CN110371216A - A kind of turning and running mechanism and control method for AGV trolley - Google Patents
A kind of turning and running mechanism and control method for AGV trolley Download PDFInfo
- Publication number
- CN110371216A CN110371216A CN201910590443.3A CN201910590443A CN110371216A CN 110371216 A CN110371216 A CN 110371216A CN 201910590443 A CN201910590443 A CN 201910590443A CN 110371216 A CN110371216 A CN 110371216A
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- gear
- motor
- agv trolley
- turning
- main shaft
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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
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of turning and running mechanisms and control method for AGV trolley, the bottom end of top plate is fixedly installed with bottom plate by more root posts, intermediate position between the top plate and bottom plate is equipped with central axis, central gear is equipped with by bearing on the central axis, the central gear is matched with the steering power device for driving it to rotate, the central axis with for drive rotate synchronous belt device be connected, the synchronous belt device is connected with the walking power device for providing walking, the bottom end end face of the central gear is fixedly installed with rotating disc, the bottom of the rotating disc is equipped with Wheel shaft by bracket support, the both ends of the Wheel shaft are equipped with wheel, the Wheel shaft passes through bevel gear mechanism and central axis engaged transmission.Wheel steering and walking of this turning and running mechanism for AGV trolley, use integrated structure, so that steering and walking mechanism are integrated, and then simplify its structure.
Description
Technical field
The present invention relates to AGV carriage device fields, more particularly to a kind of turning and running mechanism for AGV trolley and control
Method processed.
Background technique
With the increase of recruitment cost, unmanned factory is widely promoted and is used in practice in engineering, wherein AGV
Trolley has obtained extensive utilization as a kind of automated handling robot in unmanned factory, in order to realize that AGV trolley exists
It freely walks and turns to inside workshop, it is necessary to design corresponding turning and running mechanism.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of turning and running mechanism and control method for AGV trolley,
Wheel steering and walking of this turning and running mechanism for AGV trolley, use integrated structure, so that steering and vehicle with walking machine
Structure is integrated, and then simplifies its structure, facilitates subsequent control it.
In order to realize above-mentioned technical characteristic, the object of the present invention is achieved like this: a kind of steering for AGV trolley
Walking mechanism, it includes top plate, and the bottom end of the top plate is fixedly installed with bottom plate by more root posts, the top plate and bottom plate it
Between intermediate position central axis is installed, central gear is equipped with by bearing on the central axis, the central gear and is used
In drive its rotation steering power device match, the central axis with for drive rotate synchronous belt device be connected, institute
It states synchronous belt device to be connected with the walking power device for providing walking, the bottom end end face of the central gear is fixedly installed with
The bottom of rotating disc, the rotating disc is equipped with Wheel shaft by bracket support, and the both ends of the Wheel shaft are equipped with vehicle
Wheel, the Wheel shaft pass through bevel gear mechanism and central axis engaged transmission.
The steering power device includes first motor, is equipped with the first tooth on the first output shaft of the first motor
Wheel, the first gear pass through bearing support with the second gear engaged transmission being mounted on the first main shaft, first main shaft
It is mounted between top plate and bottom plate, third gear is installed on first main shaft, the third gear is engaged with central gear
Transmission.
The walking power device includes the second motor, is equipped with the 4th tooth on the second output shaft of second motor
Wheel, the 4th gear are installed with the 5th gear engaged transmission being mounted on the second main shaft, second main shaft by bearing
Between top plate and bottom plate.
The synchronous belt device includes the driving pulley being mounted on the second main shaft of walking power device, the main belt
Driven pulley engaged transmission of the wheel by synchronous belt and installation on center shaft.
The rotating disc is rotatably supported by bearing disk and is mounted on bottom plate, and passing through for the bearing disk is multiple uniformly distributed
Bolt be fixedly mounted on the bottom end face of bottom plate.
The bevel gear mechanism includes the first bevel gear of centrally disposed axis bottom end, the first bevel gear be mounted on
Second bevel gear engaged transmission in Wheel shaft.
Second motor of the first motor of the steering power device and power device of walking all uses servo motor, described
Power supply line and signal wire are connected on servo motor, the signal wire is connected with the motor driver for controlling its work, described
Motor driver is connected with the controller communication of AGV trolley body.
The central axis is mounted on the center of central gear by bearing support.
The control method of turning and running mechanism for AGV trolley passes through the second motor in trolley straight line walking process
The second output shaft is driven, the 4th gear is driven by the second output shaft, then by the 4th gear and the 5th gear engaged transmission, in turn
The second main shaft is driven by the 5th gear, and by the second main shaft drives driving pulley, by driving pulley and synchronous belt driving
Mandrel, then drive by central axis the first bevel gear of its bottom end, and then by first bevel gear and second bevel gear engaged transmission,
And then vehicle wheel rotation is driven, realize the straight line walking of AGV trolley；
When trolley needs to turn to, the first output shaft is driven by first motor, first gear is driven by the first output shaft, then
Second gear is driven by first gear, and the first main shaft is driven by second gear, and then pass through the first main shaft drives third gear,
Third gear and central gear engaged transmission, and then the rotating disc being attached thereto is driven by central gear, and then pass through rotation
Dish driving bracket, and then realized and turned to by carriage drive wheel.
The method have the advantages that:
1, this turning and running mechanism for AGV trolley wheel steering and walking, use integrated structure so that turn to and
Walking mechanism is integrated, and then simplifies its structure, facilitates subsequent control it.
2, steering power device is mainly used for controlling the steering of wheel, drives the first output shaft by first motor, passes through
First output shaft drives first gear, then drives second gear by first gear, and drive the first main shaft by second gear, in turn
By the first main shaft drives third gear, third gear and central gear engaged transmission, and then therewith by central gear driving
Connected rotating disc, and then by rotating disc driving arm, and then realized and turned to by carriage drive wheel.
3, walking power device is mainly used for providing walking power, by second the second output shaft of motor driven, by the
Two output shafts drive the 4th gear, then by the 4th gear and the 5th gear engaged transmission, and then pass through the 5th gear driving second
Main shaft, and by the second main shaft drives driving pulley, central axis is driven by driving pulley and synchronous belt, then it is driven by central axis
The first bevel gear of bottom end, so by first bevel gear and second bevel gear engaged transmission, and then vehicle wheel rotation is driven, it realizes
The straight line of AGV trolley is walked.
4, it can be accurately controlled the rotation precision of motor by above-mentioned servo motor, and then ensure that entire AGV is small
The precision of vehicle operation, ensure that the stability of its work.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the three-dimensional figure at first visual angle of the invention.
Fig. 2 is the three-dimensional figure at second visual angle of the invention.
Fig. 3 is the three-dimensional figure at third visual angle of the present invention.
Fig. 4 is top view of the present invention.
Fig. 5 is A-A view in Fig. 4 of the present invention.
In figure: signal wire 1, power supply line 2, first motor 3, the first main shaft 4, the first output shaft 5, first gear 6, the second tooth
Wheel 7, column 8, bottom plate 9, third gear 10, central gear 11, bolt 12, rotating disc 13, bearing disk 14, bracket 15, wheel 16,
Top plate 17, central axis 18, synchronous belt 19, the second motor 20, the second main shaft 21, the 5th gear 22, the output of the 4th gear 23, second
Axis 24, driving pulley 25, first bevel gear 26, Wheel shaft 27, second bevel gear 28, driven pulley 29.
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing.
Embodiment 1:
Referring to Fig. 1-5, a kind of turning and running mechanism for AGV trolley, it includes top plate 17, and the bottom end of the top plate 17 passes through
More root posts 8 are fixedly installed with bottom plate 9, and the intermediate position between the top plate 17 and bottom plate 9 is equipped with central axis 18, it is described in
Central gear 11, the central gear 11 and the steering power device for driving it to rotate are equipped with by bearing in mandrel 18
Match, the central axis 18 with for drive rotation synchronous belt device be connected, the synchronous belt device and be used for row is provided
The walking power device walked is connected, and the bottom end end face of the central gear 11 is fixedly installed with rotating disc 13, the rotating disc 13
Bottom by bracket 15 support Wheel shaft 27 is installed, the both ends of the Wheel shaft 27 are equipped with wheel 16, the vehicle
It takes turns main shaft 27 and passes through 18 engaged transmission of bevel gear mechanism and central axis.This turning and running mechanism is used for the wheel steering of AGV trolley
And walking, integrated structure is used, so that steering and walking mechanism are integrated, and then its structure is simplified, facilitates subsequent
It controls it.
Further, the steering power device includes first motor 3, is pacified on the first output shaft 5 of the first motor 3
Equipped with first gear 6, the first gear 6 and 7 engaged transmission of second gear being mounted on the first main shaft 4, described first is main
Axis 4 is mounted between top plate 17 and bottom plate 9 by bearing support, is equipped with third gear 10 on first main shaft 4, and described
Three gears 10 and 11 engaged transmission of central gear.Steering power device is mainly used for controlling the steering of wheel, in operation process,
The first output shaft 5 is driven by first motor 3, first gear 6 is driven by the first output shaft 5, then by the driving of first gear 6 the
Two gears 7, and the first main shaft 4 is driven by second gear 7, and then third gear 10, third gear 10 are driven by the first main shaft 4
With the engaged transmission of central gear 11, and then the rotating disc 13 being attached thereto is driven by central gear 11, and then pass through rotating disc
13 driving arms 15, and then drive wheel 16 to realize by bracket 15 and turn to.
Further, the walking power device includes the second motor 20, the second output shaft 24 of second motor 20
On the 4th gear 23 is installed, the 4th gear 23 and 22 engaged transmission of the 5th gear being mounted on the second main shaft 21, institute
The second main shaft 21 is stated to be mounted between top plate 17 and bottom plate 9 by bearing.Walking power device is mainly used for providing walking power,
In operation process, the second output shaft 24 is driven by the second motor 20, the 4th gear 23 is driven by the second output shaft 24, then
By 22 engaged transmission of the 4th gear 23 and the 5th gear, and then the second main shaft 21 is driven by the 5th gear 22, and main by second
Axis 21 drives driving pulley 25, drives central axis 18 by driving pulley 25 and synchronous belt 19, then drive its bottom by central axis 18
The first bevel gear 26 at end, and then by 28 engaged transmission of first bevel gear 26 and second bevel gear, and then with 16 turns of motor car wheel
It is dynamic, realize the straight line walking of AGV trolley.
Further, the synchronous belt device includes the driving pulley being mounted on the second main shaft 21 of walking power device
25, the driving pulley 25 passes through 29 engaged transmission of synchronous belt 19 and the driven pulley being mounted on central axis 18.Pass through synchronization
Band device can be used in that central axis 18 is driven to rotate.
Further, by bearing disk 14, rotatably support is mounted on bottom plate 9 rotating disc 13, the bearing disk
14 bottom end face that bottom plate 9 is fixedly mounted on by multiple uniformly distributed bolts 12.It ensure that rotating disc 13 by bearing disk 14
Normal rotation.
Further, the bevel gear mechanism includes the first bevel gear 26 of centrally disposed 18 bottom end of axis, and described first
Bevel gear 26 and 28 engaged transmission of second bevel gear being mounted in Wheel shaft 27.It can be incited somebody to action by above-mentioned bevel gear mechanism
It is vertically converted into and horizontally rotates, and then realize commutation.
Further, the second motor 20 of the first motor 3 of the steering power device and power device of walking all uses
Servo motor connects power supply line 2 and signal wire 1, the signal wire 1 and the motor for controlling its work on the servo motor
Driver is connected, and the motor driver is connected with the controller communication of AGV trolley body.It can by above-mentioned servo motor
It is accurately controlled the rotation precision of motor, and then ensure that the precision of entire AGV trolley travelling, ensure that the stabilization of its work
Property.
Further, the first motor 3 and the second motor 20 can also use stepper motor, the power such as hydraulic motor dress
It sets and is replaced, and then enhance its adaptability.
Further, the central axis 18 is mounted on the center of central gear 11 by bearing support.Pass through bearing
Support, ensure that central shaft 18 can be rotated normally, and then ensure that the steering of wheel and walking are not interfere with each other, so that two
The integrated movement of person, ensure that reliability of structure.
Embodiment 2:
The control method of turning and running mechanism for AGV trolley is driven in trolley straight line walking process by the second motor 20
Dynamic second output shaft 24 drives the 4th gear 23 by the second output shaft 24, then is engaged by the 4th gear 23 with the 5th gear 22
Transmission, and then the second main shaft 21 is driven by the 5th gear 22, and driving pulley 25 is driven by the second main shaft 21, pass through main belt
Wheel 25 and synchronous belt 19 drive central axis 18, then the first bevel gear 26 of its bottom end are driven by central axis 18, and then pass through first
28 engaged transmission of bevel gear 26 and second bevel gear, and then rotated with motor car wheel 16, realize the straight line walking of AGV trolley；
When trolley needs to turn to, the first output shaft 5 is driven by first motor 3, first gear is driven by the first output shaft 5
6, then second gear 7 is driven by first gear 6, and the first main shaft 4 is driven by second gear 7, and then drive by the first main shaft 4
Third gear 10,11 engaged transmission of third gear 10 and central gear, and then drive what is be attached thereto to turn by central gear 11
Moving plate 13, and then by 13 driving arm 15 of rotating disc, and then drive wheel 16 to realize by bracket 15 and turn to.
Claims (9)
1. a kind of turning and running mechanism for AGV trolley, it is characterised in that: it includes top plate (17), the top plate (17)
Bottom end is fixedly installed with bottom plate (9) by more root posts (8), the intermediate position installation between the top plate (17) and bottom plate (9)
Have central axis (18), is equipped with central gear (11) on the central axis (18) by bearing, the central gear (11) and use
It is matched in the steering power device for driving it to rotate, the central axis (18) and the synchronous belt device phase for driving rotation
Even, the synchronous belt device is connected with the walking power device for providing walking, the bottom end end face of the central gear (11)
It being fixedly installed with rotating disc (13), the bottom of the rotating disc (13) is equipped with Wheel shaft (27) by bracket (15) support,
The both ends of the Wheel shaft (27) are equipped with wheel (16), and the Wheel shaft (27) passes through bevel gear mechanism and central axis
(18) engaged transmission.
2. a kind of turning and running mechanism for AGV trolley according to claim 1, it is characterised in that: the steering power
Device includes first motor (3), is equipped with first gear (6) on the first output shaft (5) of the first motor (3), and described
One gear (6) passes through bearing branch with second gear (7) engaged transmission being mounted on the first main shaft (4), first main shaft (4)
Support is mounted between top plate (17) and bottom plate (9), is equipped with third gear (10) on first main shaft (4), the third tooth
Take turns (10) and central gear (11) engaged transmission.
3. a kind of turning and running mechanism for AGV trolley according to claim 1, it is characterised in that: the walking power
Device includes the second motor (20), is equipped with the 4th gear (23), institute on the second output shaft (24) of second motor (20)
The 5th gear (22) engaged transmission stating the 4th gear (23) and being mounted on the second main shaft (21), second main shaft (21) are logical
Bearing is crossed to be mounted between top plate (17) and bottom plate (9).
4. a kind of turning and running mechanism for AGV trolley according to claim 1, it is characterised in that: the synchronous belt dress
Set including be mounted on walking power device the second main shaft (21) on driving pulley (25), the driving pulley (25) passes through same
Step band (19) and driven pulley (29) engaged transmission being mounted on central axis (18).
5. a kind of turning and running mechanism for AGV trolley according to claim 1, it is characterised in that: the rotating disc
(13) by bearing disk (14), rotatably support is mounted on bottom plate (9), and passing through for the bearing disk (14) is multiple uniformly distributed
Bolt (12) is fixedly mounted on the bottom end face of bottom plate (9).
6. a kind of turning and running mechanism for AGV trolley according to claim 1, it is characterised in that: the bevel gear machine
Structure includes the first bevel gear (26) of centrally disposed axis (18) bottom end, the first bevel gear (26) and is mounted on Wheel shaft
(27) second bevel gear (28) engaged transmission on.
7. a kind of turning and running mechanism for AGV trolley according to claim 1, it is characterised in that: the steering power
The second motor (20) of the first motor (3) of device and power device of walking all uses servo motor, connects on the servo motor
Power supply line (2) and signal wire (1) are connect, the signal wire (1) is connected with the motor driver for controlling its work, the motor
Driver is connected with the controller communication of AGV trolley body.
8. a kind of turning and running mechanism for AGV trolley according to claim 1, it is characterised in that: the central axis
(18) center of central gear (11) is mounted on by bearing support.
9. the control method described in claim 1-8 any one for the turning and running mechanism of AGV trolley, it is characterised in that:
In trolley straight line walking process, the second output shaft (24) are driven by the second motor (20), are driven by the second output shaft (24)
Dynamic 4th gear (23), then driven by the 4th gear (23) and the 5th gear (22) engaged transmission, and then by the 5th gear (22)
Dynamic second main shaft (21), and driving pulley (25) are driven by the second main shaft (21), pass through driving pulley (25) and synchronous belt (19)
It drives central axis (18), then drives the first bevel gear (26) of its bottom end by central axis (18), and then pass through first bevel gear
(26) with second bevel gear (28) engaged transmission, and then with motor car wheel (16) rotate, realize AGV trolley straight line walking；
When trolley needs to turn to, the first output shaft (5) are driven by first motor (3), pass through the first output shaft (5) driving the
One gear (6), then second gear (7) are driven by first gear (6), and drive the first main shaft (4) by second gear (7), in turn
Third gear (10) are driven by the first main shaft (4), third gear (10) and central gear (11) engaged transmission, and then pass through
Heart gear (11) drives the rotating disc (13) being attached thereto, and then by rotating disc (13) driving arm (15), and then passes through branch
Frame (15) drives wheel (16) to realize and turns to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910590443.3A CN110371216A (en) | 2019-07-02 | 2019-07-02 | A kind of turning and running mechanism and control method for AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910590443.3A CN110371216A (en) | 2019-07-02 | 2019-07-02 | A kind of turning and running mechanism and control method for AGV trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110371216A true CN110371216A (en) | 2019-10-25 |
Family
ID=68251653
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910590443.3A Pending CN110371216A (en) | 2019-07-02 | 2019-07-02 | A kind of turning and running mechanism and control method for AGV trolley |
Country Status (1)
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| CN (1) | CN110371216A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111874534A (en) * | 2020-08-03 | 2020-11-03 | 长春市华宇机电输送设备有限公司 | Movable rubber belt conveyor |
| CN112140121A (en) * | 2020-08-12 | 2020-12-29 | 久恒理树 | Express delivery robot and operation method thereof |
| CN112606897A (en) * | 2020-11-12 | 2021-04-06 | 王友猛 | Omnidirectional movement automatic guide AGV dolly |
| CN112776832A (en) * | 2021-02-02 | 2021-05-11 | 安徽理工大学 | Power output mechanism of storage battery electric locomotive for coal mine transportation and use method of power output mechanism |
| CN114991507A (en) * | 2022-05-09 | 2022-09-02 | 汪情 | Building construction wall watering device |
| CN115251767A (en) * | 2022-07-27 | 2022-11-01 | 深圳乐生机器人智能科技有限公司 | Obstacle avoidance device and obstacle avoidance method of sweeping robot |
| EP4094964A4 (en) * | 2020-01-27 | 2023-07-19 | Daimler Truck AG | Drive device for electric truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4094964A4 (en) * | 2020-01-27 | 2023-07-19 | Daimler Truck AG | Drive device for electric truck |
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| CN112776832A (en) * | 2021-02-02 | 2021-05-11 | 安徽理工大学 | Power output mechanism of storage battery electric locomotive for coal mine transportation and use method of power output mechanism |
| CN112776832B (en) * | 2021-02-02 | 2022-09-20 | 安徽理工大学 | Power output mechanism of storage battery electric locomotive for coal mine transportation and use method of power output mechanism |
| CN114991507A (en) * | 2022-05-09 | 2022-09-02 | 汪情 | Building construction wall watering device |
| CN115251767A (en) * | 2022-07-27 | 2022-11-01 | 深圳乐生机器人智能科技有限公司 | Obstacle avoidance device and obstacle avoidance method of sweeping robot |
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Application publication date: 20191025 |
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| RJ01 | Rejection of invention patent application after publication |