CN213920646U

CN213920646U - Rudder wheel for heavy-load AGV

Info

Publication number: CN213920646U
Application number: CN202022773088.4U
Authority: CN
Inventors: 王立松; 赵丽娜; 高尊冉; 洪峰; 杜文春; 韩祥玲
Original assignee: Harbin Boshi Automation Co Ltd
Current assignee: Harbin Boshi Automation Co Ltd
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2021-08-10
Anticipated expiration: 2030-11-26

Abstract

The utility model provides a rudderwheel for heavy load AGV, it is including turning to gear motor 1, worm case 2, drive wheel assembly 3, worm case 2 includes box 21, be equipped with the worm 22 that is on a parallel with ground on the box 21, it is connected with worm 22's anterior segment optical axis to turn to gear motor 1, worm 22's back end teeth of a cogwheel and worm wheel 24 mesh mutually, worm 22's both ends are connected on box 21 through worm bearing 23, worm wheel 24 connects the upper portion at pivot 25, the upper and lower both ends of pivot 25 are connected on box 21 through pivot bearing 26, drive wheel assembly 3 includes wheel support body 31, the inside of wheel support body 31 is equipped with drive wheel 32, drive wheel 32 is connected on shaft 33, the both ends of shaft 33 are connected on wheel support body 31 through shaft bearing 34, the one end of shaft 33 is connected with drive gear motor 35's output, drive gear motor 35 fixes on wheel support body 31. The utility model discloses a big reduction ratio transmission of steering wheel steering mechanism can overcome the resistance that turns to of heavy load AGV steering wheel, realizes reliable angle that turns to.

Description

Rudder wheel for heavy-load AGV

Technical Field

The utility model relates to a rudderwheel for heavy load AGV belongs to vehicle machinery.

Background

Patent document CN103895695A discloses a steering wheel driving device, which uses a steering motor to drive a pinion, and then uses the pinion to drive a gearwheel at the end of a driving wheel shaft, so as to realize the rotation of the driving wheel shaft and the steering of the driving wheel.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that the prior steering wheel can not be applied to heavy-load AGV due to small steering torque, the utility model provides a steering wheel for heavy-load AGV, which comprises a steering gear motor 1, a worm box 2 and a driving wheel component 3, wherein the worm box 2 is a worm gear reduction box structure, the worm box 2 comprises a box body 21, the box body 21 is a frame of the whole steering wheel, a worm 22 parallel to the ground is arranged on the box body 21, the steering gear motor 1 is connected with the front section optical axis of the worm 22, the rear section gear teeth of the worm 22 are meshed with a worm wheel 24, two ends of the worm 22 are connected on the box body 21 through a worm bearing 23, the worm wheel 24 is connected on the upper part of a rotating shaft 25, the axis of the rotating shaft 25 is vertical to the ground, the upper end and the lower end of the rotating shaft 25 are connected on the box body 21 through a rotating shaft bearing 26, the driving wheel component 3 comprises a wheel frame body 31, the lower end of the rotating shaft 25 is connected with the upper end of the wheel frame body 31, the inside of wheel support body 31 is equipped with drive wheel 32, and drive wheel 32 connects on wheel axle 33, and the both ends of wheel axle 33 are connected on wheel support body 31 through wheel bearing 34, and the one end of wheel axle 33 is connected with the output of drive gear motor 35, and drive gear motor 35 fixes on wheel support body 31.

The lower end of the box body 21 is provided with two fixed stoppers 27 arranged at 90 degrees, the wheel frame body 31 is provided with a rotary stopper 36, and the rotary stopper 36 is located between the two fixed stoppers 27.

An angular displacement sensor 28 is arranged on the box body 21, the outer ring of the angular displacement sensor 28 is fixed on the upper part of the box body 21, and the input end of the inner ring of the angular displacement sensor 28 is connected with the upper shaft end of the rotating shaft 25.

The utility model discloses a theory of operation is: the steering speed reducing motor 1 drives the worm 22 of the worm box 2 to rotate in the forward and reverse directions, the worm 22 is meshed with the worm wheel 24, the rotating shaft 25 is driven to rotate in the forward and reverse directions, the rotating shaft 25 drives the wheel frame body 31 and the driving wheel 32 to rotate on the ground, and the driving speed reducing motor 35 drives the driving wheel 32 to roll on the ground, so that the whole steering wheel achieves the rolling and steering functions. The angular displacement sensor 28 can detect the rotation angle of the rotating shaft 25 for the AGV control system to control the steering angle of the AGV as a whole, and when the steering angle of the steering wheel exceeds a limit value, the turning stopper 36 will be stopped by the fixed stopper 27 to prevent the steering angle of the steering wheel from being abnormal.

The utility model has the advantages that: the mode that adopts to turn to gear motor and worm gear transmission and combine together has realized the transmission of big reduction ratio of steering wheel steering mechanism to produce great steering torque, can overcome the required resistance that turns to of heavy load AGV rudder wheel, realize reliable angle that turns to. In addition, compared with a large gear steering mechanism and a small gear steering mechanism, under the condition of realizing the same reduction ratio, the worm gear mechanism has smaller volume and more compact structure.

Drawings

Fig. 1 is a three-dimensional axial view of the present invention.

Fig. 2 is a side view of the present invention.

Fig. 3 is a front view of the worm case 2.

Fig. 4 is a sectional view a-a of the worm case 2.

Fig. 5 is a B-B sectional view of the worm case 2.

Fig. 6 is a front view of the drive wheel assembly 3.

Fig. 7 is a front view of the driving wheel 32 in a state where the rolling direction is perpendicular to the axis of the worm 22.

Fig. 8 is a plan view of the driving wheel 32 in a state where the rolling direction is perpendicular to the axis of the worm 22.

Fig. 9 is a front view of the driving wheel 32 in a state where the rolling direction is parallel to the axis of the worm 22.

Fig. 10 is a plan view of the driving wheel 32 in a state where the rolling direction is parallel to the axis of the worm 22.

Detailed Description

The utility model provides a rudderwheel for heavy load AGV, it includes turns to gear motor 1, worm case 2, drive wheel assembly 3, worm case 2 is worm gear reducing box structure, worm case 2 includes box 21, box 21 is the frame of whole rudderwheel, be equipped with the worm 22 that is on a parallel with ground on the box 21, turn to gear motor 1 and be connected with worm 22's anterior segment optical axis, the back end teeth of a cogwheel and worm wheel 24 of worm 22 mesh mutually, worm bearing 23 is passed through at worm 22's both ends and connect on box 21, worm wheel 24 connects on the upper portion of pivot 25, the axis perpendicular to ground of pivot 25, the upper and lower both ends of pivot 25 are connected on box 21 through pivot bearing 26, drive wheel assembly 3 includes wheel support body 31, the lower extreme of pivot 25 is connected with the upper end of wheel support body 31, the inside of wheel support body 31 is equipped with drive wheel 32, drive wheel 32 connects on wheel axle 33, wheel axle 33's both ends are passed through wheel bearing 34 and are connected on wheel support body 31, one end of the wheel shaft 33 is connected with the output end of the driving speed reduction motor 35, and the driving speed reduction motor 35 is fixed on the wheel frame body 31.

The lower end of the box body 21 is provided with two fixed stoppers 27 arranged at 90 degrees, the wheel frame body 31 is provided with a rotation stopper 36, and the rotation stopper 36 is located between the two fixed stoppers 27.

Claims

1. The utility model provides a rudderwheel for heavy load AGV, it is including turning to gear motor (1) and drive wheel subassembly (3), drive wheel subassembly (3) are including wheel support body (31), and the inside of wheel support body (31) is equipped with drive wheel (32), and drive wheel (32) are connected on shaft (33), and shaft bearing (34) are passed through at the both ends of shaft (33) and connect on wheel support body (31), and the one end of shaft (33) is connected with the output of drive gear motor (35), and drive gear motor (35) are fixed on wheel support body (31), its characterized in that: it still includes worm case (2), worm case (2) are worm gear reduction box structure, worm case (2) are including box (21), box (21) are the frame of whole steering wheel, be equipped with worm (22) that are on a parallel with ground on box (21), turn to gear motor (1) and be connected with the anterior segment optical axis of worm (22), the back end teeth of a cogwheel of worm (22) and worm wheel (24) mesh mutually, the both ends of worm (22) are passed through worm bearing (23) and are connected on box (21), worm wheel (24) are connected on the upper portion of pivot (25), the axis perpendicular to ground of pivot (25), the upper and lower both ends of pivot (25) are passed through pivot bearing (26) and are connected on box (21), the lower extreme of pivot (25) is connected with the upper end of wheel support body (31).

2. The steering wheel for heavy-duty AGV of claim 1, wherein: the lower extreme of box (21) is equipped with two fixed dog (27) that are 90 degrees and arrange, be equipped with gyration dog (36) on wheel support body (31), gyration dog (36) are located between two fixed dog (27).

3. The steering wheel for heavy-duty AGV of claim 1, wherein: an angular displacement sensor (28) is arranged on the box body (21), the outer ring of the angular displacement sensor (28) is fixed on the upper portion of the box body (21), and the input end of the inner ring of the angular displacement sensor (28) is connected with the upper shaft end of the rotating shaft (25).