CN207579940U - Vision guided navigation formula steering wheel driving mechanism - Google Patents
Vision guided navigation formula steering wheel driving mechanism Download PDFInfo
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- CN207579940U CN207579940U CN201721635999.2U CN201721635999U CN207579940U CN 207579940 U CN207579940 U CN 207579940U CN 201721635999 U CN201721635999 U CN 201721635999U CN 207579940 U CN207579940 U CN 207579940U
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- guided navigation
- vision guided
- steering wheel
- steering
- driving mechanism
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Abstract
The utility model discloses a kind of vision guided navigation formula steering wheel driving mechanism, it is characterized in that the driving mechanism is by being integrally assembled in the walking unit of its bottom side based on main installing plate, turn to driving unit and vision guided navigation unit composition, wherein walking unit is equipped with the steering fluted disc to connect by clutch shaft bearing between steering wheel mounting bracket and main installing plate, it turns to driving unit and driving gear set is equipped between steering motor installing plate and main installing plate, and driving gear set is meshed with turning to fluted disc, the positioning shooting head of vision guided navigation unit is set towards obliquely downward and the control output end of vision guided navigation unit is accessed and steering motor is driven to rotate forward, reversion.Using the vision guided navigation formula steering wheel driving mechanism of the utility model, one is walked in by modularly integrating vision guided navigation, steering driving and steering engine, it navigates with automatic location, tracking moves the utility function of deflecting, the worry of user's Secondary Design assembling is avoided, and reduces maintenance difficulties and cost consumption.
Description
Technical field
The utility model is related to a kind of commercial Application steering wheel driving mechanism more particularly to a kind of included location navigations, adaptive
The novel steering wheel driving mechanism of steering wheel driving direction should be adjusted.
Background technology
It on the rapid development opportunity in warehouse logistics field that current industrialization manufactures great development and business model zone of transformation comes, passes
System manual labor's input can not effectively reduce cost and be difficult to track operation quality, once error often results in heavy economic losses
While also occur that be difficult to recourse error cause.For this purpose, there are AGV trolleies more and more in logistic industry in recent years, this
It is a kind of innovative product that warehouse style logistics high-efficient automatic can effectively be driven to run, liberate manual labor.
And in various automatic traction equipment, it is often necessary to a kind of steering wheel driving mechanism for adjusting direction of travel is used, by
This realizes the tracking displacement of vehicle.There are many kinds of the steering wheels of class on existing market to drive, but all no included omniselector, i.e., one
Integrate the steering wheel driving of omniselector, later stage user is needed to purchase respectively, carry out Secondary Design and assemble to meet to make
With, the energy and time of user, and the secondary assembling steering wheel driving mechanism of non-modularization assembled formation are greatly wasted,
Inconvenient maintenance after partial function component malfunction, in some instances it may even be possible to complete machine be needed to scrap.
Invention content
In view of the defects of above-mentioned prior art, the purpose of this utility model is directed to a kind of vision guided navigation formula steering wheel driving
Mechanism solves the problems, such as the design of steering wheel drive moduleization, integrates self-positioning navigation.
The utility model realizes that the technical solution of above-mentioned purpose is vision guided navigation formula steering wheel driving mechanism, feature
It is：The driving mechanism is by being integrally assembled in the walking unit of its bottom side based on main installing plate, turning to driving unit and vision
Navigation elements form, and are connected wherein the walking unit is equipped between steering wheel mounting bracket and main installing plate by clutch shaft bearing
Steering fluted disc, it is described steering driving unit between steering motor installing plate and main installing plate be equipped with driving gear set, and pass
Moving gear group is meshed with turning to fluted disc, and the positioning shooting head of the vision guided navigation unit is set towards obliquely downward and vision guided navigation list
The control output end of member is accessed and steering motor is driven to rotate forward, reversion.
Further, the walking unit is connected with movable motor, and steering wheel installation branch in the side of steering wheel mounting bracket
The wheel shaft of steering wheel is articulated in the second bearing of frame, wheel shaft one end transmission is connected on the output shaft of movable motor, the row
Walk the driven rotary state in vision guided navigation unit switching stopping, acceleration, deceleration, constant speed and reversion of motor.
Further, the steering wheel mounting bracket connects with turning to fluted disc with turn, and turns to fluted disc and be based on clutch shaft bearing phase
Main zero resistance of installing plate is rotated.
Further, the main installing plate bottom side is equipped with towards the limit sensors for turning to fluted disc, limit sensors signal
Vision guided navigation unit is accessed, the steering fluted disc is based on limit sensors and turns width with preset.
Further, the main installing plate bottom side is equipped with the limited post towards rotary fluted disc, the setting of the limited post
Region is more than preset rotatable amplitude, and the steering fluted disc is based on limited post, and there is extreme limiting to turn width.
Further, the driving gear set by more than two gears engaged transmission form, and turn to fluted disc the number of teeth compared with
More than the more three times of the number of teeth of each gear of driving gear set.
Further, the vision guided navigation unit is to be acquired using the two-dimentional camera image of industry and be based on Data
Matrix codes realize the PGV all-in-one machines of position positioning, tracking and control.
Using the vision guided navigation formula steering wheel driving mechanism of the utility model, compared to the substantive distinguishing features of this traditional kind equipment
With significant progress：It integrates to the mechanism module vision guided navigation, steering driving and steering engine and walks in one, have full-automatic
Location navigation, tracking move the utility function of deflecting, avoid the worry of user's Secondary Design assembling, and reduce maintenance difficulties
And cost consumption.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model vision guided navigation formula steering wheel driving mechanism.
Fig. 2 is the dimensional structure diagram at another visual angle of the steering wheel driving mechanism of vision guided navigation formula shown in Fig. 1.
Specific embodiment
Just attached drawing in conjunction with the embodiments below, is described in further detail specific embodiment of the present utility model, so that this
Utility model technical solution is more readily understood, grasps, so as to make relatively sharp define to the scope of protection of the utility model.
The utility model designer is directed to the deficiency of existing steering wheel driving mechanism in design, creatively proposes one kind
Novel modularized assembling, and the steering wheel driving mechanism of integrated vision navigation feature can solve the assembling of user's Secondary Design and take a lot of work
And the problems such as cost increase.
From the point of view of the technical solution feature of summary, the vision guided navigation formula steering wheel driving mechanism, by being based on main installing plate one
It is assembled in walking unit, wherein three functional modules compositions of steering driving unit and vision guided navigation unit, the row of its bottom side
It walks unit and the steering fluted disc to connect by clutch shaft bearing is equipped between steering wheel mounting bracket and main installing plate, turn to driving unit
Driving gear set is equipped between steering motor installing plate and main installing plate, and driving gear set is meshed with turning to fluted disc.By
The function combination of this two modules can realize the possibility that steering wheel turns to.And the positioning shooting head of the vision guided navigation unit is towards oblique
Lower section is set and the control output end of vision guided navigation unit is accessed and steering motor is driven to rotate forward, reversion.
Implement as the design and technology advanced optimized, which is connected with row in the side of steering wheel mounting bracket
Motor is walked, and the wheel shaft of steering wheel is articulated in the second bearing of steering wheel mounting bracket, the transmission of wheel shaft one end is connected on movable motor
Output shaft.The driving based on movable motor is so that steering engine has the power of walking displacement as a result,.And the movable motor is driven
In the rotary state of vision guided navigation unit switching stopping, acceleration, deceleration, constant speed and reversion.Here, the driving of vision guided navigation unit
Control force be only used for adjusting steering engine turn to needed for control mechanism turned to rational speeds match, the linear row of inessential steering
During sailing, movable motor is controlled by master controller output speed as needed for actual condition.
The necessary basis that above-mentioned walking unit direction is adjusted, the steering wheel mounting bracket connect with turning to fluted disc with turn, and turn
It is rotated to fluted disc based on clutch shaft bearing relative to main zero resistance of installing plate.
From the point of view of Fig. 1 and preferred embodiment shown in Fig. 2, the vision guided navigation formula steering wheel driving mechanism, by being based on main peace
Loading board 1 is integrally assembled in the walking unit 2 of its bottom side, turns to 4 three functional module groups of driving unit 3 and vision guided navigation unit
Into wherein the walking unit 2 is equipped between steering wheel mounting bracket 21 and main installing plate 1 passes through clutch shaft bearing（It is not shown）Connect
Steering fluted disc 5, turn to driving unit 3 between steering motor installing plate 31 and main installing plate 1 be equipped with driving gear set 33, turn
It is fixed on steering motor installing plate 31 to 32 attaching of motor, and output shaft engages biography with a gear in driving gear set
Dynamic, driving gear set 33 is meshed with turning to fluted disc 5.And the positioning shooting head 41 of the vision guided navigation unit 4 is set towards obliquely downward
And the control output end of vision guided navigation unit is accessed and steering motor is driven to rotate forward, reversion.The walking unit 2 installs branch in steering wheel
The side of frame 21 is connected with movable motor 24, and the wheel shaft of steering wheel 23 is articulated in the second bearing 22 of steering wheel mounting bracket 21
231,231 one end of wheel shaft is driven the output shaft for being connected on movable motor 24.
More refinement ground, it is illustrated that in, which is equipped with towards the limit sensors 61 for turning to fluted disc, and limiting passes
61 signal of sensor access vision guided navigation unit 4, which is based on limit sensors and turns width with preset.It is embodied understanding
To be carried out in steering wheel steering traveling process by the driving rotation for turning to driving unit 3 when turning to fluted disc, turning to the rotation width of fluted disc
Degree reaches limit sensors state change, you can signal feeds back to the prompting of vision guided navigation unit and turns to arrival rotational limitation, can not
Further depth turns in the same direction（Namely close on the limit of turning radius）.In general, the installation position of the limit sensors 61 is expired
Sufficient steering wheel is in each side 90 ° of steerings of direction of advance.
Certainly, the signal transmission of limit sensors, processing speed and may be because be disturbed and the situation of failure, thus
Steering wheel is avoided excessively to turn to, which is additionally provided with the limited post 62 towards rotary fluted disc, the setting of the limited post 62
Region is more than preset rotatable amplitude, and turning to fluted disc based on limited post there is extreme limiting to turn width.Work as limit sensors
When it is unexpected that failure occur, limited post block at once can be limited by by turning to fluted disc, avoid the uncontrolled ground of steering wheel is excessive from turning to.
Moreover, above-mentioned driving gear set 33 by more than two gears engaged transmission form, and turn to fluted disc the number of teeth compared with
More than the more three times of the number of teeth of each gear of driving gear set.Gear there are three driving gear set tools in diagram embodiment, and it is each
The diameter and the number of teeth of gear are much smaller than the relevant parameter for turning to fluted disc.
As preferred embodiment, which is to be acquired using the two-dimentional camera image of industry and be based on Data
Matrix codes realize the PGV all-in-one machines of position positioning, tracking and control.The PG all-in-one machines can not only guide AGV trolleies along leading
Navigate code band（Color code band）With position code band move, moreover it is possible to by ontology visual identity function realize vehicle launch, stop or
The functions such as turning.It is a kind of accurate Absolutely orientation system of submillimeter level.Color code band/paint defines travel path；
Data Matrix position code bands provide absolute location information；Control code is used to turning and sending out when being bent control signal.For
This, the guiding driving for being applied to steering wheel is reasonable and efficient.
To sum up about the utility model vision guided navigation formula steering wheel driving mechanism technical solution and the detailed description of embodiment, compared with
The substantive distinguishing features and significant progress in this traditional kind equipment：Vision guided navigation is integrated to the mechanism module, turns to and drives
Dynamic and steering engine walks in one, has automatic location navigation, and tracking moves the utility function of deflecting, avoids that user is secondary to be set
The worry of assembling is counted, and reduces maintenance difficulties and cost consumption.
Claims (7)
1. vision guided navigation formula steering wheel driving mechanism, it is characterised in that：The driving mechanism is integrally assembled in by being based on main installing plate
The walking unit of its bottom side turns to driving unit and vision guided navigation unit composition, wherein the walking unit installs branch in steering wheel
The steering fluted disc to connect by clutch shaft bearing is equipped between frame and main installing plate, the steering driving unit is installed in steering motor
Driving gear set is equipped between plate and main installing plate, and driving gear set is meshed with turning to fluted disc, the vision guided navigation unit
Positioning shooting head towards obliquely downward set and vision guided navigation unit control output end access and drive steering motor rotate forward, instead
Turn.
2. vision guided navigation formula steering wheel driving mechanism according to claim 1, it is characterised in that：The walking unit is pacified in steering wheel
The side of dress stent is connected with movable motor, and the wheel shaft of steering wheel, the wheel are articulated in the second bearing of steering wheel mounting bracket
Axis one end, which is driven, is connected on the output shaft of movable motor, the movable motor is driven to be stopped in the switching of vision guided navigation unit, accelerates,
The rotary state of deceleration, constant speed and reversion.
3. vision guided navigation formula steering wheel driving mechanism according to claim 1, it is characterised in that：The steering wheel mounting bracket is with turning
Connect to fluted disc with turn, and turn to fluted disc and rotated based on clutch shaft bearing relative to main zero resistance of installing plate.
4. vision guided navigation formula steering wheel driving mechanism according to claim 1, it is characterised in that：The main installing plate bottom side is equipped with
Towards the limit sensors for turning to fluted disc, limit sensors signal access vision guided navigation unit, the steering fluted disc is based on limiting
Sensor turns width with preset.
5. vision guided navigation formula steering wheel driving mechanism according to claim 4, it is characterised in that：The main installing plate bottom side is equipped with
Towards the limited post of rotary fluted disc, the setting area of the limited post is more than preset rotatable amplitude, the steering fluted disc base
In limited post there is extreme limiting to turn width.
6. vision guided navigation formula steering wheel driving mechanism according to claim 1, it is characterised in that：The driving gear set is by two
With gear engaged transmission is formed, and steering fluted disc the number of teeth compared to the more three times of the number of teeth of each gear of driving gear set more than.
7. according to the vision guided navigation formula steering wheel driving mechanism of claim 1,2 or 4, it is characterised in that：The vision guided navigation list
Member is using industry two dimension camera image acquisition and realizes position positioning, tracking and the PGV controlled based on Data Matrix codes
All-in-one machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721635999.2U CN207579940U (en) | 2017-11-30 | 2017-11-30 | Vision guided navigation formula steering wheel driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721635999.2U CN207579940U (en) | 2017-11-30 | 2017-11-30 | Vision guided navigation formula steering wheel driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207579940U true CN207579940U (en) | 2018-07-06 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721635999.2U Expired - Fee Related CN207579940U (en) | 2017-11-30 | 2017-11-30 | Vision guided navigation formula steering wheel driving mechanism |
Country Status (1)
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| CN (1) | CN207579940U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383664A (en) * | 2018-12-19 | 2019-02-26 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy electric drive steering wheel of differential steering |
| CN109551989A (en) * | 2018-12-27 | 2019-04-02 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy type electric drive steering wheel |
| CN110604913A (en) * | 2019-10-15 | 2019-12-24 | 长安大学 | Boxing and body-building auxiliary robot |
| CN111845919A (en) * | 2020-07-03 | 2020-10-30 | 深圳怡丰自动化科技有限公司 | Steering wheel and control method thereof |
| CN114408015A (en) * | 2021-12-21 | 2022-04-29 | 重庆特斯联智慧科技股份有限公司 | Steering device of logistics robot and control method thereof |
| CN116518969A (en) * | 2023-04-25 | 2023-08-01 | 南京艾小宝智能科技有限公司 | Visual positioning system and method under indoor scene |
| CN109383664B (en) * | 2018-12-19 | 2024-07-05 | 湖北三江航天万山特种车辆有限公司 | Differential steering heavy-duty electrically-driven steering wheel |
-
2017
- 2017-11-30 CN CN201721635999.2U patent/CN207579940U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383664A (en) * | 2018-12-19 | 2019-02-26 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy electric drive steering wheel of differential steering |
| CN109383664B (en) * | 2018-12-19 | 2024-07-05 | 湖北三江航天万山特种车辆有限公司 | Differential steering heavy-duty electrically-driven steering wheel |
| CN109551989A (en) * | 2018-12-27 | 2019-04-02 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy type electric drive steering wheel |
| CN110604913A (en) * | 2019-10-15 | 2019-12-24 | 长安大学 | Boxing and body-building auxiliary robot |
| CN110604913B (en) * | 2019-10-15 | 2024-05-17 | 长安大学 | Boxing body-building auxiliary robot |
| CN111845919A (en) * | 2020-07-03 | 2020-10-30 | 深圳怡丰自动化科技有限公司 | Steering wheel and control method thereof |
| CN111845919B (en) * | 2020-07-03 | 2023-09-01 | 深圳怡丰自动化科技有限公司 | Steering wheel and control method thereof |
| CN114408015A (en) * | 2021-12-21 | 2022-04-29 | 重庆特斯联智慧科技股份有限公司 | Steering device of logistics robot and control method thereof |
| CN114408015B (en) * | 2021-12-21 | 2024-04-09 | 重庆特斯联智慧科技股份有限公司 | Steering device of logistics robot and control method thereof |
| CN116518969A (en) * | 2023-04-25 | 2023-08-01 | 南京艾小宝智能科技有限公司 | Visual positioning system and method under indoor scene |
| CN116518969B (en) * | 2023-04-25 | 2023-10-20 | 南京艾小宝智能科技有限公司 | Visual positioning system and method under indoor scene |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180706 Termination date: 20201130 |