CN210284446U

CN210284446U - Automatic guide transport vechicle with independent steering mechanism

Info

Publication number: CN210284446U
Application number: CN201920964487.3U
Authority: CN
Inventors: 刘楠嶓; 郭亚铭; 凌晗; 宋昊举; 张博晖; 段帅朋; 吴立辉; 武照云; 张中伟
Original assignee: Henan University of Technology
Current assignee: Henan University of Technology
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-04-10
Anticipated expiration: 2029-06-25

Abstract

The utility model discloses a transport vechicle technical field's an automated guided transport vechicle with independent steering mechanism, including bottom plate, running gear and steering mechanism, it has arc spout and pivot hole to open on the bottom plate, the bottom and the running gear of bottom plate are connected, the top and the steering mechanism of bottom plate are connected, through the setting of devices such as bottom plate, running gear and the steering mechanism on the device, have realized that 90 turn to completely under the unchangeable condition of automobile body gesture, have avoided the goods to shift with the automobile body when turning to together probably take place the goods under the effect of centrifugal force, and the phenomenon that leads to the vehicle to topple takes place, and automated guided transport vechicle automobile body self does not have turning radius, is applicable to the narrow and small scene in space, has improved the field utilization ratio.

Description

Automatic guide transport vechicle with independent steering mechanism

Technical Field

The utility model relates to an automated guided transporting vehicle technical field specifically is an automated guided transporting vehicle with independent steering mechanism.

Background

An Automated Guided Vehicle (AGV), also called an automated guided vehicle, is a vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions. At present, most of automatic guide transport vehicles on the market adopt a traditional differential driving mode and a single/double driving mode, the turning radius is too large, and the space utilization rate can be reduced to a certain degree along with the problems of insufficient steering capacity or excessive steering, and the working efficiency is reduced. In addition, some automated guided vehicles turn around, and the goods turn to along with the automobile body, and the goods can shift under the effect of centrifugal force, leads to the vehicle to overturn.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automated guided transporting vehicle with independent steering mechanism to solve the too big problem that leads to goods position aversion and space utilization to reduce of turning radius of the current automated guided transporting vehicle who proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an automated guided transporting vehicle with independent steering mechanism, includes bottom plate, running gear and steering mechanism, it has arc spout and pivot hole to open on the bottom plate, the bottom and the running gear of bottom plate are connected, the top and the steering mechanism of bottom plate are connected, install four sensors on the bottom plate.

Preferably, four walking units are installed on the walking mechanism, each walking unit comprises a rotating shaft, a long pin shaft, a base, a wheel, a walking main shaft, a belt pulley, a bearing seat and a walking motor, the rotating shaft and the long pin shaft are installed on the base through bolts, the wheel and the driving main shaft are fixed at the bottom of the base through the bearing seat, and the walking motor is connected with the walking main shaft through the belt pulley.

Preferably, the steering mechanism comprises a link mechanism, a ball screw, a chain wheel and a steering motor, the link mechanism comprises a short link, a long link and a short pin shaft, and a screw bearing seat, a left-right-handed integrated screw, a nut and a screw nut seat are mounted on the ball screw.

Preferably, one end of the short connecting rod penetrates through an arc-shaped sliding groove formed in the bottom plate and is connected with a base of the walking unit, the other end of the short connecting rod is connected with the short pin shaft, the long connecting rod is installed on the nut seat through a screw, two ends of the long connecting rod are connected with the short connecting rod through the short pin shaft, two ends of the ball screw are fixed on the bottom plate through the screw nut seat, and the steering motor is connected with the ball screw through a chain wheel.

Compared with the prior art, the beneficial effects of the utility model are that: the automatic guide transport vehicle with the independent steering mechanism is simple in structure, easy to implement, low in cost and convenient to maintain; the vehicle realizes complete 90-degree steering under the condition that the posture of the vehicle body is not changed, and avoids the phenomenon that the vehicle overturns due to the possibility of cargo displacement under the action of centrifugal force when the cargo is steered together with the vehicle body; the automatic guided vehicle body has no turning radius, is suitable for scenes with narrow space, and improves the utilization rate of the field.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of the walking unit of the present invention;

fig. 3 is a schematic structural view of the steering mechanism of the present invention.

In the figure: 1 traveling mechanism, 2 bottom plates, 2-1 sensors, 3 steering mechanisms, 1-1 traveling motors, 1-2 traveling main shafts, 1-3 bearing seats, 1-4 belt pulleys, 1-5 wheels, 1-6 long pin shafts, 1-7 rotating shafts, 1-8 bases, 3-1 ball screws, 3-2 screw nut seats, 3-3 short pin shafts, 3-4 steering motors, 3-5 chain wheels, 3-6 short connecting rods and 3-7 long connecting rods.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model provides a following technical scheme: an automated guided vehicle with an independent steering mechanism is used for preventing the problems that the turning radius of the automated guided vehicle is too large and the shifting of a goods space and the reduction of the space utilization rate are easily caused, please refer to fig. 1, and comprises a bottom plate 2, a traveling mechanism 1 and a steering mechanism 3, wherein an arc-shaped chute and a rotating shaft 1-7 hole are formed in the bottom plate 2, the bottom of the bottom plate 2 is connected with the traveling mechanism 1, the top of the bottom plate 2 is connected with the steering mechanism 3, four sensors 2-1 are installed on the bottom plate 2, and particularly, the bottom plate 2 supports the steering mechanism 3 and fixes the traveling mechanism 1.

Referring to fig. 2, four traveling units are mounted on a traveling mechanism 1, each traveling unit comprises a rotating shaft 1-7, a long pin shaft 1-6, a base 1-8, wheels 1-5, a traveling main shaft 1-2, a belt pulley 1-4, a bearing seat 1-3 and a traveling motor 1-1, the rotating shaft 1-7 and the long pin shaft 1-6 are mounted on the base 1-8 through bolts, the wheels 1-5 and a driving main shaft are fixed at the bottom of the base 1-8 through the bearing seats 1-3, the traveling motor 1-1 is connected with the traveling main shaft 1-2 through the belt pulley 1-4, specifically, the four traveling units respectively control the rotation and angular deviation of the four wheels 1-5, the rotation of the traveling motor 1-1 is used for driving the wheels 1-5 to rotate, the walking main shaft 1-2 is used for fixing the rotating position of the wheel 1-5, the bearing seat 1-3 is used for fixing the position of the walking main shaft 1-2, and the belt pulley 1-4 is used for connecting the walking motor 1-1 and the walking main shaft 1-2.

Referring to fig. 3, the steering mechanism 3 includes a link mechanism, a ball screw 3-1, a sprocket 3-5 and a steering motor 3-4, the link mechanism includes a short link 3-6, a long link 3-7 and a short pin 3-3, the ball screw 3-1 is provided with a screw bearing seat, a left-right-handed integral screw, a nut and a nut seat, and specifically, the left-right-handed integral screw improves the stability of the ball screw 3-1, facilitates the transmission of power and improves the synchronism of rotation.

Referring to fig. 3 again, one end of a short connecting rod 3-6 passes through an arc chute formed on the bottom plate 2 to be connected with a base 1-8 of the traveling unit, the other end of the short connecting rod 3-6 is connected with a short pin shaft 3-3, a long connecting rod 3-7 is installed on a screw nut seat 3-2 through a screw, both ends of the long connecting rod 3-7 are connected with the short connecting rod 3-6 through the short pin shaft 3-3, both ends of a ball screw 3-1 are fixed on the bottom plate 2 through the screw nut seat 3-2, a steering motor 3-4 is connected with the ball screw 3-1 through a chain wheel 3-5, specifically, the short connecting rod 3-6 is used for connecting the base 1-8 of the traveling unit to drive the traveling unit to move, the short pin shaft 3-3 is used for connecting and fixing the short connecting rod 3-6 and the long connecting rod 3-7, the long connecting rod 3-7 is used for driving the short connecting rod 3-6 to move, and the steering motor 3-4 is used for driving the ball screw 3-1 to rotate.

In the specific use process, when the automatic guided transport vehicle travels along a line, when two adjacent sensors 2-1 detect signals simultaneously, the steering mechanism works, the steering motor 3-4 drives the screw rod 3-1 to rotate together through the chain wheel 3-5, the long connecting rod 3-7 makes linear motion along with the nut 3-2, and the short connecting rod 3-6 pushes the traveling unit 1 to rotate inwards or outwards for 90 degrees simultaneously around the rotating shaft hole on the bottom plate 2 under the action of the long connecting rod 3-7, so that right-angle turning and reversing traveling are realized.

While the invention has been described above with reference to certain embodiments, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, the various features of the various embodiments disclosed herein can be used in any combination with one another, and the description of such combinations that is not exhaustive in this specification is merely for brevity and resource saving. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. An automated guided vehicle with independent steering mechanism which characterized in that: the intelligent steering device is characterized by comprising a bottom plate (2), a traveling mechanism (1) and a steering mechanism (3), wherein an arc-shaped sliding groove and a rotating shaft (1-7) hole are formed in the bottom plate (2), the bottom of the bottom plate (2) is connected with the traveling mechanism (1), the top of the bottom plate (2) is connected with the steering mechanism (3), and four sensors (2-1) are installed on the bottom plate (2).

2. An automated guided vehicle with independent steering mechanism according to claim 1, wherein: the four walking units are installed on the walking mechanism (1) and comprise rotating shafts (1-7), long pin shafts (1-6), bases (1-8), wheels (1-5), walking spindles (1-2), belt pulleys (1-4), bearing seats (1-3) and walking motors (1-1), the rotating shafts (1-7) and the long pin shafts (1-6) are installed on the bases (1-8) through bolts, the wheels (1-5) and the driving spindles are fixed to the bottoms of the bases (1-8) through the bearing seats (1-3), and the walking motors (1-1) are connected with the walking spindles (1-2) through the belt pulleys (1-4).

3. An automated guided vehicle with independent steering mechanism according to claim 1, wherein: the steering mechanism (3) comprises a connecting rod mechanism, a ball screw (3-1), a chain wheel (3-5) and a steering motor (3-4), the connecting rod mechanism comprises a short connecting rod (3-6), a long connecting rod (3-7) and a short pin shaft (3-3), and a screw bearing seat, a left-right-handed integrated screw, a nut and a nut seat are installed on the ball screw (3-1).

4. An automated guided vehicle with independent steering mechanism according to claim 3, wherein: one end of the short connecting rod (3-6) penetrates through an arc-shaped sliding groove formed in the bottom plate (2) and is connected with a base (1-8) of the walking unit, the other end of the short connecting rod (3-6) is connected with the short pin shaft (3-3), the long connecting rod (3-7) is installed on the screw nut seat (3-2) through a screw, two ends of the long connecting rod (3-7) are connected with the short connecting rod (3-6) through the short pin shaft (3-3), two ends of the ball screw (3-1) are fixed on the bottom plate (2) through the screw nut seat (3-2), and the steering motor (3-4) is connected with the ball screw (3-1) through a chain wheel (3-5).