CN110254501A - A kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks - Google Patents
A kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks Download PDFInfo
- Publication number
- CN110254501A CN110254501A CN201910587323.8A CN201910587323A CN110254501A CN 110254501 A CN110254501 A CN 110254501A CN 201910587323 A CN201910587323 A CN 201910587323A CN 110254501 A CN110254501 A CN 110254501A
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- CN
- China
- Prior art keywords
- steeraxle
- pontic
- hole
- retarder
- prismatic pair
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- 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
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/18—Steering knuckles; King pins
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The present invention discloses a kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks, steeraxle including vehicle frame and four link type structure, the steeraxle includes pontic case, retarder, prismatic pair, revolute pair, connecting rod, potentiometric sensor, mounting hole is offered on the pontic case, axle sleeve is equipped in the mounting hole, the axle sleeve is equipped with support shaft, the vehicle frame and bearing axis connection.The present invention is ingenious in design, has stronger practicability.
Description
Technical field
The present invention relates to automated guided vehicle technical field, specifically a kind of unmanned Fixed Platform Trucks turns
To bridge and preparation method thereof.
Background technique
The vehicle bridge of Fixed Platform Trucks can be described as axle again, be divided into drive axle and steeraxle.The steering of movable table lift
Bridge not only plays load-bearing effect in carrier, but also plays steering-effecting, is components important in carrier.
AGV (automated guided vehicle or automatic guided vehicle) is magnetically or optically to wait homing guidances device equipped with electricity, can
It is travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions.
AGV becomes the indispensable important component of modern enterprise automated arm, develops in developed countries such as Europe, the United States
The most rapidly, it is most widely used；Japan and South Korea in Asia have also obtained swift and violent development and application, especially in day
This, product specification, kind, technical level, equipment quantity and the degree of automation etc. compared with horn of plenty, have reached standardization,
Seriation, flow line production degree.
In China, with the rapid development of logistics system, the application range of AGV is also constantly extending, it is therefore desirable to design
A kind of steeraxle of unmanned Fixed Platform Trucks, and also it is able to achieve on steeraxle the application of AGV.
Summary of the invention
The present invention provides a kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks, can effectively solve
Technical problem present in certainly above-mentioned background.
To achieve the goals above, the invention provides the following technical scheme:
A kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks, including vehicle frame and four link type knot
The steeraxle of structure, the steeraxle include pontic case, retarder, prismatic pair, revolute pair, connecting rod, potentiometric sensor, described
Mounting hole is offered on pontic case, axle sleeve is equipped in the mounting hole, and the axle sleeve is equipped with support shaft, the vehicle frame and bearing
Axis connection；The retarder is arranged in pontic case, and the pontic box outer wall is equipped with steering motor, and the steering motor is from subtracting
The input axial direction retarder of fast device inputs steering power, and the power output end of the retarder is equipped with output gear；The pontic
The two sides of case are equipped with the support frame integrated with pontic box-shaped, and support frame as described above is equipped with stub seat, sets on the stub seat
There is stub bore, the revolute pair is equipped with knuckle, and the knuckle is equipped with shaft, passes through flower between the knuckle and shaft
Key pair cooperates, and the shaft is mounted in stub bore by two tapered roller bearings, and the lower shaft end of the shaft connects
It is connected to wheel hub frame；The potentiometric sensor, which is equipped with, core, in the card slot of the upper shaft end setting of the dynamic core insertion shaft,
The rotation data of shaft feeds back to the control system of vehicle via potentiometric sensor and controls the steering procedure of vehicle；The shifting
Dynamic secondary is slide block type component, and prismatic pair includes lead rail cylinder and the rack gear that is arranged in lead rail cylinder, and the lead rail cylinder is fixed on
On the prismatic pair support being arranged on pontic case, the both ends of the rack gear pass through connecting rod and connect respectively with two revolute pairs, described
Rack gear is engaged with output gear.
Preferably, the reduction ratio of the retarder is 158.33.
Preferably, the wheel hub frame is located at below stub seat, and the wheel hub frame is equipped with steering wheel hub, the steering wheel hub
On tire is installed.
On the other hand, the processing, assembly of steeraxle and test method the following steps are included:
1) a kind of, nodular iron casting of the pontic case using high-elongation high intensity, the high-elongation high intensity
Index is elongation percentage >=20% in tensile strength >=480Mpa；
2) it, mills in face/bore hole/drilling/tapping revolute pair and prismatic pair for installing the hole of connection: positioning tool frame to water
Prosposition is set, and pontic case is fixed on positioning tool, adjusts the placement position of pontic case, locks clamping plate, vertical machining centre
Milling cutter, boring cutter, drill bit and screw tap are installed on main shaft, are respectively completed in revolute pair for installing the hole of connection and the milling of prismatic pair
Face, bore hole, drilling and tapping work step；
3) it, mills in face/bore hole/drilling/tapping pontic case and in retarder and support shaft is used to that the hole connected to be installed, with movement
Secondary mounting surface and dowel hole positioning, keep revolution workbench in horizontal position, lock clamping plate, horizontal Machining centers master
Milling cutter, boring cutter, drill bit and screw tap are installed on axis, are respectively completed in pontic case, retarder and support shaft for installing the hole of connection
Milling face, bore hole, drilling and tapping work step；
4), mill in face/drilling prismatic pair support for installing the hole of connection: positioning tool frame to horizontal position will move
Secondary support is fixed on positioning tool, the placement position of adjustment prismatic pair support, locking clamping plate, in vertical machining centre main shaft
Milling cutter and drill bit are installed, milling face and the drilling work step of prismatic pair support are respectively completed；
5) it, mills in face/bore hole prismatic pair for installing the hole of connection: fixed with the mounting surface of prismatic pair support and dowel hole
Position keeps revolution workbench in horizontal position, locks clamping plate, milling cutter, boring cutter are installed on horizontal Machining centers main shaft, respectively
Complete the milling face and bore hole work step in prismatic pair for installing the hole of connection；
6), assemble steeraxle: the components such as retarder, revolute pair, prismatic pair and connecting rod are all mounted on the suitable of pontic case
Work as position；
7), running-in test steeraxle: steeraxle is located in the tooling of running-in platform, installs motor, and detection determines steeraxle
Abnormal sound, vibration, leakage and noise etc.；
Preferably, for the step (2) into step (5), the flatness of machined surface is not more than 0.025mm；It is each in retarder
It is not more than 0.02mm for installing the concentricity in the hole of connection in axis.
Preferably, in the step (6), the axial gap of each axis of retarder is by adjusting gasket adjustment.
Preferably, in the step (7), revolute pair and prismatic pair operating uniformly, have no abnormal sound, without obvious vibration, everywhere without
Permeability or without oil leak；Vibration acceleration should be not more than 1m/s2 to steeraxle everywhere；Sound level meter presses zero incident angular alignment tested surface, away from
Noise≤72dB (A) that measuring point distance measures when being 1m.
The beneficial effects of the present invention are:
Steeraxle of the present invention is crank block four link type structure, turns to pontic and uses high-intensitive single-casting,
Revolute pair uses conical bearing, and prismatic pair is driven using pinion and-rack, with compact-sized, goes slick, and output torque is big,
Low noise, it is non-maintaining the advantages that.The present invention solves the problems, such as the required steeraxle such as unmanned Fixed Platform Trucks, city
Field has a extensive future.The stronger firm bean column node of present invention energy, comprehensive strength is high, practical.
Detailed description of the invention
Invention is further described in detail with reference to the accompanying drawings and detailed description.
Fig. 1: the scheme of installation of steeraxle of the present invention.
Fig. 2: the structural schematic diagram of steeraxle of the present invention.
Fig. 3: the structural schematic diagram of retarder of the present invention and revolute pair
Fig. 4: the side view of steeraxle of the present invention.
Specific embodiment
The embodiment of the present invention is described in detail below, but what the present invention can be defined by the claims and cover
Multitude of different ways is implemented:
As shown in Figure 1 to 4, the present invention provides steeraxle 11 and its production of a kind of unmanned Fixed Platform Trucks
Method, the steeraxle 11 including 15 formula structure of vehicle frame and double leval jib, steeraxle 11 include pontic case 111, retarder 12, move
Dynamic pair 14, revolute pair 13, connecting rod 15, potentiometric sensor 4；Mounting hole 112 is offered on pontic case 111, is set in mounting hole 112
There is axle sleeve 10, axle sleeve 10 is equipped with support shaft, vehicle frame and bearing axis connection.
Retarder 12 is arranged in pontic case 111, and the reduction ratio of retarder 12 is 158.33, sets on 111 outer wall of pontic case
There is steering motor 2, steering motor 2 inputs steering power, the power of retarder 12 from the input axial direction retarder 12 of retarder 12
Output end is equipped with output gear 121, therefore gear 121 can rotate after the starting of steering motor 2.
The two sides of pontic case 111 are equipped with the support frame 113 that integral type is formed with pontic case 111, and support frame 113 is equipped with master
Key seat 5, stub seat 5 are equipped with stub bore 51, and revolute pair 13 is equipped with knuckle 151, and knuckle 151 is equipped with shaft 152, turn to
It is cooperated between section 151 and shaft 152 by spline pair, shaft 152 is mounted on stub by two tapered roller bearings 153
In bore 51, therefore, shaft 152 can rotate in stub bore 51.
Prismatic pair 14 is slide block type component, and prismatic pair 14 includes lead rail cylinder 141 and the tooth that is arranged in lead rail cylinder 141
Item 142, lead rail cylinder 141 are fixed on the prismatic pair support 143 being arranged on pontic case 111, and rack gear 142 is nibbled with output gear 121
It closes, therefore when steering motor 2 starts, rack gear 142 can be moved left and right, and divide since the both ends of rack gear 142 pass through connecting rod 15
It is not connect with two revolute pairs 13, therefore, makes shaft with the cooperation of knuckle 151 in revolute pair 13 when rack gear 142 moves left and right
152 rotations.
The lower shaft end of shaft 152 is connected with wheel hub frame 155；Wheel hub frame 155 is located at 5 lower section of stub seat, sets on wheel hub frame 155
There is steering wheel hub 156, tire 157 is installed on steering wheel hub 156, when shaft 152 rotates, tire 157 can be rotated, from
And realize the steering of vehicle.
Potentiometric sensor 4, which is equipped with, core, in the card slot 154 for moving the upper shaft end setting of core insertion shaft 152, shaft
152 rotation data feeds back to the control system of vehicle via potentiometric sensor 4 and controls the steering procedure of vehicle, therefore vehicle
Steering procedure can be controlled.
On the other hand, the processing, assembly of steeraxle 11 and test method the following steps are included:
1), pontic case 111 using a kind of high-elongation high intensity nodular iron casting, high-elongation high intensity refer to
It is designated as, elongation percentage >=20% in tensile strength >=480Mpa；
2) it, mills in face/bore hole/drilling/tapping revolute pair 13 and prismatic pair 14 for installing the hole of connection: positioning tool frame
To horizontal position, pontic case 111 is fixed on positioning tool, adjusts the placement position of pontic case 111, locks clamping plate, is stood
Milling cutter, boring cutter, drill bit and screw tap are installed on formula machining center main shaft, be respectively completed in revolute pair 13 for install the hole of connection with
Milling face, bore hole, drilling and the tapping work step of prismatic pair 14；
3) it, mills in face/bore hole/drilling/tapping pontic case 111 and in retarder 12 and support shaft is used to that the hole connected to be installed,
It is positioned with the mounting surface of prismatic pair 14 and dowel hole, keeps revolution workbench in horizontal position, lock clamping plate, it is horizontal to add
Milling cutter, boring cutter, drill bit and screw tap are installed on work central principal axis, is respectively completed in pontic case 111, retarder 12 and support shaft and is used for
Milling face, bore hole, drilling and the tapping work step in the hole of connection are installed；
4), mill in face/drilling prismatic pair support 143 for installing the hole of connection: positioning tool frame to horizontal position will move
Dynamic pair support 143 is fixed on positioning tool, the placement position of adjustment prismatic pair support 143, locking clamping plate, in vertical processing
Milling cutter and drill bit are installed on heart main shaft, are respectively completed milling face and the drilling work step of prismatic pair support 143；
5) it, mills in face/bore hole prismatic pair 14 for installing the hole of connection: with the mounting surface of prismatic pair support 143 and positioning
Pin hole positioning keeps revolution workbench in horizontal position, locks clamping plate, install milling cutter, boring on horizontal Machining centers main shaft
Knife, the milling face being respectively completed in prismatic pair 14 for installing the hole of connection and bore hole work step；
6), assemble steeraxle 11: the components such as retarder 12, revolute pair 13, prismatic pair 14 and connecting rod 15 are all mounted on
The appropriate location of pontic case 111；The axial gap of each axis of retarder 12 is by adjusting gasket adjustment；
7), running-in test steeraxle 11: steeraxle 11 is located in the tooling of running-in platform, installs motor, and detection determines to turn
To the abnormal sound of bridge 11, vibration, leakage and noise etc.；Revolute pair 13 and prismatic pair 14 operate uniformly, have no abnormal sound, and vibrate without obvious,
Everywhere without permeability or without oil leak；Vibration acceleration should be not more than 1m/s2 to steeraxle 11 everywhere；Sound level meter is by zero incident angular alignment quilt
Survey face, the noise≤72dB (A) measured when 1m away from measuring point distance；
In step 2) to step 5), the flatness of machined surface is not more than 0.025mm；For pacifying in each axis in retarder 12
The concentricity in the hole that load connects is not more than 0.02mm.
It is above-mentioned that the present invention is exemplarily described, it is clear that present invention specific implementation is not subject to the restrictions described above,
As long as using this insubstantial improvement that the inventive concept and technical scheme of the present invention carry out, or the not improved structure by invention
Think and technical solution directly applies to other occasions, it is within the scope of the present invention.
Claims (7)
1. a kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks, including vehicle frame and four link type structure
Steeraxle, it is characterised in that: the steeraxle include pontic case, retarder, prismatic pair, revolute pair, connecting rod, electric potential type pass
Sensor offers mounting hole on the pontic case, axle sleeve is equipped in the mounting hole, the axle sleeve is equipped with support shaft, described
Vehicle frame and bearing axis connection；The retarder is arranged in pontic case, and the pontic box outer wall is equipped with steering motor, and described turn
Steering power is inputted to motor from the input axial direction retarder of retarder, the power output end of the retarder is equipped with output gear
Wheel；The two sides of the pontic case are equipped with the support frame integrated with pontic box-shaped, and support frame as described above is equipped with stub seat, described
Stub seat is equipped with stub bore, and the revolute pair is equipped with knuckle, and the knuckle is equipped with shaft, the knuckle and shaft
Between cooperated by spline pair, the shaft is mounted in stub bore by two tapered roller bearings, the shaft
Lower shaft end be connected with wheel hub frame；The potentiometric sensor, which is equipped with, core, and the upper shaft end of the dynamic core insertion shaft is set
In the card slot set, the rotation data of shaft feeds back to the control system of vehicle via potentiometric sensor and controls the steering of vehicle
Process；The prismatic pair is slide block type component, and prismatic pair includes lead rail cylinder and the rack gear that is arranged in lead rail cylinder, described to lead
Rail cylinder is fixed on the prismatic pair support being arranged on pontic case, the both ends of the rack gear pass through connecting rod respectively with two revolute pairs
Connection, the rack gear are engaged with output gear.
2. a kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks according to claim 1, special
Sign is: the reduction ratio of the retarder is 158.33.
3. a kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks according to claim 1, special
Sign is: the wheel hub frame is located at below stub seat, and the wheel hub frame is equipped with steering wheel hub, is equipped on the steering wheel hub
Tire.
4. a kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks according to claim 1, special
Sign is: processing, assembly and the test method of steeraxle the following steps are included:
1) a kind of, nodular iron casting of the pontic case using high-elongation high intensity, the high-elongation high intensity index
For elongation percentage >=20% in tensile strength >=480Mpa；
2) it, mills in face/bore hole/drilling/tapping revolute pair and prismatic pair for installing the hole of connection: positioning tool frame to horizontal position
It sets, pontic case is fixed on positioning tool, adjust the placement position of pontic case, lock clamping plate, vertical machining centre main shaft
Upper installation milling cutter, boring cutter, drill bit and screw tap are respectively completed in revolute pair for installing the hole of connection and milling face, the boring of prismatic pair
Hole, drilling and tapping work step；
3) it, mills in face/bore hole/drilling/tapping pontic case and in retarder and support shaft is used to that the hole connected to be installed, with prismatic pair
Mounting surface and dowel hole positioning, keep revolution workbench in horizontal position, lock clamping plate, on horizontal Machining centers main shaft
Milling cutter, boring cutter, drill bit and screw tap are installed, are respectively completed in pontic case, retarder and support shaft for installing the milling in the hole of connection
Face, bore hole, drilling and tapping work step；
4) it, mills for installing the hole of connection: positioning tool frame to horizontal position in face/drilling prismatic pair support, by prismatic pair branch
Seat is fixed on positioning tool, adjusts the placement position of prismatic pair support, is locked clamping plate, is installed in vertical machining centre main shaft
Milling cutter and drill bit are respectively completed milling face and the drilling work step of prismatic pair support；
5) it, mills in face/bore hole prismatic pair for installing the hole of connection: being positioned with the mounting surface of prismatic pair support and dowel hole,
It keeps revolution workbench in horizontal position, locks clamping plate, milling cutter, boring cutter are installed on horizontal Machining centers main shaft, distinguished
Milling face and bore hole work step at the hole in prismatic pair for installing connection；
6), assemble steeraxle: the components such as retarder, revolute pair, prismatic pair and connecting rod are all mounted on the appropriate position of pontic case
It sets；
7), running-in test steeraxle: steeraxle is located in the tooling of running-in platform, installs motor, and detection determines the different of steeraxle
Sound, vibration, leakage and noise etc..
5. a kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks according to claim 4, special
Sign is: for the step (2) into step (5), the flatness of machined surface is not more than 0.025mm；It is used in each axis in retarder
The concentricity for installing the hole of connection is not more than 0.02mm.
6. a kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks according to claim 4, special
Sign is: in the step (6), the axial gap of each axis of retarder is by adjusting gasket adjustment.
7. a kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks according to claim 4, special
Sign is: in the step (7), revolute pair and prismatic pair operating uniformly, have no abnormal sound, without obvious vibration, everywhere without permeability or nothing
Oil leak；Vibration acceleration should be not more than 1m/s2 to steeraxle everywhere；Sound level meter is by zero incident angular alignment tested surface, away from measuring point distance
For the noise≤72dB (A) measured when 1m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910587323.8A CN110254501A (en) | 2019-07-01 | 2019-07-01 | A kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910587323.8A CN110254501A (en) | 2019-07-01 | 2019-07-01 | A kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110254501A true CN110254501A (en) | 2019-09-20 |
Family
ID=67923682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910587323.8A Pending CN110254501A (en) | 2019-07-01 | 2019-07-01 | A kind of steeraxle and preparation method thereof of unmanned Fixed Platform Trucks |
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| CN (1) | CN110254501A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843774A (en) * | 2019-11-27 | 2020-02-28 | 洛阳中科龙网创新科技有限公司 | Intelligent automatic vehicle steering system |
| CN111874100A (en) * | 2020-08-10 | 2020-11-03 | 青岛汽车零部件科技创新服务有限公司 | Port AGV is with turning to drive axle corner sensor device assembly |
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| JP3375570B2 (en) * | 1999-06-14 | 2003-02-10 | ティー・シー・エム株式会社 | Forklift with traversing system |
| CN101181905A (en) * | 2007-11-14 | 2008-05-21 | 安徽合力股份有限公司 | Overhead transverse hydro-cylinder forklift steering bridge |
| CN103287488A (en) * | 2013-06-17 | 2013-09-11 | 南京航空航天大学 | Front wheel steering mechanism |
| CN204184132U (en) * | 2014-09-22 | 2015-03-04 | 安徽合力股份有限公司安庆车桥厂 | Four fulcrum forklifts oil cylinder inhead type steeraxle |
| CN106239154A (en) * | 2016-08-31 | 2016-12-21 | 四川德恩精工科技股份有限公司 | A kind of tapered sleeve milling face and nine station machine tools of boring |
| CN109305216A (en) * | 2018-09-10 | 2019-02-05 | 安徽德孚转向系统股份有限公司 | The dust guard of electric boosting steering system |
-
2019
- 2019-07-01 CN CN201910587323.8A patent/CN110254501A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3375570B2 (en) * | 1999-06-14 | 2003-02-10 | ティー・シー・エム株式会社 | Forklift with traversing system |
| CN101181905A (en) * | 2007-11-14 | 2008-05-21 | 安徽合力股份有限公司 | Overhead transverse hydro-cylinder forklift steering bridge |
| CN103287488A (en) * | 2013-06-17 | 2013-09-11 | 南京航空航天大学 | Front wheel steering mechanism |
| CN204184132U (en) * | 2014-09-22 | 2015-03-04 | 安徽合力股份有限公司安庆车桥厂 | Four fulcrum forklifts oil cylinder inhead type steeraxle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843774A (en) * | 2019-11-27 | 2020-02-28 | 洛阳中科龙网创新科技有限公司 | Intelligent automatic vehicle steering system |
| CN111874100A (en) * | 2020-08-10 | 2020-11-03 | 青岛汽车零部件科技创新服务有限公司 | Port AGV is with turning to drive axle corner sensor device assembly |
| CN111874100B (en) * | 2020-08-10 | 2021-05-28 | 青岛汽车零部件科技创新服务有限公司 | Port AGV is with turning to drive axle corner sensor device assembly |
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Application publication date: 20190920 |