure, because they can make the present invention chaotic due to unnecessary details.It will be understood that opening in any practical embodiments
In hair, it is necessary to make a large amount of implementation details to realize the specific objective of developer.
To make the purpose of the present invention, feature be clearer and more comprehensible, the specific implementation mode of the present invention is made below in conjunction with the accompanying drawings
Further instruction.It should be noted that attached drawing is all made of very simplified form and uses non-accurate ratio, only with one
Purpose that is convenient, clearly aiding in illustrating the embodiment of the present invention.
Embodiment 1
Present embodiments provide a kind of AGV switching mechanisms.1-5 in the embodiment of the present invention 1 to providing below in conjunction with the accompanying drawings
The structures of AGV switching mechanisms be described in further detail.Attached drawing 1-3 illustrates the AGV that the embodiment of the present invention 1 is provided and uses
The structure structural map of switching mechanism, wherein Fig. 1 are the three-dimensional view of the switching mechanism, and Fig. 2 is the side elevation of the switching mechanism
Figure, Fig. 3 are the sectional view of the A-A lines along Fig. 2, and the structure structure of switching mechanism is completely shown in conjunction with above three angular views
At.
The switching mechanism 102 provided in the embodiment of the present invention 1 comprising motor mounting plate 10, turnover bracket 11, motor
12, the direct-connected gear 14 of motor direct-connected gear 13, rotary shaft, upper limit contact 15, rotary shaft 16, sensor stand 17, upper limit
Sensor 18, rotating shaft bearing seat 19, bearing 20, expansion sleeve 21 and bushing 22.
Motor mounting plate 10 is with certain thickness sheet metal, and material can be martensitic stain less steel, Ultra-low carbon
Steel, austenite semiaustenitic stainless steel etc..The thickness of motor mounting plate 10 is 2-5mm.Referring to Fig. 1-2, motor mounting plate 10 has
There are top that area is larger and the smaller lower part of area.The larger of the area design on top is for installation motor 12 and rotary shaft
Support provides enough spaces, and the smaller of the area design of lower part is since motor mounting plate 10 is as switching mechanism 102 and bottom
The installing component of disk reduces the installation area occupied that lower part area is conducive to reduce entire switching mechanism 102, is conducive to raising and sets
Standby miniaturization.
On the top of motor mounting plate 10, there are two through holes, i.e. the first through hole and the second through hole for setting.And
The top of one side surface of motor mounting plate 10 is equipped with motor 12.By four bolts or screw by the four of the shell of motor 12
The top at a angle and the side of motor mounting plate 10 is attached.In addition, the installation method of motor can be by known in this field
Other installation methods realize, such as welding or other clamping structures.The rotating output shaft of motor 12 passes through motor mounting plate
10 first through hole passes through, and extends to the other side of motor mounting plate 10 and from the other side of first through hole
It stretches out.It is equipped on the rotating output shaft of motor 12 and its close-fitting bushing 22,13 nesting of motor direct-connected gear and the electricity
On the rotating output shaft of machine 12, and realize the further rotary drive of the rotating output shaft of the motor 12.
It is carried out specifically below for the specific fit system of motor 12, motor mounting plate 10 and motor direct-connected gear 13
Bright, as shown in figure 3, being equipped with bearing 20 in the first through hole of the motor mounting plate 10, which is located at through hole inner wall
Between the rotating output shaft of motor 12, the outboard shafts bearing sleeve of bearing 20 and the inner wall of the first through hole are fitted close, bearing 20
Inner shafts bearing sleeve and the motor 12 rotating output shaft on the outside of the bushing 22 installed be fitted close.Under the support of bearing 20,
The rotating output shaft of motor 12 can stretch out from through hole and can realize stable rotation.The bearing can be ball axis
It holds, cylindrical bearing etc..The rotating output shaft of motor 12 is from the bushing 22 for the part that the other side of first through hole is stretched out
Nested expansion sleeve 21, the expansion sleeve 21 is by the effect of the stress bolt of high intensity, in the lining of the rotating output shaft of motor 12
Huge enclasping force is generated between set 22 and motor direct-connected gear 13, realizes 22 He of rotating output shaft and its housing of motor 12
Between motor direct-connected gear 13 without key connection.In the course of work, by the rotating output shaft of expansion sleeve 21 and motor 12 and its outer
Set 22, the combination pressure of motor direct-connected gear 13 and the frictional force that generates together transmit torque, compared to other connection types,
Such as it is keyed mode, above-mentioned connection type realizes the biography that accuracy of alignment is high, repair is easy to adjust, intensity is high, reliable and stable
Flowing mode.
The motor direct-connected gear 13 realizes transmission, the direct-connected tooth of the rotary shaft with the direct-connected 14 mutual engaged gears of gear of rotary shaft
Wheel 14 is set up in parallel with motor direct-connected gear 13, and the central shaft of the direct-connected gear of rotary shaft 14 is rotary shaft 16, and rotary shaft 16 passes through
The mode of key connection is realized with the direct-connected gear 14 of rotary shaft and is sequentially connected.The rotating output shaft parallel of rotary shaft 16 and motor 12
Row.The rotary shaft 16 passes through the second through hole of motor mounting plate 10, and its both ends is respectively by two pieces rotating shaft bearing seat 19
Support.
As shown in figure 4, for the concrete structure of rotary shaft 16.It is the thicker shaft body of diameter in the medium position of rotary shaft 16
Part has set gradually the gear mounting portions with key connection hole in one end of shaft body part and has carried flat from inside to outside
First turnover bracket installation section of flat installing port；The other end in shaft body part has been set gradually from inside to outside with flat
Second turnover bracket installation section of installing port and bearing mount portion.Wherein gear mounting portions are direct-connected for installing rotary shaft
Gear 14, across motor mounting plate 10 the second through hole and be installed in the bearing 20 of a rotating shaft bearing seat 19；The
One, two turnover bracket installation sections are for installing a pair of of turnover bracket；Bearing mount portion is for being installed on another rotary shaft
In the bearing 20 of bearing block 19.
As shown in Fig. 5, turnover bracket 11 is to have there are two the flat frame body of right angle bending, and material can be martensite
Stainless steel, ultra-low-carbon steel, austenite semiaustenitic stainless steel etc..The thickness of turnover bracket 11 is 2-5mm.In turnover bracket 11
End there is fluting with the mutually matched flat shape of flat installing port of rotary shaft 16, can be flat with rotary shaft 16
The mutual fitting of installing port together, is fastened in the open end of turnover bracket 11 with screw, to realize the runing rest 11 and rotation
Shaft 16 being fixed to each other and being driven.
In conjunction with Fig. 3, the two pieces rotating shaft bearing seat 19 is located at the both ends of rotary shaft 16, specific position setting
Mode is：The rotating shaft bearing seat 19 of one end, which is arranged in rotary shaft 16, is located at the direct-connected gear 14 of rotary shaft away from motor mounting plate
10 side, and between a turnover bracket 11 and the direct-connected gear of rotary shaft 14；The rotating shaft bearing seat 19 of the other end
Tip in 16 other end of rotary shaft is set, and positioned at the outside of another turnover bracket 11.The rotating shaft bearing seat 19
For with certain thickness sheet metal, material can be for martensitic stain less steel, ultra-low-carbon steel, austenite semiaustenitic not
Become rusty steel etc..The thickness of rotating shaft bearing seat 19 is 2-5mm.The top edge of the rotating shaft bearing seat 19 is provided with accommodating bearing 20
Groove.It is provided with bearing 20 in the groove of second through hole and rotating shaft bearing seat 19.The bearing can be ball
Bearing, cylindrical bearing etc..Under the support of bearing 20, rotary shaft 16 can realize stable rotation.
As shown in Figs. 1-2, at the end that the turnover bracket 11 positioned at direct-connected 14 side of gear of rotary shaft is connect with rotary shaft 16
End, is also equipped with upper limit contact 15.The upper limit contact 15 includes from top to bottom and interconnecting piece, arc shaped rotary transfer part and contact.
Wherein interconnecting piece is made of a metal sheet with right angle bending shape, and the sheet form of the right angle bending shape with
The end side surface shape of the turnover bracket 11 is mutually coincide；The interconnecting piece is coated on the outside table of 11 end of turnover bracket
Face, and be fixedly connected by screw with the end of turnover bracket 11.Arc rotary portion is located at the lower section of interconnecting piece, direction
There is the groove coincideing with 16 outer rim shape of rotary shaft, the curved edge of the groove to surround part and revolve for the side of 16 side of rotary shaft
The outer rim of shaft 16.Preferably, curved edge surrounds the outer rim of 1/4 rotary shaft 16.Contact 15 is located at the end of arc shaped rotary transfer part
End, for the metal sheet that a surface shape is rectangle, the direction of surface towards the turnover bracket 11 of the metal sheet is another
The direction of the extending direction at end and the shrapnel of upper limit level sensor.
Attached drawing 1-2 is recombined, sensing is also provided on the rotating shaft bearing seat 19 of direct-connected 14 side of gear of rotary shaft
Device holder 17, one end are bolted on rotating shaft bearing seat 19, and the other end extends along horizontal direction, sensor stand
17 other end is equipped with upper limit level sensor 18, and shrapnel is provided on the upper limit level sensor 18.It is in turnover bracket 11
When original position, the shrapnel of upper limit level sensor and the contact of upper limit contact 15 face each other, and between certain
Away from.
The compactedness of component is improved by above-mentioned structure setting, and tooth is directly connected to by the rotary shaft of motor 12
Wheel, using gear drive and drives turnover bracket so that transmits the efficiency that torque reaches and reaches maximum, improves the work effect of component
Rate.Further, since same root rotary shaft has been used to drive turnover bracket so that turning moment is larger, more flat when cargo is overturn
Surely.
Its operation principle is discussed in detail with reference to the structure of above-mentioned switching mechanism：
After receiving work order, the control unit control motor 12 of motor 12 is rotated, and the rotation of motor 12 is defeated
Shaft carries out torque output, and rotating output shaft drives motor direct-connected gear 13 to rotate and drives rotary shaft direct-connected by being engaged to be driven
Gear 14 rotates, and the direct-connected gear 14 of rotary shaft drives rotary shaft 16 to rotate by key connection mode, and rotary shaft 16 is further driven to
Rotary motion is realized in one end of turnover bracket 11, to finally realize turnover bracket 11 it is whole turn over or under turn over.
When rotary motion is realized in one end of turnover bracket 11, upper limit contact 15 disposed thereon is also rotated therewith, with
The increase of movement rotation angle is turned over, the contact of upper limit contact 15 is contacted with the shrapnel of upper limit level sensor 18.It is connect in the two
After touch, upper limit level sensor 18 receives the change due to contacting the electric signal brought, has been reached to judge that this turns over movement
To control threshold, and transducing signal is transmitted to the control unit of motor 12, the rotation of control unit control motor 12 stops
Only motor is exported to the rotation of the direction, and the specific control method of control unit can be hereinafter documented in detail, herein not
It repeats again.
Embodiment 2
The present embodiment 2 provides a kind of chassis AGV equipped with the switching mechanism in embodiment 1.6-7 below in conjunction with the accompanying drawings
The structure on the chassis AGV to being provided in the embodiment of the present invention 2 is described in further detail.Attached drawing 6-7 illustrates implementation of the present invention
The structure structural map on the chassis AGV that example 2 is provided, wherein Fig. 6 are the three-dimensional view on the chassis AGV, and Fig. 2 is the upper of the chassis AGV
Turn over usage state diagram.
The chassis AGV in the present embodiment carries the AGV switching mechanisms 102 in embodiment 1, therefore for the present embodiment
The relevant AGV switching mechanisms and its operation principle on the chassis AGV in 2 are same as Example 1.
As shown in fig. 6, the chassis AGV includes bottom plate 101, switching mechanism 102, lower limit level sensor 103, sensor stand
104, supporting rod 105, multiple universal wheels 106, bearing 107, a pair of of drive component 108 and multiple universal wheel mounting plates 109.
It is circular plank that its bottom plate 101, which is global shape, and center offers mounting hole, for installing other functions
Component.Two drive component storage tanks, the driving are opened up respectively at the position at the both ends of a diameter of the circle plank
For component storage tank for housing drive component 108, which can be the common driving idler wheel or small-sized in this field
Tire.The drive shaft of each drive component 108 has been separately connected driving motor, which is arranged the upper surface on chassis 101 simultaneously
Positioned at the inside of drive component 108.Driving motor is fixed by bearing 107 and chassis 101.
Universal wheel fluting is further opened at the four corners position on chassis 101, which slots for housing four
Universal wheel 106, above-mentioned universal wheel 106 are each passed through universal wheel fluting, and by universal right over universal wheel fluting
Wheel mounting plate 109 carries out installation fixation.The universal wheel mounting plate 109 have " Ω " shape, by screw respectively with bottom plate 101
It is fixed with universal wheel 106.Using the cooperation of above-mentioned drive component 108 and universal wheel 106, it can realize that the chassis AGV is moved
Dynamic flexibility peace and stability, substantially increases the locomotivity of robot.
Switching mechanism 102 is fixed on by motor mounting plate 10 and two pieces rotating shaft bearing seat 19 on bottom plate 101, specifically
Fixed form can be fixed for screw or other connection types well known in the art.
The side of upper limit level sensor 18 is set in switching mechanism 102, limit sensors once can also be set
103, for controlling the position turned under turnover bracket 11.The specific mounting means of the lower limit level sensor 103 is：In tipper
101 appropriate position of chassis that structure 102 is equipped with the side of upper limit level sensor 18 is equipped with supporting rod 105, the supporting rod 105
It is fixedly connected, and extends vertically upwards with chassis 101.Sensor stand 104 is provided at the upper position of the supporting rod 105,
104 one end of sensor stand is fixed on supporting rod 105, and the other end faces away from the direction horizontal extension of switching mechanism 102.
The other end of the sensor stand 104 is equipped with lower limit level sensor 103, and lower limit is provided on the lower limit level sensor 103
Shrapnel turns over motion control threshold value to detect under turnover bracket.
Its operation principle is discussed in detail with reference to the structure of above-mentioned switching mechanism：
Referring to Fig. 7, motor 12 is mounted on motor mounting plate 10, and motor direct-connected gear 13 passes through bushing 22 and expansion sleeve 21
It is fixed on the output shaft of motor 12, motor direct-connected gear 13 and the direct-connected gear 14 of rotary shaft engage.And then drive rotary shaft 16
Rotation, turnover bracket 11 is fixed in rotary shaft 16, when rotary shaft 16 rotates, turnover bracket 11 is driven to overturn certain angle
Degree.Upper limit sensing detection principle is same as Example 1.Lower limit sensing detection principle is：Movement rotation angle is turned under
Increase, the lower surface of turnover bracket 11 is contacted with the shrapnel of lower limit level sensor 103.After the two contact, lower limit sensing
Device 18 receives the change due to contacting the electric signal brought, to judge that turning over movement under this has reached control threshold, and
Transducing signal is transmitted to the control unit of motor 12, control unit control motor 12 rotates to stop motor to the direction
Rotation output, the specific control method of control unit can be hereinafter documented in detail, details are not described herein again.
Embodiment 3
The embodiment of the present invention 3 provides a kind of AGV, with the bottom in the switching mechanism and embodiment 2 in embodiment 1
Disk, and with other functional units needed for AGV.The functional unit can be location navigation component, shell, transmission/receiving
Device etc..
Embodiment 4
The embodiment of the present invention 4 provide the turning over of above-mentioned AGV switching mechanisms, chassis and AGV, under turn over motion control side
Method.
The control method includes：
S01. control unit connects suspension control signal, and driving motor 12 carries out forward or reverse, and turnover bracket 11 is driven to carry out
Turn over or under turn over movement；
S02. upper limit level sensor 18 detects telecommunications caused by the initial contact between upper limit contact 15 and its shrapnel
Number change；Or lower limit level sensor 103 detects that the initial contact between 11 lower surface of turnover bracket and its shrapnel causes
Electric signal change, to judge this turn over or under turn over movement reached turn over or under the control threshold turned over.
Preferably, the change of the electric signal can be due to electric current in sensing circuit caused by initial contact, voltage or
Generation, reduction or the increase variation of resistance.The set-up mode of above-mentioned sensing electric signal belongs to the common knowledge of this field.
S03. the transducing signal is passed to motor control component by upper limit level sensor 18 or lower limit level sensor 103,
Motor control component controls motor in a manner of continuously decreasing revolution so that motor 12 revolves with stopping the direction in a manner of damping
It transfers out.
Specifically, the function that continuously decreases of control unit control 12 revolution of motor is
ω (t)=log(θth/360)t
Wherein, ω (t) is the real-time revolution (unit of motor 12：Revolutions per second), t be from turn over or under turn over movement and reached
Turn over or under the control threshold turned over start the time (unit after timing：Second), and t values are less than or equal to 1 second, to ensure motor
12 can stop output torque in short-term, θ th be turn over or under the control threshold (unit turned over：Degree), which is
40-60 degree.
Controller can be electrodynamic, specially reversing braking for the brake control mode of 12 rotating output shaft of motor
Or dynamic braking.Controller is correspondingly reversed electric current to the application of motor 12 according to the control function of above-mentioned restriction or applies phase
Ground direct current is answered, so that motor 12 stops with damping in the way of above-mentioned function.
Compared to the existing control mode for reaching control threshold and stopping motor output immediately, control mode provided by the invention
It is softer, enable to the soft unnecessary vibrations for avoiding stopping bringing suddenly of the action controls of AGV during the work time
With the abrasion to part, be conducive to the service life for improving AGV, and improve the stability of work.
In the description of the present invention, it is to be understood that, term "upper", "lower", " vertical ", "top", "bottom", "inner",
The orientation or positional relationship of the instructions such as "outside", "front", "rear", "left", "right" is to be based on the orientation or positional relationship shown in the drawings,
Be merely for convenience of description of the present invention and simplification of the description, do not indicate or imply the indicated device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of AGV switching mechanisms, it is characterised in that：The switching mechanism includes motor mounting plate (10), turnover bracket
(11), motor (12), motor direct-connected gear (13), the direct-connected gear of rotary shaft (14), rotary shaft (16), sensor stand (17),
Rotating shaft bearing seat (19), bearing (20) and position-limit mechanism；Motor mounting plate (10) is used to support motor (12) and rotary shaft
(16)；Motor direct-connected gear (13) is connected to rotating output shaft and the realization of motor (12) by expansion sleeve (21) and bushing (22)
Transmission；Motor direct-connected gear (14) is driven by being realized with motor direct-connected gear (13) engaged gears, motor direct-connected gear (14)
It is fixed with rotary shaft (16) and rotary shaft (16) is driven to rotate；Rotary shaft (16) drives turnover bracket (11) fixed thereon to carry out
Flip-flop movement；Whether the flip-flop movement that position-limit mechanism is used to detect the turnover bracket (11) reaches control threshold.
2. AGV switching mechanisms according to claim 1, it is characterised in that：Motor mounting plate (10) has area larger
Top and the smaller lower part of area, the top of a side surface of motor mounting plate (10) motor (12), motor installation are installed
The top of plate (10) is provided with the first through hole and the second through hole, and the rotating output shaft of motor (12) passes through motor mounting plate
(10) first through hole passes through, and extends to the other side of motor mounting plate (10) and from the another of first through hole
Side is stretched out.
3. AGV switching mechanisms according to claim 2, it is characterised in that：It is installed on the rotating output shaft of motor (12)
Have and is nested in the lining on the outside of the rotating output shaft of the motor (12) with its close-fitting bushing (22), motor direct-connected gear (13)
It covers on (22), and realizes the rotary drive of the rotating output shaft of the motor (12)；The direct-connected gear of rotary shaft (14) and motor are straight
Even gear (13) is set up in parallel；Rotary shaft (16) is passed through by way of key connection from the direct-connected gear of shaft (14) center, and
It realizes and is sequentially connected with the direct-connected gear of rotary shaft (14)；Rotary shaft (16) and the rotating output shaft of motor (12) are arranged in parallel, should
Rotary shaft (16) passes through the second through hole of motor mounting plate (10), and its both ends is respectively by two pieces rotating shaft bearing seat (19)
Support.
4. AGV switching mechanisms according to claim 3, it is characterised in that：It is respectively arranged in rotary shaft (16) both sides
The first and second turnover bracket installation section with flat installing port, the side end of a pair of of turnover bracket (11) all have with
The fluting of the mutually matched flat shape of flat installing port of rotary shaft (16), can be with the flat peace of the both sides of rotary shaft (16)
Fill mouth mutual fitting together, fastened with screw in the open end of turnover bracket (11), to realize the runing rest (11) with
Rotary shaft (16) being fixed to each other and being driven.
5. AGV switching mechanisms according to claim 1, it is characterised in that：Position-limit mechanism includes upper limit contact (15)
With upper limit level sensor (18).
6. AGV switching mechanisms according to claim 5, it is characterised in that：In at least one turnover bracket (11) and rotation
Shaft (16) connection end be also equipped with upper limit contact (15), the upper limit contact (15) from top to bottom include interconnecting piece,
Arc shaped rotary transfer part and contact, wherein interconnecting piece are made of a metal sheet with right angle bending shape, and the quarter bend
The sheet form for rolling over shape and the end side surface shape of the turnover bracket (11) are mutually coincide；The interconnecting piece is coated on the overturning
The outer surface of holder (11) end, and be fixedly connected by screw with the end of turnover bracket (11), arc shaped rotary transfer part
Positioned at the lower section of interconnecting piece, the side towards rotary shaft (16) side is recessed with coincideing with rotary shaft (16) outer rim shape
Slot, the curved edge of the groove surround the outer rim of part rotary shaft (16), and contact is located at the end of arc shaped rotary transfer part, are one
Surface shape is the metal sheet of rectangle, the surface of the metal sheet towards the direction of the shrapnel of upper limit level sensor (18), and
And with the movement of turnover bracket (11) being flipped up, the contact can be contacted with the shrapnel, to be turned over described in detection
Whether the movement being flipped up for turning holder (11) reaches control threshold.
7. AGV switching mechanisms according to claim 1, it is characterised in that：The rotating output shaft of motor (12) is from described
On the bushing (22) for the part that the other side of first through hole is stretched out nested expansion sleeve (21), the expansion sleeve (21) is by high-strength
The effect of the stress bolt of degree generates between the bushing (22) and motor direct-connected gear (13) of the rotating output shaft of motor (12)
Huge enclasping force realizes the nothing between the rotating output shaft and its housing (22) and motor direct-connected gear (13) of motor (12)
Key connection.
8. AGV switching mechanisms according to claim 1, it is characterised in that：It is straight in the medium position of rotary shaft (16)
The thicker shaft body part of diameter has set gradually the gear installation with key connection hole from inside to outside in one end of shaft body part
Part and the first turnover bracket installation section with flat installing port；Shaft body part the other end from inside to outside successively
Provided with flat installing port the second turnover bracket installation section and bearing mount portion；Wherein gear mounting portions are used for
The direct-connected gear of rotary shaft (14) is installed, the second through hole of motor mounting plate (10) is passed through and is installed on a rotating shaft bearing
In the bearing (20) of seat (19)；First and second turnover bracket installation section is for installing a pair of of turnover bracket (11)；Axle bearing mount portion
Divide the bearing (20) for being installed on another rotating shaft bearing seat (19).
9. a kind of chassis AGV equipped with switching mechanism according to claim 1, it is characterised in that：The chassis is further
Further include bottom plate (101), lower limit level sensor (103), sensor stand (104), supporting rod (105), multiple universal wheels
(106), bearing (107), a pair of of drive component (108) and multiple universal wheel mounting plates (109)；In the switching mechanism (102)
The same side of upper limit level sensor (18) is set, limit sensors (103) are also set up, for the position to being turned under turnover bracket (11)
Set control；Supporting rod (105) is installed on chassis (101), which is fixedly connected with chassis (101), and vertically to
Upper extension；The supporting rod (105) is provided with sensor stand (104), which is fixed on supporting rod
(105) on, the other end faces away to be extended on the outside of the direction horizontal direction of switching mechanism (102)；The sensor stand (104) it is another
One end is equipped with lower limit level sensor (103), is provided with lower limit shrapnel on the lower limit level sensor (103), and with turning over
Turn the movement of the downward overturning of holder (11), the lower surface of the turnover bracket (11) can be contacted with the lower limit shrapnel
Turn over whether movement reaches control threshold under turnover bracket to detect.
10. a kind of AGV with the chassis AGV according to claim 9, it is characterised in that：According to claim 9
The chassis AGV on setting shell, location navigation component and communication component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810662432.7A CN108622229B (en) | 2018-06-25 | 2018-06-25 | Tilting mechanism, chassis, AGV for AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810662432.7A CN108622229B (en) | 2018-06-25 | 2018-06-25 | Tilting mechanism, chassis, AGV for AGV |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108622229A true CN108622229A (en) | 2018-10-09 |
| CN108622229B CN108622229B (en) | 2024-05-28 |
Family
ID=63688420
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810662432.7A Active CN108622229B (en) | 2018-06-25 | 2018-06-25 | Tilting mechanism, chassis, AGV for AGV |
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| Country | Link |
|---|---|
| CN (1) | CN108622229B (en) |
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| CN109573543A (en) * | 2018-12-12 | 2019-04-05 | 浙江盛达铁塔有限公司 | Angle steel turnover mechanism, angle steel feeding blanking device and angle steel process equipment |
| CN114273241A (en) * | 2021-11-25 | 2022-04-05 | 云南昆船智能装备有限公司 | A two-way tilting mechanism for AGV letter sorting |
| WO2024000188A1 (en) * | 2022-06-28 | 2024-01-04 | 深圳市闪至科技有限公司 | Robot |
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|---|---|
| CN108622229B (en) | 2024-05-28 |
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