CN110254562A - A kind of automated guided vehicle with independent steering gear - Google Patents
A kind of automated guided vehicle with independent steering gear Download PDFInfo
- Publication number
- CN110254562A CN110254562A CN201910555446.3A CN201910555446A CN110254562A CN 110254562 A CN110254562 A CN 110254562A CN 201910555446 A CN201910555446 A CN 201910555446A CN 110254562 A CN110254562 A CN 110254562A
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- China
- Prior art keywords
- bottom plate
- walking
- connecting rod
- automated guided
- shaft
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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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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 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
-
- 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
Abstract
The invention discloses a kind of automated guided vehicles with independent steering gear of transport vehicle technical field, including bottom plate, walking mechanism and steering mechanism, arc chute and shaft hole are provided on the bottom plate, the bottom of the bottom plate is connect with walking mechanism, the top of the bottom plate is connect with steering mechanism, pass through the bottom plate on device, the setting of the devices such as walking mechanism and steering mechanism, realize body gesture it is constant in the case where it is complete 90 ° steering, displacement of goods may be occurred under the influence of centrifugal force by avoiding when cargo turns to truck body, the phenomenon that causing vehicle to topple, automated guided vehicle car body itself is without turning radius, scene suitable for narrow space, improve utilization of area rate.
Description
Technical field
The present invention relates to automated guided vehicle technical field, specially a kind of homing guidance with independent steering gear
Transport vehicle.
Background technique
Automated guided vehicle (Automated Guided Vehicle, AGV) also known as automatic guided vehicle, are to be equipped with
Electricity magnetically or optically waits homing guidances device, can travel along defined guide path, has safeguard protection and various transfer function
The transport vehicle of energy.Currently, automated guided vehicle on the market mostly uses greatly traditional differential driving method and mono-/bis-driving side
Formula, turning radius is excessive, and the problem of adjoint steering capability deficiency or oversteering, can reduce space utilization to a certain extent
Rate reduces working efficiency.In addition, some automated guided vehicles are during the turn, cargo turns to truck body, is being centrifuged
Displacement of goods may occur under the action of power, vehicle is caused to topple.
Summary of the invention
The purpose of the present invention is to provide a kind of automated guided vehicles with independent steering gear, to solve above-mentioned back
The turning radius of the existing automated guided vehicle proposed in scape technology is excessive to be easy to cause goods yard displacement and space utilization rate
The problem of reduction.
To achieve the above object, the invention provides the following technical scheme: a kind of homing guidance with independent steering gear
Transport vehicle, including bottom plate, walking mechanism and steering mechanism are provided with arc chute and shaft hole on the bottom plate, the bottom plate
Bottom is connect with walking mechanism, and the top of the bottom plate is connect with steering mechanism, and 4 sensors are mounted on bottom plate.
Preferably, in the walking mechanism installation there are four walking unit, the walking unit include shaft, long pin shaft,
Pedestal, wheel, walking main shaft, belt pulley, bearing block and movable motor, the shaft and long pin shaft are mounted on pedestal by bolt
On, the wheel and driving spindle are fixed on the bottom of pedestal by bearing block, and the movable motor passes through belt pulley and walking
Main shaft connection.
Preferably, the steering mechanism includes link mechanism, ball-screw, sprocket wheel and steering motor, the link mechanism
Including short connecting rod, long connecting rod and short pin shaft, lead screw shaft bearings, left-right rotary one lead screw, nut are installed on the ball-screw
With feed screw nut seat.
Preferably, one end of the short connecting rod passes through the arc chute being provided with and the pedestal of walking unit on bottom plate and connects,
The other end of the short connecting rod is connect with short pin shaft, and the long connecting rod is mounted on nut seat by screw, the long connecting rod
Both ends pass through short pin shaft and connect with short connecting rod, and the both ends of the ball-screw are fixed on bottom plate by feed screw nut seat, institute
Steering motor is stated to connect by sprocket wheel with ball-screw.
Compared with prior art, the beneficial effects of the present invention are: passing through a kind of leading automatically with independent steering gear
Draw the setting of transport vehicle, structure is simple, and easy to implement, cost is relatively low, easy to maintain；Realize body gesture it is constant in the case where
Complete 90 ° of steerings, displacement of goods may be occurred under the influence of centrifugal force by avoiding when cargo turns to truck body, lead to vehicle
The phenomenon that toppling；Automated guided vehicle car body itself improves place suitable for the scene of narrow space without turning radius
Utilization rate.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is walking unit structural schematic diagram of the present invention；
Fig. 3 is steering mechanism's structural schematic diagram of the present invention.
In figure: 1 walking mechanism, 2 bottom plates, 2-1 sensor, 3 steering mechanism, 1-1 movable motor, 1-2 walking main shaft, 1-3
Bearing block, 1-4 belt pulley, 1-5 wheel, 1-6 long pin shaft, 1-7 shaft, 1-8 pedestal, 3-1 ball-screw, 3-2 feed screw nut seat,
3-3 short pin shaft, 3-4 steering motor, 3-5 sprocket wheel, 3-6 short connecting rod, 3-7 long connecting rod.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The invention provides the following technical scheme: a kind of automated guided vehicle with independent steering gear, for preventing
The turning radius of automated guided vehicle is excessive to be easy to cause goods yard to shift the problem of reducing with space utilization rate, please refers to
Fig. 1, including bottom plate 2, walking mechanism 1 and steering mechanism 3 are provided with arc chute and the hole shaft 1-7, the bottom of bottom plate 2 on bottom plate 2
It is connect with walking mechanism 1, the top of bottom plate 2 is connect with steering mechanism 3, and 4 sensor 2-1 are installed on a base plate 2, specifically
, bottom plate 2 is supported steering mechanism 3, and walking mechanism 1 is fixed.
Referring to Fig. 2, there are four walking units for installation in walking mechanism 1, walking unit includes shaft 1-7, long pin shaft 1-
6, it pedestal 1-8, wheel 1-5, walking main shaft 1-2, belt pulley 1-4, bearing block 1-3 and movable motor 1-1, shaft 1-7 and has strong market potential
Axis 1-6 is mounted on pedestal 1-8 by bolt, and wheel 1-5 and driving spindle are fixed on the bottom of pedestal 1-8 by bearing block 1-3
Portion, movable motor 1-1 is connect by belt pulley 1-4 with walking main shaft 1-2, specifically, four walking units control four respectively
The rotation and angle offset of wheel 1-5, for driving the rotation of wheel 1-5, walking main shaft 1-2 is used for the rotation of movable motor 1-1
It is fixed in the turned position to wheel 1-5, bearing block 1-3 is used to that the position of walking main shaft 1-2 to be fixed, belt pulley
1-4 is for connecting movable motor 1-1 and walking main shaft 1-2.
Referring to Fig. 3, steering mechanism 3 includes link mechanism, ball-screw 3-1, sprocket wheel 3-5 and steering motor 3-4, connecting rod
Mechanism includes short connecting rod 3-6, long connecting rod 3-7 and short pin shaft 3-3, and lead screw shaft bearings, left-right rotary one are equipped on ball-screw 3-1
Body lead screw, nut and nut seat facilitate the biography of power specifically, left-right rotary one lead screw improves the stability of ball-screw 3-1
It passs, improves the synchronism of rotation.
Referring to Fig. 3, one end of short connecting rod 3-6 passes through the bottom of the arc chute being provided with and walking unit on bottom plate 2
Seat 1-8 connection, the other end of short connecting rod 3-6 are connect with short pin shaft 3-3, and long connecting rod 3-7 is mounted on feed screw nut seat by screw
On 3-2, the both ends of long connecting rod 3-7 pass through short pin shaft 3-3 and connect with short connecting rod 3-6, and the both ends of ball-screw 3-1 pass through lead screw
Nut seat 3-2 is fixed on a base plate 2, and steering motor 3-4 is connect by sprocket wheel 3-5 with ball-screw 3-1, specifically, short connecting rod
3-6 is used to connect the pedestal 1-8 of walking unit, so that walking unit be driven to carry out, position is mobile, and short pin shaft 3-3 is used for short company
Fixation is attached between bar 3-6 and long connecting rod 3-7, long connecting rod 3-7 is used to drive the movement of short connecting rod 3-6, steering motor 3-4
For driving the rotation of ball-screw 3-1.
In the specific use process, automated guided vehicle follows in line walking, when two neighboring sensor 2-1 is detected simultaneously
Steering mechanism works when to signal, and steering motor 3-4 drives lead screw 3-1 to rotate together by sprocket wheel 3-5, long connecting rod 3-7 with
Nut 3-2 is moved in a straight line together, and short connecting rod 3-6 pushes walking unit 1 on bottom plate 2 under the action of long connecting rod 3-7
Shaft hole is outwardly or inwardly rotated by 90 ° simultaneously, realizes right-angled bend, commutation traveling.
Although hereinbefore having been made with reference to some embodiments, present invention is described, of the invention not departing from
In the case where range, various improvement can be carried out to it and can be with equivalent without replacement component therein.Especially, as long as not
There are structural conflict, the various features in presently disclosed each embodiment can be combined with each other by any way
It uses, the description for not carrying out exhaustion to the case where these combinations in the present specification is only to be in omit length and economize on resources
The considerations of.Therefore, the invention is not limited to specific embodiments disclosed herein, and including falling within the scope of the appended claims
All technical solutions.
Claims (4)
1. a kind of automated guided vehicle with independent steering gear, it is characterised in that: including bottom plate (2), walking mechanism (1)
With steering mechanism (3), arc chute and the hole shaft (1-7), the bottom of the bottom plate (2) and walking are provided on the bottom plate (2)
Mechanism (1) connection, the top of the bottom plate (2) are connect with steering mechanism (3), and 4 sensors (2-1) are mounted on bottom plate
(2) on.
2. a kind of automated guided vehicle with independent steering gear according to claim 1, it is characterised in that: described
There are four walking units for installation in walking mechanism (1), and the walking unit includes shaft (1-7), long pin shaft (1-6), pedestal (1-
8), wheel (1-5), walking main shaft (1-2), belt pulley (1-4), bearing block (1-3) and movable motor (1-1), the shaft (1-
7) it is mounted on pedestal (1-8) with long pin shaft (1-6) by bolt, the wheel (1-5) and driving spindle pass through bearing block (1-
3) it is fixed on the bottom of pedestal (1-8), the movable motor (1-1) is connect by belt pulley (1-4) with walking main shaft (1-2).
3. a kind of automated guided vehicle with independent steering gear according to claim 1, it is characterised in that: described
Steering mechanism (3) includes link mechanism, ball-screw (3-1), sprocket wheel (3-5) and steering motor (3-4), the link mechanism packet
Short connecting rod (3-6), long connecting rod (3-7) and short pin shaft (3-3) are included, lead screw shaft bearings, a left side are installed on the ball-screw (3-1)
Dextrorotation one lead screw, nut and nut seat.
4. a kind of automated guided vehicle with independent steering gear according to claim 3, it is characterised in that: described
One end of short connecting rod (3-6) passes through the arc chute being provided with and the pedestal (1-8) of walking unit on bottom plate (2) and connects, described short
The other end of connecting rod (3-6) is connect with short pin shaft (3-3), and the long connecting rod (3-7) is mounted on feed screw nut seat (3- by screw
2) on, the both ends of the long connecting rod (3-7) pass through short pin shaft (3-3) and connect with short connecting rod (3-6), the ball-screw (3-
1) both ends are fixed on bottom plate (2) by feed screw nut seat (3-2), and the steering motor (3-4) passes through sprocket wheel (3-5) and rolling
Ballscrew (3-1) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910555446.3A CN110254562A (en) | 2019-06-25 | 2019-06-25 | A kind of automated guided vehicle with independent steering gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910555446.3A CN110254562A (en) | 2019-06-25 | 2019-06-25 | A kind of automated guided vehicle with independent steering gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110254562A true CN110254562A (en) | 2019-09-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910555446.3A Pending CN110254562A (en) | 2019-06-25 | 2019-06-25 | A kind of automated guided vehicle with independent steering gear |
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| Country | Link |
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| CN (1) | CN110254562A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112357436A (en) * | 2020-11-17 | 2021-02-12 | 北京京东乾石科技有限公司 | Shuttle vehicle, control method thereof and stereoscopic warehouse storage system |
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| CN2623567Y (en) * | 2003-05-21 | 2004-07-07 | 中国重型汽车集团有限公司 | Transfer trailer of hot steel billet |
| CN2923388Y (en) * | 2006-06-26 | 2007-07-18 | 杨金辉 | Caster loocking device |
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| CN205668589U (en) * | 2016-05-11 | 2016-11-02 | 姚连涛 | A kind of variable-angle actuating device, vehicle chassis |
| CN206510961U (en) * | 2017-01-20 | 2017-09-22 | 陈胜华 | A kind of dolly that operation is moved for remote control |
| CN108222602A (en) * | 2018-03-07 | 2018-06-29 | 西南交通大学 | A kind of automobile carrying device |
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| CN110467129A (en) * | 2019-09-18 | 2019-11-19 | 洛阳凯宾耐特钢柜有限公司 | A kind of RGV transport vehicle |
| CN210284446U (en) * | 2019-06-25 | 2020-04-10 | 河南工业大学 | Automatic guide transport vechicle with independent steering mechanism |
| CN115284801A (en) * | 2022-09-20 | 2022-11-04 | 河南工业大学 | Self-locking chassis for highway and railway dual-purpose vehicle |
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2019
- 2019-06-25 CN CN201910555446.3A patent/CN110254562A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6176504B1 (en) * | 1998-09-25 | 2001-01-23 | Unverferth Manufacturing Company, Inc. | Short steer wagon |
| CN2623567Y (en) * | 2003-05-21 | 2004-07-07 | 中国重型汽车集团有限公司 | Transfer trailer of hot steel billet |
| CN2923388Y (en) * | 2006-06-26 | 2007-07-18 | 杨金辉 | Caster loocking device |
| CN101117131A (en) * | 2007-09-04 | 2008-02-06 | 浙江理工大学 | Variable motion mode all-directional self-determined mobile robot running gear |
| CN201183523Y (en) * | 2008-03-26 | 2009-01-21 | 云南昆船设计研究院 | Vehicle active steering apparatus |
| CN203450206U (en) * | 2013-08-09 | 2014-02-26 | 广州雷利诺车业有限公司 | Transport cart with identical tracks |
| CN205668589U (en) * | 2016-05-11 | 2016-11-02 | 姚连涛 | A kind of variable-angle actuating device, vehicle chassis |
| WO2018121078A1 (en) * | 2016-12-26 | 2018-07-05 | 同方威视技术股份有限公司 | Mobile platform |
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| CN210284446U (en) * | 2019-06-25 | 2020-04-10 | 河南工业大学 | Automatic guide transport vechicle with independent steering mechanism |
| CN110467129A (en) * | 2019-09-18 | 2019-11-19 | 洛阳凯宾耐特钢柜有限公司 | A kind of RGV transport vehicle |
| CN115284801A (en) * | 2022-09-20 | 2022-11-04 | 河南工业大学 | Self-locking chassis for highway and railway dual-purpose vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112357436A (en) * | 2020-11-17 | 2021-02-12 | 北京京东乾石科技有限公司 | Shuttle vehicle, control method thereof and stereoscopic warehouse storage system |
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