CN207579940U - Vision guided navigation formula steering wheel driving mechanism - Google Patents

Vision guided navigation formula steering wheel driving mechanism Download PDF

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Publication number
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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CN
China
Prior art keywords
guided navigation
vision guided
steering wheel
steering
driving mechanism
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201721635999.2U
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Chinese (zh)
Inventor
田园
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Anjoy Automation Equipment Co Ltd
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Suzhou Anjoy Automation Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Anjoy Automation Equipment Co Ltd filed Critical Suzhou Anjoy Automation Equipment Co Ltd
Priority to CN201721635999.2U priority Critical patent/CN207579940U/en
Application granted granted Critical
Publication of CN207579940U publication Critical patent/CN207579940U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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

Vision guided navigation formula steering wheel driving mechanism
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.
CN201721635999.2U 2017-11-30 2017-11-30 Vision guided navigation formula steering wheel driving mechanism Expired - Fee Related CN207579940U (en)

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

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Family Applications (1)

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

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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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