CN217730543U

CN217730543U - Steering wheel mechanism and AGV

Info

Publication number: CN217730543U
Application number: CN202220881593.7U
Authority: CN
Inventors: 朱宏武
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2022-04-15
Filing date: 2022-04-15
Publication date: 2022-11-04
Anticipated expiration: 2032-04-15

Abstract

The utility model discloses a steering wheel mechanism and AGV, steering wheel mechanism includes the steering wheel, driving motor, turn to drive assembly, unsteady buffering subassembly, spacing connection structure, unsteady dish and mounting disc, the steering wheel, driving motor installs at the mounting disc downside with turning to drive assembly, the mounting disc passes through vertical guide mechanism and installs at unsteady dish downside, unsteady buffering subassembly includes the bolster of a plurality of hoop rotational symmetry arrangements in the vertical guide mechanism outside, spacing connection structure includes at least two sets of connecting seats and slider, the connecting seat is equipped with the movable slot that supplies the slider to follow vertical activity, the slider is located in the movable slot, unsteady dish or the mounting disc outside is located to the connecting seat. The utility model discloses a steering wheel mechanism through set up the buffering subassembly that floats between floating disc and mounting disc, makes the buffering subassembly that floats remain decurrent pressure to the mounting disc throughout to improve the adhesive force of steering wheel to ground, make the road surface of steering wheel self-adaptation ground unevenness, prevent that AGV from receiving great impact vibration on the ground that has the drop, use reliably.

Description

Steering wheel mechanism and AGV

Technical Field

The utility model belongs to the technical field of the AGV, concretely relates to steering wheel mechanism and AGV.

Background

AGVs are simply called AGVs, i.e., automated Guided vehicles, and refer to transport vehicles equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and not requiring a driver in industrial applications. Because AGV has advantages such as intelligent degree is high, the transport speed is fast, save space, its range of application is more and more extensive. However, in the existing AGV adopting a steering engine as a steering structure, a common rotary connection mode is adopted between the steering engine and an AGV frame, so that the problems that an individual steering engine mechanism does not land frequently and the unbalance loading is serious and the service life of wheels is influenced due to the fact that the ground is uneven in the use process of the AGV are caused; or the phenomenon that the vehicle body inclines and has a tendency of toppling when carrying materials; moreover, when the AGV passes through the ground with a certain fall at a certain speed, the shock and vibration generated are large, which easily damages the electric components on the AGV, and the reliability of use is not ideal.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the problem that current steering gear exists the poor existence of ground adhesion performance, provide a steering gear and AGV that improve ground adhesion through increasing unsteady buffering subassembly.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a steering wheel mechanism, includes helm, driving motor, turns to drive assembly, unsteady buffering subassembly, spacing connection structure, unsteady dish and mounting disc, helm, driving motor and turn to drive assembly and install the mounting disc downside, the mounting disc is installed through vertical guide mechanism unsteady dish downside, unsteady buffering subassembly includes that a plurality of rings are rotatory the buffer piece of symmetrical arrangement in the vertical guide mechanism outside, spacing connection structure includes at least two sets of connecting seats and slider, the connecting seat is equipped with the confession the activity groove of vertical activity is followed to the slider, the slider is located the activity inslot, the connecting seat is located unsteady dish or the mounting disc outside, the slider correspondence is located the mounting disc or the unsteady dish outside.

Compared with the prior art, the utility model discloses a steering wheel mechanism through set up unsteady buffering subassembly between unsteady dish and mounting disc, makes the buffering subassembly that floats remain decurrent pressure to the mounting disc throughout to improve the adhesive force of steering wheel to ground, make the road surface of steering wheel self-adaptation ground unevenness, prevent that AGV from receiving great impact vibration on the ground that has the drop, use reliably.

Furthermore, two outer sides of the sliding block are respectively provided with a first lubricating gasket, two inner sides of the movable groove are respectively provided with a second lubricating gasket, and the first lubricating gaskets are in sliding fit with the corresponding second lubricating gaskets; through setting up like this, effectively guarantee the sliding fit between slider and the connecting seat, take place the card pause phenomenon when avoiding the relative motion between floating disc and the mounting disc.

Furthermore, two groups of limiting connecting structures are arranged, and the limiting connecting structures are arranged in an axisymmetric manner; or more than three groups of limiting connecting structures are arranged, and the limiting connecting structures are arranged in a rotational symmetry manner; through the arrangement, the whole floating disc and the mounting disc are uniformly pressed, and the ground adhesive force of the steering wheel is good.

Furthermore, the buffer parts are reset springs, the floating disc and the mounting disc are provided with guide parts corresponding to the number of the buffer parts, the reset springs are sleeved outside the guide parts, and preferably, the number of the buffer parts is 8; through setting up like this, the bolster compression extends the direction effectual.

Further, the vertical guide mechanism comprises a hollow guide pillar arranged on the upper side of the mounting disc and a guide sleeve arranged at the bottom of the floating disc, the guide pillar is sleeved in the guide pillar, and a wire passing hole is formed in the hollow part of the guide pillar; through setting up like this, be convenient for driving motor, turn to drive assembly and carry out wired connection through crossing between line hole and the AGV frame.

The steering wheel is characterized by further comprising a speed measuring mechanism arranged on the side part of the steering wheel, wherein the speed measuring mechanism comprises a speed measuring wheel, a speed measuring device and a belt transmission mechanism, and the speed measuring wheel is in transmission connection with the speed measuring wheel of the speed measuring device through the belt transmission mechanism; through setting up like this, be convenient for AGV calculate and acquire AGV's walking speed to carry out the comparison monitoring helm with tachometer wheel data and driving motor data and whether have and skid.

The speed measuring mechanism further comprises a mounting frame arranged between the steering wheel and the mounting disc, the speed measuring mechanism further comprises a vertical sliding assembly, a vertical buffering connecting assembly, a connecting frame and a sliding seat, the speed measuring wheel, the speed measuring device and the belt transmission mechanism are connected on the mounting frame through the connecting frame, the sliding seat is arranged on the connecting frame in a sliding mode through the vertical sliding assembly, and the sliding seat is connected to the bottom of the mounting frame through the vertical buffering connecting assembly; through the arrangement, the ground adhesion of the speed measuring wheel is well ensured, and the speed measuring effect is good.

The steering driving assembly comprises a steering driver arranged on the mounting frame and a driving gear arranged at the output end of the steering driver, and the driving gear is meshed with the driving gear; through the arrangement, the steering driving effect of the steering wheel is good.

The AGV comprises a frame, a plurality of universal wheels and the steering engine mechanisms, wherein the universal wheels are provided with shock absorption structures, the number of the steering engine mechanisms is two, the two steering engine mechanisms are respectively positioned on the front side and the rear side of the frame, and the plurality of the universal wheels are arranged at the bottom of the frame; through setting up like this, through set up the buffering subassembly that floats between floating disc and mounting disc, make the buffering subassembly that floats keep decurrent pressure to the mounting disc throughout to improve the adhesive force of steering wheel to ground, make the road surface of steering wheel self-adaptation ground unevenness, prevent that AGV from receiving great impact vibration on the ground that has the drop, use reliably.

Drawings

FIG. 1 is a schematic view of a steering engine mechanism

FIG. 2 is an exploded view of the steering engine mechanism

FIG. 3 is a schematic diagram of an AGV

FIG. 4 is a schematic view of a universal wheel

Detailed Description

The technical scheme of the utility model is described below with the accompanying drawings:

the first embodiment is as follows:

referring to fig. 1 and 2, the utility model discloses a steering engine mechanism 1, including helm 11, driving motor 12, turn to drive assembly 13, unsteady buffer assembly 14, spacing connection structure 15, floating disc 16 and mounting disc 17, helm 11, driving motor 12 and the installation of turning to drive assembly 13 mounting disc 17 downside, driving motor 12 with the transmission of helm 11 is connected, mounting disc 17 is installed through vertical guide mechanism floating disc 16 downside, unsteady buffer assembly 14 includes the bolster 141 of a plurality of hoop rotatory symmetry arrangements in the vertical guide mechanism outside, spacing connection structure 15 includes at least two sets of connecting seat 151 and slider 152, connecting seat 151 is equipped with the confession slider 152 is along the movable slot 153 of vertical activity, slider 152 is located in the movable slot 153, connecting seat 151 is located the floating disc 16 or the mounting disc 17 outside, slider 152 corresponds and locates the mounting disc 17 or the floating disc 16 outside.

In an alternative embodiment, the connecting seat 151 is disposed outside the mounting plate 17, and the slider 152 is correspondingly disposed outside the floating plate 16.

Compared with the prior art, the utility model discloses a steering wheel mechanism 1 through set up unsteady buffering subassembly 14 between unsteady dish 16 and mounting disc 17, makes unsteady buffering subassembly 14 remain decurrent pressure to mounting disc 17 throughout to improve the adhesive force of steering wheel 11 to ground, make the road surface of steering wheel 11 self-adaptation ground unevenness, prevent that AGV2 from receiving great impact vibration on the ground that has the drop, use reliably.

Referring to fig. 1 and 2, in one embodiment, two outer sides of the sliding block 152 are respectively provided with a first lubrication gasket 154, two inner sides of the movable groove 153 are respectively provided with a second lubrication gasket 155, and the first lubrication gasket 154 is in sliding fit with the corresponding second lubrication gasket 155; through the arrangement, the sliding fit between the sliding block 152 and the connecting seat 151 is effectively ensured, and the blocking phenomenon caused when the floating disc 16 and the mounting disc 17 move relatively is avoided.

In this embodiment, two sets of the limit connecting structures 15 are provided, and the limit connecting structures 15 are arranged in an axisymmetric manner.

In an alternative embodiment, there are more than three sets of limit connecting structures 15, and the limit connecting structures 15 are arranged in a rotational symmetric manner; through the arrangement, the whole part between the floating disc 16 and the mounting disc 17 is uniformly pressed, and the ground adhesion of the steering wheel 11 is good.

Referring to fig. 1 and 2, in the present embodiment, the buffering members 141 are return springs, the floating disc 16 and the mounting disc 17 are provided with guide members 142 corresponding to the buffering members 141 in number, the return springs are sleeved outside the guide members 142, and preferably, the number of the buffering members 141 is 8; by this arrangement, the cushion member 141 is excellent in the compression and extension guide effect.

Referring to fig. 1 and 2, in an embodiment, the vertical guiding mechanism includes a hollow guide pillar 181 disposed on the upper side of the mounting plate 17, and a guide sleeve 182 disposed at the bottom of the floating plate 16, the guide pillar 181 is sleeved in the guide pillar 181, and a wire passing hole 183 is formed in a hollow portion of the guide pillar 181; through the arrangement, the driving motor 12 and the steering driving assembly 13 are conveniently connected with the AGV2 frame 21 through the wire through hole 183 in a wired mode.

Referring to fig. 1 and 2, in one embodiment, the steering wheel structure further comprises a speed measuring mechanism 19 and a rotary encoder 10 which are arranged on the side of the steering wheel 11, wherein the rotary encoder 10 is used for measuring the steering angle of the steering wheel 11, the speed measuring mechanism 19 is used for measuring the moving speed of the steering wheel 11, the speed measuring mechanism 19 comprises a speed measuring wheel 191 for contacting with the ground, a speed measuring device 192 and a belt transmission mechanism 193, and the speed measuring wheel 191 is in transmission connection with the speed measuring wheel 191 of the speed measuring device 192 through the belt transmission mechanism 193; by means of the arrangement, the AGV2 can calculate and acquire the traveling speed of the AGV2 conveniently, and whether the steering wheel 11 slips or not is monitored by comparing the data of the speed measuring wheel 191 with the data of the driving motor 12.

Referring to fig. 1 and 2, in an embodiment, the speed measuring mechanism 19 further includes a mounting bracket 111 disposed between the steering wheel 11 and the mounting plate 17, the speed measuring mechanism 19 further includes a vertical sliding assembly, a vertical buffer connecting assembly 194, a connecting bracket 195 and a sliding base 196, the speed measuring wheel 191, the speed measuring device 192 and the belt transmission mechanism 193 are disposed on the mounting bracket 111, the sliding base 196 is slidably disposed on the connecting bracket 195 through the vertical sliding assembly, the vertical sliding assembly includes a guide rail 197 disposed on the connecting bracket 195 and a sliding member 198 disposed on the sliding base 196, the sliding member 198 is slidably connected to the guide rail 197, and the sliding base 196 is connected to the bottom of the mounting bracket 111 through the vertical buffer connecting assembly 194; through the arrangement, the ground adhesion of the speed measuring wheel 191 is well guaranteed, and the speed measuring effect is good.

Referring to fig. 1 and 2, in one embodiment, the top of the mounting frame 111 is connected to the bottom of the mounting plate 17 through a slewing bearing structure 112, an inner ring of the slewing bearing structure 112 is connected to the mounting plate 17, a transmission gear 113 at the top of the mounting frame 111 is connected to an outer ring of the slewing bearing structure 112, the steering driving assembly 13 includes a steering driver 131 arranged on the mounting frame 111 and a driving gear 132 arranged at an output end of the steering driver 131, the steering driver 131 is preferably a motor, the driving gear 132 is meshed with the transmission gear 113, and the steering driver 131 realizes circumferential rotation of the steering wheel 11 by driving the driving gear 132 to operate; by this arrangement, the steering wheel 11 has a good steering driving effect.

Example two:

referring to fig. 1 to 4, a main object of this embodiment is to provide an AGV2 using a steering engine mechanism 1 according to the first embodiment, including a frame 21, a plurality of universal wheels 22 and the steering engine mechanism 1, where the universal wheels 22 are universal wheels 22 with a shock absorbing structure 221, the steering engine mechanism 1 is provided with two universal wheels 22 respectively located at the front side and the rear side of the frame 21, and the plurality of universal wheels 22 are located at the bottom of the frame 21; through setting up like this, through set up unsteady buffering subassembly 14 between unsteady dish 16 and mounting disc 17, make unsteady buffering subassembly 14 remain decurrent pressure to mounting disc 17 throughout to improve the adhesive force of steering wheel 11 to ground, make steering wheel 11 self-adaptation ground uneven road surface, prevent that AGV2 from receiving great impact vibration on the ground that has the drop, it is reliable to use.

Variations and modifications to the above-described embodiments may occur to those skilled in the art based upon the disclosure and teachings of the above specification. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. The utility model provides a steering wheel mechanism, its characterized in that, includes steering wheel, driving motor, turns to drive assembly, unsteady buffering subassembly, spacing connection structure, floating disc and mounting disc, steering wheel, driving motor and turn to drive assembly and install the mounting disc downside, the mounting disc is installed through vertical guide mechanism the floating disc downside, unsteady buffering subassembly includes the bolster of a plurality of hoop rotatory symmetrical arrangement in the vertical guide mechanism outside, spacing connection structure includes at least two sets of connecting seats and slider, the connecting seat is equipped with the confession the slider is along the movable slot of vertical activity, the slider is located in the movable slot, the connecting seat is located floating disc or the mounting disc outside, the slider correspondence is located the mounting disc or the floating disc outside.

2. The steering engine mechanism of claim 1, wherein two outer sides of the sliding block are respectively provided with a first lubrication gasket, two inner sides of the movable groove are respectively provided with a second lubrication gasket, and the first lubrication gaskets are in sliding fit with the corresponding second lubrication gaskets.

3. The steering engine mechanism according to claim 1 or 2, wherein there are two groups of limiting connection structures, and the limiting connection structures are arranged in an axisymmetric manner;

or more than three groups of limiting connection structures are arranged, and the limiting connection structures are arranged in a rotational symmetry manner.

4. The steering engine mechanism of claim 1, wherein the buffer members are return springs, the floating disc and the mounting disc are provided with guide members corresponding to the number of the buffer members, and the return springs are sleeved outside the guide members.

5. The steering engine mechanism of claim 1 or 4, wherein there are 8 cushioning members.

6. The steering engine mechanism according to claim 1, wherein the vertical guide mechanism includes a hollow guide post disposed on the upper side of the mounting plate, and a guide sleeve disposed at the bottom of the floating plate, the guide post is sleeved in the guide post, and a wire passing hole is formed in the hollow portion of the guide post.

7. The steering engine mechanism according to any one of claims 1, 2, 4, or 6, further comprising a speed measurement mechanism disposed on a side of the steering wheel, wherein the speed measurement mechanism comprises a speed measurement wheel, a speed measurement device, and a belt transmission mechanism, and the speed measurement wheel is in transmission connection with the speed measurement wheel of the speed measurement device through the belt transmission mechanism.

8. The steering engine mechanism of claim 7, further comprising a mounting bracket disposed between the steering wheel and the mounting plate, wherein the tachometer mechanism further comprises a vertical sliding assembly, a vertical buffering connection assembly, a connection bracket, and a slide seat, the tachometer wheel, the tachometer and the belt transmission mechanism are disposed on the mounting bracket, the slide seat is slidably disposed on the connection bracket through the vertical sliding assembly, and the slide seat is connected to the bottom of the mounting bracket through the vertical buffering connection assembly.

9. The steering engine mechanism according to any one of claims 1, 2 or 6, further comprising a mounting frame disposed between the steering wheel and the mounting plate, wherein the top of the mounting frame is connected to the bottom of the mounting plate through a slewing bearing structure, the top of the mounting frame is located outside the slewing bearing structure and is provided with a transmission gear, the steering driving component comprises a steering driver disposed on the mounting frame and a driving gear disposed at an output end of the steering driver, and the driving gear is meshed with the transmission gear.

AGV, its characterized in that includes frame, a plurality of universal wheel and any one of claims 1 to 9 steering wheel mechanism, the universal wheel is the universal wheel of taking the bradyseism structure, steering wheel mechanism is equipped with two, is located respectively the front side and the rear side of frame, and is a plurality of the universal wheel is located the bottom of frame.