CN113386878B - AGV steering wheel zero deviation automatic calibration device - Google Patents
AGV steering wheel zero deviation automatic calibration device Download PDFInfo
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- CN113386878B CN113386878B CN202110762230.1A CN202110762230A CN113386878B CN 113386878 B CN113386878 B CN 113386878B CN 202110762230 A CN202110762230 A CN 202110762230A CN 113386878 B CN113386878 B CN 113386878B
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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
- 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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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention discloses an automatic calibrating device for zero offset of an AGV steering wheel, which comprises an offset measuring mechanism connected with a moving mechanism and a calibrating mechanism arranged on the offset measuring mechanism, wherein a moving gear is fixedly connected with an output shaft of a moving motor, the moving gear is driven to rotate by the moving motor, a rack drives the offset measuring mechanism and the calibrating mechanism to move, a push block arranged on a supporting plate in a sliding mode is arranged on the offset measuring mechanism, when the steering wheel deviates, a calibrating push plate is pushed to be in contact with the push block to calibrate, the calibrating mechanism comprises a calibrating guide rod fixedly arranged on a sliding chute plate, a calibrating support rod is fixedly arranged on a guide groove, rotating glass beads are arranged in the calibrating support rod, two sides of the steering wheel are kept in fit with the calibrating support rod, and the steering wheel is calibrated.
Description
Technical Field
The invention relates to the field of AGV, in particular to an automatic zero-deviation calibration device for an AGV steering wheel.
Background
In modern society, agv vehicles are increasingly used in industry with the development of industrial internet. AGV is also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. In industrial application, a carrier which does not need a driver uses a rechargeable storage battery as a power source, the traveling path and behavior of the carrier can be controlled by a computer generally, or the traveling path is established by using an electromagnetic rail which is adhered to a floor, an unmanned carrier moves by means of information brought by the electromagnetic rail, and currently, an AGV needs to specially customize a route, a program and the like for a factory, so that the manufacturing cost is very high, the application range is narrow, and therefore, a widely-used AGV system becomes very important. The invention adopts the device that the deviation measuring mechanism and the calibrating mechanism can be automatically attached to the steering wheel and carry out zero deviation calibration on the steering wheel, avoids the working error caused by the deflection of the steering wheel, adopts the rotating glass beads, improves the deviation measuring precision and reduces the error rate, thereby providing the automatic calibrating device for the zero deviation of the steering wheel of the AGV.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the device which can be automatically attached to the steering wheel and carry out zero offset calibration on the steering wheel, and solves the problems of low calibration efficiency, poor accuracy and low success rate in the prior art.
The utility model provides a AGV steering wheel zero offset automatic calibration device, includes the mechanism of deviational survey that is connected with moving mechanism to and set up the alignment mechanism on the mechanism of deviational survey, moving mechanism includes the rack of fixed mounting in the backup pad, rack and the meshing of moving gear pinion, the output shaft fixed connection of moving gear and moving motor through the moving motor drive moving gear, makes the rack drive the mechanism of deviational survey and the alignment mechanism removal, it has the ejector pad of slip setting in the backup pad to survey to construct, ejector pad below fixed mounting has the calibration push pedal, the backup pad passes through the connecting rod and promotes the driven plate and rotate the installation, when the steering wheel takes place the skew, promotes calibration push pedal and ejector pad contact, calibrates, alignment mechanism includes the calibration guide arm of fixed mounting on the chute board, slidable mounting has the guide slot on the calibration guide arm, little slider and guide slot sliding connection, install the spring on the calibration guide arm, the fixed alignment handrail that is provided with on the guide slot, the inside rotatory glass pearl that is provided with of alignment handrail, the steering wheel both sides keep laminating with the calibration handrail, carry out deviational survey to the steering wheel.
Further, moving mechanism still sets up the rack on the fixed plate including sliding, the fixed plate is connected with driven gear rotation, turns to the output shaft and the driving gear fixed connection of motor, driving gear and driven gear meshing, driven gear rotate with the dwang and are connected, and connecting plate fixed connection is on the dwang, and the dwang that the drive driving gear rotated on driving driven gear rotates, makes the steering wheel accomplish to turn to.
Furthermore, the driven pushing plate is fixedly connected with the sliding block pushing plate, and the sliding block pushing plate is attached to the inclined plate sliding block.
Furthermore, the calibration mechanism further comprises a slide rod fixedly arranged on the supporting plate, the slide rod and the inclined plate slide block are arranged in a sliding mode, a return spring is arranged on the slide rod, the inclined plate slide block is connected with the chute plate in a sliding mode, the chute plate is fixedly arranged on the supporting plate, and when the steering wheel deflects, the guide groove pushes the inclined plate slide block to move so that the slide block push plate rotates.
Furthermore, the one end of swash plate slider laminating slider push pedal is the arc, is provided with the swash plate on the swash plate slider, and the inclined plane and the guide slot of swash plate slider keep laminating through the spring.
Furthermore, a glass bead spring is arranged in the calibration holding rod, and the rotary glass bead is connected with the glass bead spring.
Further, the calibration mechanisms are symmetrically arranged in two groups relative to the supporting plate.
The working principle of the invention is as follows: when the device works, the movable gear rotates by driving the movable motor, the rack is driven to slide on the fixed plate, the deviation measuring mechanism and the calibrating mechanism are driven to move, the calibrating handrail is driven to be attached to the quadrant points on the two sides of the steering wheel, in the attaching process, when the steering wheel has a certain deviation angle, the side edge of the steering wheel is contacted with the rotating glass beads, the rotating glass beads are pressed into the calibrating handrail, when the rotating glass beads are completely pressed into the calibrating handrail, the calibrating handrail pushes the inclined surface of the inclined plate sliding block to enable the inclined plate sliding block to slide in the chute plate, the cambered surface on the swash plate block pushes a block push plate, the block push plate drives a driven plate to rotate, when the swash plate block stops sliding, the numerical value of the movement of the block at the moment is the error value of the steering wheel zero offset, at the moment, the hydraulic cylinder operates to push the push block to drive a calibration push plate to slide, the calibration push plate is in contact with the driven plate, the driven plate is pushed to return, the driven plate is pushed to drive the block push plate, the block push plate pushes the swash plate block to slide, the steering wheel which deflects is pushed through a calibration handrail, and the steering wheel is calibrated.
Compared with the prior art, the invention has the beneficial effects that: (1) The invention is provided with the moving mechanism, which can automatically carry out deviation measurement detection on the steering wheel, thereby improving the working efficiency; (2) The invention improves the stability of the device through the spring; (3) Through setting up the deviation that rotatory glass pearl can be accurate to the steering wheel and detect, the error rate has in time been reduced in the calibration.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2-3 are schematic diagrams of the overall structure of the moving mechanism of the invention.
Fig. 4 is a schematic view of the whole structure of the deviation measuring mechanism of the present invention.
Fig. 5 is a schematic view of the overall structure of the calibration mechanism of the present invention.
Detailed Description
In the following description of the present invention, it is to be noted that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the following description of the present invention, it should be noted that unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention will be further described with reference to the drawings and illustrative embodiments, which are provided herein to illustrate and not to limit the invention. In addition, if a detailed description of the known art is not necessary to show the features of the present invention, it is omitted.
Example (b):
the utility model provides an AGV steering wheel zero offset automatic calibration device, includes steering wheel 1 and the mechanism 3 that inclines of surveying that sets up on moving mechanism 2 and be connected with moving mechanism 2 to and set up the aligning gear 4 on the mechanism 3 that inclines of surveying.
The steering wheel 1 is provided with a power source for driving the steering wheel 1 to rotate, and the steering wheel 1 is rotatably connected with the connecting plate 210.
The moving mechanism 2 is provided with a rack 201 fixedly connected with a supporting plate 301, the rack 201 is arranged on a fixing plate 202 in a sliding mode, the rack 201 is in gear engagement with a moving gear 203, the moving gear 203 is fixedly connected with an output shaft of a moving motor 204, an output shaft of a steering motor 205 is fixedly connected with a driving gear 207, a driven gear 208 is arranged on a bottom plate 206, the driven gear 208 is in gear engagement with the driving gear 207, a rotating rod 209 is rotatably arranged on the driven gear 208, and a connecting plate 210 is fixedly arranged on the bottom plate 206.
The deviation measuring mechanism 3 is provided with a push block 305 which is arranged on a support plate 301 in a sliding mode, the support plate 301 is rotatably installed with a driven plate 302 through a connecting rod, a calibration push plate 306 is fixedly installed below the push block 305, the push block 305 is installed on a hydraulic cylinder 304, the hydraulic cylinder 304 is fixedly installed on the support plate 301, the driven plate 302 is fixedly connected with a slide block push plate 303, and the slide block push plate 303 is kept attached to the cambered surface of a sloping plate slide block 403.
The calibration mechanism 4 is provided with a slide rod 401 fixedly arranged on a support plate 301, the slide rod 401 and a sloping plate slide block 403 are arranged in a sliding manner, the slide rod 401 is provided with a return spring 402, the sloping plate slide block 403 is connected with a sliding groove plate 404 in a sliding manner, the sliding groove plate 404 is fixedly arranged on the support plate 301, a calibration guide rod 409 is fixedly arranged on the sliding groove plate 404, a guide groove 405 is slidably arranged on the calibration guide rod 409, a small slide block 406 is connected with the guide groove 405 in a sliding manner, the calibration guide rod 409 is provided with a spring 410, a calibration support rod 408 is fixedly arranged on the guide groove 405, and a rotating glass bead 407 is arranged inside the calibration support rod 408.
During operation, the moving motor 204 is driven to rotate the moving gear 203, the rack 201 is driven to slide on the fixed plate 202, the deviation measuring mechanism 3 and the calibrating mechanism 4 are driven to move, the calibrating handrail 408 is driven to be attached to the quadrant points on two sides of the steering wheel, in the attaching process, when the steering wheel has a certain deviation angle, the side edge of the steering wheel is in contact with the rotary glass bead 407, the rotary glass bead 407 is pressed into the calibrating handrail 408, when the rotary glass bead 407 is completely pressed into the calibrating handrail 408, the calibrating handrail 408 pushes the inclined plane of the inclined plate slider 403 to enable the inclined plate slider 403 to slide in the chute plate 404, the cambered surface on the inclined plate slider 403 pushes the slider push plate 303, the slider push plate 303 drives the driven plate 302 to rotate, when the inclined plate slider 403 stops sliding, the moving value of the slider is the zero deviation error value of the steering wheel, at this time, the hydraulic cylinder 304 operates to push the push block 305 to drive the calibrating push plate 306 to slide, the push plate 306 is in contact with the driven plate 302 to push the slider 302, the push plate 302 to drive the push plate slider 403, the hydraulic cylinder to slide, the deflecting wheel 408 to calibrate the steering wheel 408, and the steering wheel 408 to finish calibrating return to the steering wheel by the steering wheel 408.
It should be understood that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and those skilled in the art can modify the technical solutions described in the above embodiments, or make equivalent substitutions for some technical features; and all such modifications and alterations are intended to fall within the scope of the appended claims.
Claims (7)
1. The utility model provides a AGV steering wheel zero offset automatic calibration device, includes the mechanism of deviational survey that is connected with moving mechanism to and the alignment mechanism of setting on deviational survey mechanism, its characterized in that: the moving mechanism comprises a rack fixedly arranged on the supporting plate, the rack is meshed with a moving gear, the moving gear is fixedly connected with an output shaft of a moving motor, and the moving gear is driven to rotate by the moving motor so that the rack drives the deviation measuring mechanism and the calibrating mechanism to move; the deviation measuring mechanism is provided with a push block which is arranged on a support plate in a sliding mode, a calibration push plate is fixedly arranged below the push block, the support plate is rotatably arranged with a driven plate through a connecting rod, and when the steering wheel deviates, the calibration push plate is pushed to be in contact with the driven plate to conduct calibration; the calibrating mechanism comprises a calibrating guide rod fixedly installed on the sliding chute plate, a guide groove is installed on the calibrating guide rod in a sliding mode, the guide groove is connected with a small sliding block on the sliding chute plate in a sliding mode, a spring is installed on the calibrating guide rod, a calibrating handrail is fixedly arranged on the guide groove, a rotating glass bead is arranged inside the calibrating handrail, two sides of the steering wheel are attached to the calibrating handrail, and the steering wheel is measured.
2. An automatic calibration device for zero offset of AGV steering wheel according to claim 1, wherein: the moving mechanism further comprises a rack arranged on the fixed plate in a sliding mode, an output shaft of the steering motor is fixedly connected with the driving gear, the driving gear is meshed with a driven gear, the driven gear is rotatably connected with the rotating rod, the connecting plate is fixedly connected onto the rotating rod, the driving gear rotates to drive the rotating rod on the driven gear to rotate, and the steering wheel is enabled to complete steering.
3. The AGV steering wheel zero deviation automatic calibration device of claim 1, wherein said push driven plate is fixedly connected to a slide block pushing plate, said slide block pushing plate is kept attached to the sloping plate slide block.
4. An automatic calibration device for zero offset of AGV steering wheel according to claim 1, wherein: the calibration mechanism further comprises a slide rod fixedly arranged on the supporting plate, the slide rod and the sloping plate slide block are arranged in a sliding mode, a return spring is arranged on the slide rod, the sloping plate slide block is connected with the sliding groove plate in a sliding mode, the sliding groove plate is fixedly arranged on the supporting plate, and when the steering wheel deflects, the guide groove pushes the sloping plate slide block to move so that the slide block push plate rotates.
5. An AGV steering wheel zero deflection automatic calibration device according to claim 4, wherein: one end of the swash plate slider attaching slider push plate is arc-shaped, a swash plate is arranged on the swash plate slider, and the inclined plane of the swash plate slider is attached to the guide groove through a spring.
6. An automatic calibration device for zero offset of AGV steering wheel according to claim 1, wherein: the inside glass bead spring that is provided with of calibration right pole, rotatory glass bead and glass bead spring coupling.
7. An AGV steering wheel zero-offset automatic calibration device as claimed in claim 1, wherein: the calibration mechanism is symmetrically provided with two groups relative to the supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110762230.1A CN113386878B (en) | 2021-07-06 | 2021-07-06 | AGV steering wheel zero deviation automatic calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110762230.1A CN113386878B (en) | 2021-07-06 | 2021-07-06 | AGV steering wheel zero deviation automatic calibration device |
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| Publication Number | Publication Date |
|---|---|
| CN113386878A CN113386878A (en) | 2021-09-14 |
| CN113386878B true CN113386878B (en) | 2022-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110762230.1A Active CN113386878B (en) | 2021-07-06 | 2021-07-06 | AGV steering wheel zero deviation automatic calibration device |
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| JP2013112232A (en) * | 2011-11-30 | 2013-06-10 | Toyo Mecha System:Kk | Eccentricity correcting member for universal caster |
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| CN113386878A (en) | 2021-09-14 |
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Address after: 250119 66-102, Xinmao Qilu science and Technology City, No. 1, Zidong Avenue, Tianqiao District, Jinan City, Shandong Province Applicant after: Wang Ruihao Address before: 650000 No. 63, Jiaoling Road, Wuhua District, Kunming City, Yunnan Province Applicant before: Wang Ruihao |
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