CN110143236A - A kind of AGV is synchronous to turn to chassis structure - Google Patents
A kind of AGV is synchronous to turn to chassis structure Download PDFInfo
- Publication number
- CN110143236A CN110143236A CN201910375121.7A CN201910375121A CN110143236A CN 110143236 A CN110143236 A CN 110143236A CN 201910375121 A CN201910375121 A CN 201910375121A CN 110143236 A CN110143236 A CN 110143236A
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- Prior art keywords
- chain
- motor
- synchronous
- bottom plate
- turn
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of synchronous steering chassis structures of AGV, including bottom plate, the rubber tire driving mechanism being arranged on the bottom plate and chain conveyer steering mechanism, the rubber tire driving mechanism includes four rotatable platforms being fixed on the bottom plate, the motor driving wheel mechanism being separately positioned on each rotatable platform；The chain conveyer steering mechanism includes two chains, two is fixed on chain drive mechanism on the bottom plate, and a pair of of rotatable platform of the every chain simultaneously with corresponding chain drive mechanism and positioned at the same side is meshed.The present invention can realize synchronizing and rotating in same direction for the two-wheeled on same axis by motor control chain conveyer, and then realize the four wheeled chassis front and back wheel independent steering of AGV, and structure is simple, it controls simple and reliable, achievable AGV is rotated in place, economical and practical, and steering flexibility is good, high reliablity.
Description
Technical field
The present invention relates to intelligent transport vehicle manufacturing field more particularly to a kind of synchronous steering chassis structure of AGV, main functions
To complete the straight-line travelling of transport vehicle and possessing superior turning function.
Background technique
AGV is a kind of intelligence carrying logistics trolley, the executing agency that chassis walking mechanism is AGV straight trip, turns to, property
The quality of energy directly affects AGV line walking precision.AGV is usually applied to high density automated warehouse storage system and some needs
Auxiliary is carried in the automated production equipment of material.The traditional chassis AGV traveling mechanism is using Three-wheel type, four wheeled, six wheeled
Or caterpillar chassis mechanism.
Wherein Three-wheel type structure is simple but exists and has skidded phenomenon because of structure mounting height；
Four wheeled structure one has similar automobile chassis to be laid out, wherein the two-wheeled of same axis is driving wheel, in addition two-wheeled is
Deflecting roller is controlled, advantage is that structure is simple, the disadvantage is that turning radius is larger, can not achieve pivot turn, and two have, with four Mikes
Na Mu wheel is driving wheel, and advantage is that all-around mobile can be achieved, the disadvantage is that Mecanum wheel is at high cost, is easily lost；
Six wheeled constructions are the walking layout structures that most of AGV are used now, the advantage is that and realize reciprocating linear fortune
Dynamic, driving wheel, which is arranged on car body central axes, can be achieved pivot turn, and the radius of gyration is relatively small, still, the disadvantage is that when upper
When descending, driving wheel is easy to be maked somebody a mere figurehead by the universal wheel on both sides, when driving wheel ground grip ability are inadequate, " beats so as to cause driving wheel
It is sliding ".
Therefore, urgent need develops one kind and can complete straight-line travelling and possess the chassis the AGV traveling mechanism of superior turning function.
Summary of the invention
The present invention provides a kind of AGV synchronization steering chassis structure, and the present invention can be realized same by motor control chain conveyer
Two-wheeled on one axis synchronizing and rotating in same direction, and then realizes the four wheeled chassis front and back wheel independent steering of AGV, and structure is simple,
Control simple and reliable, it can be achieved that AGV is rotated in place, economical and practical, steering flexibility is good, high reliablity.
To achieve the goals above the present invention adopts the following technical scheme:
A kind of AGV is synchronous to turn to chassis structure, passes including bottom plate, the rubber tire driving mechanism being arranged on the bottom plate and chain
Dynamic steering mechanism,
The rubber tire driving mechanism includes four rotatable platforms being fixed on the bottom plate, is separately positioned on each rotation
Motor driving wheel mechanism on platform；
The chain conveyer steering mechanism includes two chains, two is fixed on chain drive mechanism on the bottom plate, and every
A pair of of rotatable platform of the chain simultaneously with corresponding chain drive mechanism and positioned at the same side is meshed.
Further, four rotatable platforms are symmetrically fixed on the bottom plate.
Further, the chain drive mechanism is located on the line of symmetry for two rotatable platforms being connected.
Further, the rotatable platform includes the first sprocket wheel, slewing bearing, first sprocket wheel and described
The inner ring of slewing bearing is fixedly connected with.
Further, the motor driving wheel mechanism includes the motor cabinet being fixed on first sprocket wheel, difference
Be arranged in the motor cabinet two sides motor and first flange disk, connection first flange disk and motor transmission shaft shaft coupling and and
The connected rubber tire of ring flange.
Further, the fluting with the rubber tire clearance fit is provided on first sprocket wheel, the rubber tire passes through
The fluting and ground touches.
Further, the chain drive mechanism includes the motor fixed mounting plate being fixed on the bottom plate, is arranged in institute
State the second of chain motor in motor fixed mounting plate, second flange disk, the connection chain motor and second flange disk
Axis device, the second sprocket wheel being connected with the second flange disk.
Further, the motor fixed mounting plate is fixed on the bottom plate by several copper posts.
Further, the chain, the first sprocket wheel, the second sprocket wheel are in same level.
Further, the chain motor is provided with locking device.
Compared to the chassis walking mechanism of existing AGV Intelligent carrier, the present invention can be realized the rotation of 360 ° of chassis original place,
Control simple and reliable, economical and practical, steering flexibility is good, high reliablity.
Detailed description of the invention
Fig. 1 is the mechanism overall structure stereoscopic schematic diagram of the embodiment of the present invention.
Fig. 2 is the mechanism overall structure schematic top plan view of the embodiment of the present invention.
The label declaration of components in schematic diagram:
It is as shown in the figure: 1- motor cabinet, 2- motor, 3- first flange disk, 4- first shaft coupling, 5- rubber tire, the first sprocket wheel of 6-,
7- slewing bearing, 8- chain, the second sprocket wheel of 9-, 10- second flange disk, 11- second shaft coupling, 12- motor are fixedly mounted
Plate, 13- chain motor, 14- bottom plate.
Specific embodiment
The purpose of the present invention is described in further detail below by specific embodiment, embodiment cannot herein one by one
It repeats, but therefore embodiments of the present invention are not limited to the following examples.
As depicted in figs. 1 and 2, a kind of AGV is synchronous turns to chassis structure, including bottom plate 14, setting are on the bottom plate 14
Rubber tire driving mechanism and chain conveyer steering mechanism,
The rubber tire driving mechanism includes four rotatable platforms being symmetrically fixed on the bottom plate, is respectively set
Motor driving wheel mechanism on each rotatable platform；
The chain conveyer steering mechanism includes the chain drive mechanism that two chains 8, two are fixed on the bottom plate 14, often
A pair of of rotatable platform of the root chain 8 simultaneously with corresponding chain drive mechanism and positioned at the same side is meshed, meanwhile, the chain driving
Mechanism is located on the line of symmetry for two rotatable platforms being connected.
Specifically, the rotatable platform includes the first sprocket wheel 6, slewing bearing 7, first sprocket wheel 6 and institute
The inner ring for the slewing bearing 7 stated is fixedly connected with.
Specifically, the motor driving wheel mechanism includes the motor cabinet 1 being fixed on first sprocket wheel 6, divides
The motor 2 and first flange disk 3, the shaft coupling for connecting first flange disk 3 and motor transmission shaft of the motor cabinet two sides are not set
Device 4 and the rubber tire 5 being connected with ring flange.Wherein motor cabinet 1 on one side on there are unthreaded holes to be connected by screw and motor 2, opposite
Unthreaded hole is equipped with bearing support first flange disk 3, and the first flange disk 3 is connected with the wheel hub of rubber tire 5 by bolt again.
First sprocket wheel 6 passes through the threaded hole on the inner ring of unthreaded hole and the slewing bearing 7 by screw
It is connected, is connected by bolt and the motor cabinet 1 of motor driving wheel mechanism, the rotatable platform passes through the light of screw and bottom plate 14
Hole is fixedly connected with the threaded hole on 7 outer ring of slewing bearing.
In addition, being provided with the fluting with 5 clearance fit of rubber tire on first sprocket wheel 6, the rubber tire passes through institute
The fluting and ground stated touch, and the height of C.G. of AGV trolley is effectively reduced, and guarantee stability.
Specifically, the chain drive mechanism includes being fixed by the motor that several copper posts 15 are fixed on the bottom plate 14
Mounting plate 12, the chain motor 13 being arranged in the motor fixed mounting plate 12, second flange disk 10, the connection chain electricity
The second shaft coupling 11 of machine 13 and second flange disk 10, the second sprocket wheel 9 being connected with the second flange disk 10 by bolt.
Specifically, the chain 8, the first sprocket wheel 6, the second sprocket wheel 9 are in same level, guarantee chain 8, the
Normal, the reliable transmission work of one sprocket wheel 6, the second sprocket wheel 9.
Specifically, the chain motor 13 is provided with locking device, it can be in the normal driving process without turning round
Keep current route constant.
Two rotatable platform distances depend on the needs, while need to consider that the length of chain 8 and the motor on two platforms are driven
The tensioning of the depth of parallelism of the rubber tire 5 of driving wheel mechanism, the chain 8 can realize adjusting by replacing the second sprocket wheel 9 of different-diameter.
The process for using of the present embodiment is as follows:
After powering on, initial four wheels are facing forward, and the motor 2 of front and back four drives four rubber tires 5 constantly to advance, former and later two
Chain motor 13 is locked, and realizes chassis straight-line travelling.When needing to turn or rotate in place, two chain motor of front and back, 13 drive chain
Item 8, it is each that two rotatable platforms of front and back is driven to rotate by a certain angle, and then realize all-around mobile.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the protection of the claims in the present invention within spirit and principle
Within the scope of.
Claims (10)
1. a kind of AGV is synchronous to turn to chassis structure, which is characterized in that including bottom plate (14), be arranged on the bottom plate (14)
Rubber tire driving mechanism and chain conveyer steering mechanism,
The rubber tire driving mechanism includes four rotatable platforms being fixed on the bottom plate, is separately positioned on each rotatable platform
On motor driving wheel mechanism；
The chain conveyer steering mechanism includes two chains, two is fixed on chain drive mechanism on the bottom plate (14), and every
A pair of of rotatable platform of the chain simultaneously with corresponding chain drive mechanism and positioned at the same side is meshed.
2. AGV according to claim 1 is synchronous to turn to chassis structure, it is characterised in that: four rotatable platform left sides
The right side is symmetrically fixed on the bottom plate.
3. AGV according to claim 2 is synchronous to turn to chassis structure, it is characterised in that: the chain drive mechanism is located at phase
On the line of symmetry of two rotatable platforms of connection.
4. AGV according to claim 1 is synchronous to turn to chassis structure, it is characterised in that: the rotatable platform includes the
One sprocket wheel (6), slewing bearing (7), first sprocket wheel (6) and the inner ring of the slewing bearing (7) are fixedly connected with.
5. AGV according to claim 4 is synchronous to turn to chassis structure, it is characterised in that: motor driving wheel mechanism packet
Include the motor cabinet (1) being fixed on first sprocket wheel (6), be separately positioned on the motor cabinet two sides motor (2) and
First flange disk (3), the shaft coupling (4) for connecting first flange disk (3) and motor transmission shaft and the rubber tire being connected with ring flange
(5).
6. AGV according to claim 5 is synchronous to turn to chassis structure, it is characterised in that: be arranged on first sprocket wheel (6)
There is the fluting with the rubber tire (5) clearance fit, the rubber tire passes through the fluting and ground and touches.
7. AGV according to claim 4 is synchronous to turn to chassis structure, it is characterised in that: the chain drive mechanism includes solid
It is scheduled on the motor fixed mounting plate (12) on the bottom plate (14), the chain being arranged on the motor fixed mounting plate (12) electricity
Machine (13), second flange disk (10), the connection chain motor (13) and second flange disk (10) second shaft coupling (11) and
Connected the second sprocket wheel (9) of the second flange disk (10).
8. AGV according to claim 7 is synchronous to turn to chassis structure, it is characterised in that: the motor fixed mounting plate
(12) it is fixed on the bottom plate by several copper posts (15).
9. AGV according to claim 7 is synchronous to turn to chassis structure, it is characterised in that: the chain (8), the first chain
Wheel (6), the second sprocket wheel (9) are in same level.
10. AGV according to claim 1 is synchronous to turn to chassis structure, it is characterised in that: the chain motor (13) is set
It is equipped with locking device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910375121.7A CN110143236A (en) | 2019-05-07 | 2019-05-07 | A kind of AGV is synchronous to turn to chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910375121.7A CN110143236A (en) | 2019-05-07 | 2019-05-07 | A kind of AGV is synchronous to turn to chassis structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110143236A true CN110143236A (en) | 2019-08-20 |
Family
ID=67594822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910375121.7A Pending CN110143236A (en) | 2019-05-07 | 2019-05-07 | A kind of AGV is synchronous to turn to chassis structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN110143236A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111591263A (en) * | 2020-04-27 | 2020-08-28 | 同济大学 | All-wheel steerable automobile parking transfer robot |
| CN113460195A (en) * | 2021-07-06 | 2021-10-01 | 易思特熵智能物流设备(丹阳)有限公司 | Container loading machine |
| CN113635994A (en) * | 2020-04-27 | 2021-11-12 | 广东博智林机器人有限公司 | Omnidirectional movement chassis and AGV dolly |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0558330A (en) * | 1991-08-27 | 1993-03-09 | Komatsu Ltd | Omnidirectional travel type vehicle |
| JP2007118800A (en) * | 2005-10-28 | 2007-05-17 | Toyota Motor Corp | Steering device of vehicle |
| JP2011148330A (en) * | 2010-01-19 | 2011-08-04 | Araki Seisakusho:Kk | Motor-driven cart |
| CN210793340U (en) * | 2019-05-07 | 2020-06-19 | 华南理工大学 | AGV straight line turns to chassis structure based on chain drive |
-
2019
- 2019-05-07 CN CN201910375121.7A patent/CN110143236A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0558330A (en) * | 1991-08-27 | 1993-03-09 | Komatsu Ltd | Omnidirectional travel type vehicle |
| JP2007118800A (en) * | 2005-10-28 | 2007-05-17 | Toyota Motor Corp | Steering device of vehicle |
| JP2011148330A (en) * | 2010-01-19 | 2011-08-04 | Araki Seisakusho:Kk | Motor-driven cart |
| CN210793340U (en) * | 2019-05-07 | 2020-06-19 | 华南理工大学 | AGV straight line turns to chassis structure based on chain drive |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111591263A (en) * | 2020-04-27 | 2020-08-28 | 同济大学 | All-wheel steerable automobile parking transfer robot |
| CN113635994A (en) * | 2020-04-27 | 2021-11-12 | 广东博智林机器人有限公司 | Omnidirectional movement chassis and AGV dolly |
| CN113460195A (en) * | 2021-07-06 | 2021-10-01 | 易思特熵智能物流设备(丹阳)有限公司 | Container loading machine |
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