CN111071370A - AGV driving unit with damping mechanism and steering angle detection function - Google Patents
AGV driving unit with damping mechanism and steering angle detection function Download PDFInfo
- Publication number
- CN111071370A CN111071370A CN201811232071.9A CN201811232071A CN111071370A CN 111071370 A CN111071370 A CN 111071370A CN 201811232071 A CN201811232071 A CN 201811232071A CN 111071370 A CN111071370 A CN 111071370A
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- Prior art keywords
- loose
- gear
- agv
- plate
- driving unit
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
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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
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to an AGV driving unit with a damping mechanism and a steering angle detection function, which comprises a bogie assembly, wherein the bogie assembly comprises a bottom plate, the bottom of the bottom plate is provided with a differential driving device, the front part and the rear part of the bottom plate are provided with magnetic navigation sensor components, the center of the upper surface of the bottom plate is provided with a slewing bearing component, the slewing bearing component comprises a slewing upright post, the slewing upright post is sleeved with a gear disc, the upper surface of the slewing upright post is rotatably connected with a loose-leaf plate, the upper surface of the loose-leaf plate is provided with a compression spring and a spring pressing plate, the rear part of the loose-leaf plate is fixedly connected with a transverse shaft, two ends of the transverse shaft are respectively provided with a bearing with a seat, the bearing with the seat and the spring pressing plate are connected with an AGV body together, the loose-leaf plate is; the AGV driving unit is simple and compact in structure, convenient to maintain, capable of adapting to severe road conditions, high in transmission precision and high in speed.
Description
Technical Field
The invention relates to the technical field of automatic logistics equipment, in particular to an AGV driving unit with a damping mechanism and a steering angle detection function.
Background
In industries such as automobiles, logistics, household appliances, light industry and the like, the transportation type AGV is increasingly used for automatic production, because the automatic conveying of materials is not considered in many old factories planned in the past, the logistics channels are narrow and the line space is small, and in order to apply the AGV to the occasions, the AGV is required to have the functions of advancing, retreating, transversely moving and the like.
However, the conventional driving unit on the AGV has the following problems that an ① driving wheel is generally in chain transmission, a chain is easy to stretch, the service life is short, the transmission precision is low, the speed is generally less than 1m/s, the rotation angle of a ② driving unit relative to a vehicle body is less than +/-90 degrees, the angle detection function is not provided, the AGV applying the driving unit can only move forwards and backwards and cannot move transversely, a damping mechanism of a ③ driving unit can only float in the vertical direction generally and cannot swing around the central line of the vehicle body, and the AGV can be off-line due to the fact that a single-side driving wheel slips on a severe road surface.
Disclosure of Invention
The invention aims to provide the AGV driving unit with the functions of a damping mechanism and steering angle detection, which has the advantages of high traveling speed and long service life and can adapt to severe road conditions, aiming at the defects of the driving unit on the traditional AGV.
The specific scheme of the invention is as follows: the utility model provides a take damper and turn to AGV drive unit of angle detection function, including the bogie assembly, the bogie assembly is including the bottom plate, and the bottom plate bottom is equipped with the differential drive device who constitutes jointly by left wheel drive arrangement and right wheel drive arrangement, and the magnetic navigation sensor subassembly is all equipped with at the front portion and the rear portion of bottom plate, and center department is equipped with the slewing bearing subassembly above the bottom plate, the slewing bearing subassembly is including the gyration stand, and the cover is equipped with a toothed disc on the gyration stand, it is connected with a loose-leaf board to rotate above the gyration stand, is equipped with compression spring and spring clamp plate above the loose-leaf board, and a cross axle of rear portion fixedly connected with of loose-leaf board, and the belt seat bearing is equipped with respectively at the both ends of cross axle, the belt seat bearing is connected with the AGV automobile body together with spring clamp plate, still be equipped with an angle sensor on the loose-leaf board, with a, the detection gear is meshed with the gear disc, and the angle sensor is used for detecting the rotation angle of the gear.
According to the AGV trolley maintenance device, the lifting screw is further arranged on the front portion of the loose-leaf plate, when the driving unit cannot work due to faults, the lifting screw is manually lifted to lift the whole driving unit together to be separated from the ground, and the AGV trolley can be dragged to be maintained.
The left wheel driving device and the right wheel driving device respectively comprise a direct current servo motor, a driving gear, a driven gear and a traveling wheel which are arranged at the bottom of a bottom plate, wherein the driving gear is in transmission connection with the direct current servo motor, the driving gear is in meshing connection with the driven gear, the driven gear is in coaxial connection with the traveling wheel, gear shields are further arranged outside the driving gear and the driven gear, and the driving devices on the left side and the right side run independently to form a differential driving structure.
The hinge plate is provided with a driving unit guide plate at the symmetrical positions at two sides of the compression spring respectively, and the driving unit guide plates are in contact with the AGV body, so that the AGV body is mainly ensured to float forwards and backwards without deviation in the left and right directions when floating on an uneven road surface; the two sides of the front part of the loose-leaf plate are symmetrically provided with limit switches which are mainly used for limiting the maximum rotation angle of the bottom plate below and the driving device, namely, the bottom plate can not rotate continuously when rotating to the limit position of the limit switches leftwards or rightwards, and the limit of limit steering is realized.
The invention has the following beneficial effects:
1. because the loose-leaf plates are rotatably connected with the rotary upright posts, and the AGV body is in floating connection with the loose-leaf plates, the range of the rotation angle of the bogie assembly relative to the AGV body can reach +/-125 degrees, and when the whole driving unit and the AGV body form an angle of 90 degrees, the AGV can transversely walk.
2. Because the angle sensor is arranged on the driving unit, the angle sensor can detect the rotation angle of the detection gear in real time, and further realize the feedback of the rotation angle of the AGV body through the conversion of the gear meshing gear ratio, which is more convenient for the manual remote control operation of the AGV with two driving units.
3. Because the output speed and the position precision of the direct current servo motor are very accurate, the driving gear and the driven gear form a gear pair together to drive the traveling wheels to travel (the traveling wheels are rubber covered wheels), so that the parking precision of the AGV is greatly improved and can reach +/-5 mm.
4. According to the invention, the AGV body is connected with the driving unit by adopting parts such as the loose-leaf plate, the bearing with the seat, the compression spring and the like, so that the floating shock absorption effect is achieved, the AGV body can adapt to various uneven road surfaces, and the driving wheel is ensured not to slip.
The AGV driving unit is simple and compact in structure, convenient to maintain, capable of adapting to severe road conditions, high in transmission precision and high in speed.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a front view schematic of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a front view schematic of the bogie assembly of the present invention;
fig. 5 is a schematic top view of the bogie assembly of the present invention.
In the figure: 1-pedestal bearing, 2-horizontal axis, 3-drive unit deflector, 4-limit switch, 5-angle sensor, 6-spring pressure plate, 7-lifting screw, 8-loose leaf board, 9-bottom plate, 10-magnetic navigation sensor assembly, 11-detection gear, 12-compression spring, 13-gear disc, 14-gear guard, 15-driven gear, 16-direct current servo motor, 17-driving gear, 18-rotary upright post, 19-walking wheel.
Detailed Description
Referring to fig. 1-5, the present invention is an AGV driving unit with a damping mechanism and a steering angle detection function, comprising a bogie assembly, wherein the bogie assembly comprises a bottom plate 9, a differential driving device composed of a left wheel driving device and a right wheel driving device is arranged at the bottom of the bottom plate, magnetic navigation sensor components 10 are arranged at the front part and the rear part of the bottom plate (the magnetic navigation sensor components are only used for facilitating the line patrol operation of the AGV, and need to be matched with the bottom walking track line of the AGV), a slewing bearing component is arranged at the center of the upper surface of the bottom plate, the slewing bearing component comprises a slewing upright post 18, a gear plate 13 is sleeved on the slewing upright post, a loose leaf plate 8 is rotatably connected on the slewing upright post, a compression spring 12 and a spring pressing plate 6 are arranged on the loose leaf plate, and a transverse shaft 2 is fixedly connected at the rear part of the loose leaf plate, the two ends of the cross shaft are respectively provided with a bearing with a seat 1, the bearing with a seat and a spring pressing plate are connected with the AGV body together, the loose-leaf plate is further provided with an angle sensor 5, the bottom of the loose-leaf plate corresponding to the angle sensor is provided with a detection gear 11, the detection gear is meshed with the gear disc and is used for detecting the rotation angle of the gear, the detection gear feeds back the rotation angle to the angle sensor, and the rotation angle of the driving unit relative to the AGV body can be reflected through the gear ratio and the diameter size of each other.
In this embodiment, the front part of the loose-leaf plate is further provided with a lifting screw 7, when the driving unit cannot work due to a fault, the lifting screw is manually lifted to lift the whole driving unit together to separate from the ground, and at the moment, the AGV trolley can be dragged to be maintained.
In this embodiment, each of the left wheel driving device and the right wheel driving device includes a dc servo motor 16, a driving gear 17, a driven gear 15 and a traveling wheel 19, which are installed at the bottom of the bottom plate, wherein the driving gear is in transmission connection with the dc servo motor, the driving gear is in engagement connection with the driven gear, the driven gear is in coaxial connection with the traveling wheel, a gear shield 14 is further installed outside the driving gear and the driven gear, and the driving devices on the left side and the right side operate independently to form a differential driving structure.
In the embodiment, the hinge plates are respectively provided with a driving unit guide plate 3 at the symmetrical positions at two sides of the compression spring, and the driving unit guide plates are in contact with the AGV body, so that the AGV body is mainly ensured to float forwards and backwards without deviation in the left and right directions when floating on an uneven road surface; the two sides of the front part of the loose-leaf plate are symmetrically provided with limit switches 4 which are mainly used for limiting the maximum rotation angle of the bottom plate below and the driving device, namely, when the bottom plate rotates to the limit position of the limit switch leftwards or rightwards, the bottom plate can not rotate any more, and the limit of limit steering is realized.
The invention has the following beneficial effects:
1. because the loose-leaf plates are rotatably connected with the rotary upright posts, and the AGV body is in floating connection with the loose-leaf plates, the range of the rotation angle of the bogie assembly relative to the AGV body can reach +/-125 degrees, and when the whole driving unit and the AGV body form an angle of 90 degrees, the AGV can transversely walk.
2. Because the angle sensor is arranged on the driving unit, the angle sensor can detect the rotation angle of the detection gear in real time, and further realize the feedback of the rotation angle of the AGV body through the conversion of the gear meshing gear ratio, which is more convenient for the manual remote control operation of the AGV with two driving units.
3. Because the output speed and the position precision of the direct current servo motor are very accurate, the driving gear and the driven gear form a gear pair together to drive the traveling wheels to travel (the traveling wheels are rubber covered wheels), so that the parking precision of the AGV is greatly improved and can reach +/-5 mm.
4. According to the invention, the AGV body is connected with the driving unit by adopting parts such as the loose-leaf plate, the bearing with the seat, the compression spring and the like, so that the floating shock absorption effect is achieved, the AGV body can adapt to various uneven road surfaces, and the driving wheel is ensured not to slip.
Claims (4)
1. The utility model provides a take damper and turn to AGV drive unit of angle detection function, including the bogie assembly, the bogie assembly is equipped with the differential drive device who constitutes by left wheel drive arrangement and right wheel drive arrangement jointly including the bottom plate, bottom plate bottom, and the magnetic navigation sensor subassembly is all equipped with at the front portion and the rear portion of bottom plate, and center department is equipped with slewing bearing subassembly, its characterized in that above the bottom plate: slewing bearing subassembly is including the gyration stand, and the cover is equipped with a toothed disc on the gyration stand, rotate above the gyration stand and be connected with a loose-leaf board, be equipped with compression spring and spring clamp plate above the loose-leaf board, a rear portion fixedly connected with cross axle of loose-leaf board, the both ends of cross axle are equipped with the rolling bearing respectively, rolling bearing is connected with the AGV automobile body together with spring clamp plate, still be equipped with an angle sensor on the loose-leaf board, with a detection gear is equipped with to the corresponding loose-leaf board bottom of angle sensor, should detect the gear with the toothed disc meshing is connected, angle sensor is used for detecting gear turned angle's survey.
2. The AGV driving unit with a shock absorbing mechanism and a steering angle detecting function according to claim 1, wherein: and a lifting screw is also arranged on the front part of the loose-leaf plate.
3. The AGV driving unit with a shock absorbing mechanism and a steering angle detecting function according to claim 1, wherein: the left wheel driving device and the right wheel driving device respectively comprise a direct current servo motor, a driving gear, a driven gear and a walking wheel which are arranged at the bottom of the bottom plate, wherein the driving gear is in transmission connection with the direct current servo motor, the driving gear is in meshing connection with the driven gear, the driven gear is in coaxial connection with the walking wheel, and a gear shield is further arranged outside the driving gear and the driven gear.
4. The AGV driving unit with a shock absorbing mechanism and a steering angle detecting function according to claim 1, wherein: the two symmetrical positions of the two sides of the compression spring on the loose-leaf plate are respectively provided with a driving unit guide plate, and the two sides of the front part of the loose-leaf plate are also symmetrically provided with limit switches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811232071.9A CN111071370A (en) | 2018-10-22 | 2018-10-22 | AGV driving unit with damping mechanism and steering angle detection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811232071.9A CN111071370A (en) | 2018-10-22 | 2018-10-22 | AGV driving unit with damping mechanism and steering angle detection function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111071370A true CN111071370A (en) | 2020-04-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811232071.9A Pending CN111071370A (en) | 2018-10-22 | 2018-10-22 | AGV driving unit with damping mechanism and steering angle detection function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111071370A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891987A (en) * | 2020-08-28 | 2020-11-06 | 广州普华灵动机器人技术有限公司 | Vertical differential drive assembly |
| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
| CN114083948A (en) * | 2021-11-24 | 2022-02-25 | 湖北三丰机器人有限公司 | Active damping based heavy-load servo omnidirectional driving device and AGV |
| CN114835056A (en) * | 2022-03-21 | 2022-08-02 | 天津工程机械研究院有限公司 | Working method of differential driving unit for heavy-load AGV |
-
2018
- 2018-10-22 CN CN201811232071.9A patent/CN111071370A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891987A (en) * | 2020-08-28 | 2020-11-06 | 广州普华灵动机器人技术有限公司 | Vertical differential drive assembly |
| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
| CN113525507B (en) * | 2021-07-16 | 2024-04-12 | 湖南国科智能技术研究院有限公司 | Damping steering wheel suitable for robot |
| CN114083948A (en) * | 2021-11-24 | 2022-02-25 | 湖北三丰机器人有限公司 | Active damping based heavy-load servo omnidirectional driving device and AGV |
| CN114835056A (en) * | 2022-03-21 | 2022-08-02 | 天津工程机械研究院有限公司 | Working method of differential driving unit for heavy-load AGV |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200428 |