CN109501857A - A kind of AGV self-level(l)ing differential steering gear - Google Patents
A kind of AGV self-level(l)ing differential steering gear Download PDFInfo
- Publication number
- CN109501857A CN109501857A CN201811355283.6A CN201811355283A CN109501857A CN 109501857 A CN109501857 A CN 109501857A CN 201811355283 A CN201811355283 A CN 201811355283A CN 109501857 A CN109501857 A CN 109501857A
- Authority
- CN
- China
- Prior art keywords
- spring
- core bar
- fixing axle
- agv
- central
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
Abstract
The present invention relates to a kind of self-level(l)ing differential steering gears, applied to the core drive part of comprehensive automatic guided transport vehicle AGV, can also be applied to other similar transport vehicle drive parts.Mechanism is mainly by chassis fixing axle, rolling bearing, revolving platform, and slide revolving shaft is held, central rotating shaft, central leveling block, decelerating motor, limits floating bearing, spring retaining plate, spring support, spring, core bar on spring, core bar under spring, driving wheel composition.Ground is encountered in AGV driving process a uneven whole situation, and differential steering gear has automatic regulating function, is fluctuated by the stretching and compression of four springs to absorb the variation of roughness pavement.
Description
Technical field
The present invention is a kind of AGV self-level(l)ing differential steering gear, and the core applied to comprehensive automatic guided transport vehicle is driven
Dynamic part, can also be applied to other similar transport vehicle drive parts.
Background technique
With the continuous improvement of AGV technology, the occasion of AGV application is also constantly expanding, and drives the direct shadow of steering mechanism
AGV is rung to ground environment adaptability, and mill floor out-of-flatness, the normally travel of AGV can all be influenced by remaining sundries, cause workshop
Transfer efficiency decline, AGV failure rate increase.
Summary of the invention
Object of the present invention is to drive steering mechanism that there is the steady function of adjust automatically vehicle body for omnidirectional AGV, adapt to more complicated
Surface state provides a kind of AGV self-level(l)ing differential steering gear.
To achieve the purpose of the present invention the technical solution adopted is that:
A kind of AGV self-level(l)ing differential steering gear, chassis fixing axle, rolling bearing, revolving platform, slide revolving shaft are held,
Central rotating shaft, central leveling block, decelerating motor limit floating bearing, spring retaining plate, spring support, spring, core on spring
Bar, core bar under spring, driving wheel；Revolving platform is packed into chassis fixing axle by rolling bearing；Chassis fixing axle is by sliding back
Shaft, which is held, is incorporated with central rotating shaft, forms cross-compound arrangement；Revolving platform is H shape, and the quadrangle of revolving platform is equipped with U-shaped connection
Slot is connected with core bar on spring in U-shaped link slot, inserted with core bar under spring inside core bar on spring, on spring outside core bar
Portion is arranged with spring；The boss end of central rotating shaft is snapped onto the centre bore of central leveling block by limiting floating bearing；Center
Leveling block connects with the deceleration motor；Spring retaining plate is connected on decelerating motor, spring retaining plate passes through spring support and spring
Lower core bar axis connects；Driving wheel is incorporated on decelerating motor.
The beneficial effects of the present invention are:
1, the platform that chassis fixing axle and rolling bearing revolving platform are constituted turns round freedom degree.
2, fixing axle slide revolving shaft in chassis holds central rotating shaft and constitutes center steering and the freedom degree that slides axially.
3, center steering axis center leveling block limit floating bearing constitutes leveling rotational axis freedom degree.
4, core bar constitutes spring axial direction free sliding degree under core bar spring on spring.Ground is encountered in AGV driving process
There is a uneven whole situation, differential steering gear has automatic regulating function, absorbs by the stretching and compression of four springs
The variation of roughness pavement is fluctuated.
5, automatic leveling process does not influence the turning action of steering mechanism in AGV driving process, when realizing omnidirectional running
Self-level(l)ing function.In AGV driving process, when unilateral side wheel encounters ground somewhere protruding point or depression points, only unilateral wheel lift
It rises or falls, other side wheel normal walking, two driving wheels are not interfere with each other in the process of moving.
Detailed description of the invention
Fig. 1 is sectional elevation of the invention.
Fig. 2 is longitudinal section view of the invention.
Fig. 3 is central rotating shaft cross-sectional view of the invention.
Fig. 4 is core bar structure cross-sectional view under core bar and spring on spring of the invention.
Fig. 5 is structural perspective of the invention.
Specific embodiment
With reference to the accompanying drawings of the specification and embodiment the present invention is further described.
A kind of AGV self-level(l)ing differential steering gear, chassis fixing axle 1, rolling bearing 2, revolving platform 3, slide revolving shaft
Hold 4, central rotating shaft 5, central leveling block 6, decelerating motor 7 limits floating bearing 8, spring retaining plate 9, spring support 10, spring
11, core bar 12 on spring, core bar 13 under spring, driving wheel 14；
Revolving platform 3 is packed into chassis fixing axle 1 by rolling bearing 2；Chassis fixing axle 1 holds 4 dresses by slide revolving shaft
Enter to have central rotating shaft 5, forms cross-compound arrangement；
Revolving platform 3 is H shape, and the quadrangle of revolving platform 3 is equipped with U-shaped link slot, is connected with spring in U-shaped link slot
Upper core bar 12, inserted with core bar 13 under spring inside core bar 12 on spring, 12 outer cover of core bar is equipped with spring 11 on spring；
15 end of boss of central rotating shaft 5 is snapped onto the centre bore of central leveling block 6 by limiting floating bearing 8；Center
Leveling block 6 is connect with decelerating motor 7；
Spring retaining plate 9 is connected on decelerating motor 7, spring retaining plate 9 passes through core bar 13 under spring support 10 and spring
Axis connects；
Driving wheel 14 is incorporated on decelerating motor 7.
Embodiment
Chassis fixing axle 1 is connected on AGV chassis of vehicle body, 2 inner ring of rolling bearing is installed in outer chassis fixing axle 1, outside
Circle is mounted on revolving platform 3, for realizing platform revolution.The periphery that slide revolving shaft holds 4 is mounted in chassis fixing axle 1
Portion, inner headed face installation center rotating shaft 5 realize the revolution of central rotating shaft 5 and slide axially.The two sides of the bottom of central rotating shaft 5 add
Work has cylinder boss 15, and two boss 15 keep concentric and are equipped with limit floating bearing 8, the assembly of limit 8 outer ring of floating bearing
The rotating central hole of central leveling block 6, realization central leveling block 6 is freely turned round around centre bore and axial limiting.Decelerating motor 7
One end connecting flange is fixed on 6 joint face of central leveling block, other end connecting flange connecting spring fixed plate 9, decelerating motor 7
Export axis connection driving wheel 14.Spring support 10 is installed on spring retaining plate 9, spring support 10 installs core bar 13 under spring,
Core bar 12 on spring is installed at 3 edge of revolving platform, and core bar 13 forms spring slide core bar with core bar 12 on spring under spring, in bullet
There is guiding and position-limiting action when the compression of spring 11 and rebound.
Claims (1)
1. a kind of AGV self-level(l)ing differential steering gear, which is characterized in that
Chassis fixing axle, rolling bearing, revolving platform, slide revolving shaft are held, central rotating shaft, central leveling block, decelerating motor, limit
Position floating bearing, spring retaining plate, spring support, spring, core bar on spring, core bar under spring, driving wheel；
Revolving platform is packed into chassis fixing axle by rolling bearing；Chassis fixing axle is held the center of being incorporated with by slide revolving shaft and is turned
Axis forms cross-compound arrangement；
Revolving platform is H shape, and the quadrangle of revolving platform is equipped with U-shaped link slot, core on spring is connected in U-shaped link slot
Bar, inserted with core bar under spring inside core bar on spring, core bar outer cover is equipped with spring on spring；
The boss end of central rotating shaft is snapped onto the centre bore of central leveling block by limiting floating bearing；Central leveling block with subtract
Speed motor connection；
Spring retaining plate is connected on decelerating motor, spring retaining plate is connect by spring support and core bar axis under spring；
Driving wheel is incorporated on decelerating motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811355283.6A CN109501857A (en) | 2018-11-14 | 2018-11-14 | A kind of AGV self-level(l)ing differential steering gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811355283.6A CN109501857A (en) | 2018-11-14 | 2018-11-14 | A kind of AGV self-level(l)ing differential steering gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109501857A true CN109501857A (en) | 2019-03-22 |
Family
ID=65748426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811355283.6A Pending CN109501857A (en) | 2018-11-14 | 2018-11-14 | A kind of AGV self-level(l)ing differential steering gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109501857A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155171A (en) * | 2019-04-30 | 2019-08-23 | 上海擎朗智能科技有限公司 | A kind of control method of vehicle chassis, vehicle and the vehicle chassis |
| CN110316278A (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 differential driving steering wheel |
| CN111547158A (en) * | 2020-04-30 | 2020-08-18 | 杭州极木科技有限公司 | Ultra-thin type AGV differential drive arrangement |
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| CN207437672U (en) * | 2017-11-21 | 2018-06-01 | 科罗玛特自动化科技（苏州）有限公司 | A kind of AGV container brackets with shock-absorbing function |
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| CN207683307U (en) * | 2017-12-22 | 2018-08-03 | 厦门海普锐科技股份有限公司 | A kind of AGV driving structures and AGV |
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| CN209870495U (en) * | 2018-11-14 | 2019-12-31 | 沈阳慧远自动化设备有限公司 | AGV self-leveling differential steering mechanism |
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| CN207473408U (en) * | 2017-10-23 | 2018-06-08 | 深圳市佳顺智能机器人股份有限公司 | A kind of differential drive mechanism and automatic guide vehicle |
| CN207437672U (en) * | 2017-11-21 | 2018-06-01 | 科罗玛特自动化科技（苏州）有限公司 | A kind of AGV container brackets with shock-absorbing function |
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| CN108045456A (en) * | 2017-12-25 | 2018-05-18 | 上海诺力智能科技有限公司 | A kind of laser sensor levelling gear suitable for AGV |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155171A (en) * | 2019-04-30 | 2019-08-23 | 上海擎朗智能科技有限公司 | A kind of control method of vehicle chassis, vehicle and the vehicle chassis |
| CN110316278A (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 differential driving steering wheel |
| CN111547158A (en) * | 2020-04-30 | 2020-08-18 | 杭州极木科技有限公司 | Ultra-thin type AGV differential drive arrangement |
| CN111547158B (en) * | 2020-04-30 | 2021-05-07 | 杭州极木科技有限公司 | Ultra-thin type AGV differential drive arrangement |
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