CN110143236A - An AGV Synchronous Steering Chassis Structure - Google Patents

Abstract

The invention discloses an AGV synchronous steering chassis structure, which includes a bottom plate, a rubber wheel drive mechanism arranged on the bottom plate and a chain drive steering mechanism, and the rubber wheel drive mechanism includes four rotating platforms fixed on the bottom plate , the motor drive wheel mechanism respectively arranged on each rotating platform; the chain drive steering mechanism includes two chains, two chain drive mechanisms fixed on the base plate, each chain is connected with the corresponding chain drive mechanism and the chain drive mechanism located at the same time A pair of rotating platforms on the same side engage. The invention can realize the synchronous and co-rotation of the two wheels on the same axis through the motor control chain transmission, and then realize the independent steering of the front and rear wheels of the AGV four-wheel chassis. The structure is simple, the control is simple and reliable, and the AGV can rotate in situ, which is economical and practical , good steering flexibility and high reliability.

Description

An AGV Synchronous Steering Chassis Structure

technical field

The invention relates to the field of intelligent transport vehicle manufacturing, in particular to an AGV synchronous steering chassis structure, which is mainly used to complete the straight-line driving of the transport vehicle and possess superior turning functions.

Background technique

AGV is a kind of intelligent handling and logistics trolley. Its chassis traveling mechanism is the executive mechanism for AGV going straight and turning. Its performance directly affects the accuracy of AGV line inspection. AGV is usually used in high-density automated storage systems, as well as some automated production equipment that requires assistance in handling materials. The traditional AGV chassis travel mechanism adopts three-wheel, four-wheel, six-wheel or crawler chassis mechanisms.

Among them, the three-wheel structure is simple, but there is a slipping phenomenon due to the installation height of the structure;

The four-wheel structure has a layout similar to that of a car chassis, in which the two wheels on the same axis are driving wheels, and the other two wheels are control steering wheels. With four mecanum wheels as the driving wheels, the advantage is that it can move in all directions, but the disadvantage is that the mecanum wheels are expensive and easy to wear and tear;

The six-wheel structure is the walking layout structure adopted by most AGVs at present. Its advantage lies in the realization of reciprocating linear motion. The driving wheels are arranged on the central axis of the car body to realize turning in situ, and the turning radius is relatively small. However, its disadvantage is that when When going up and down slopes, the driving wheels are easily lifted by the universal wheels on both sides. When the driving wheels have insufficient grip, it will cause the driving wheels to "slip".

Therefore, there is an urgent need to develop an AGV chassis driving mechanism that can complete straight-line driving and has superior turning functions.

Contents of the invention

The invention provides an AGV synchronous steering chassis structure. The invention can realize the synchronization and rotation of the two wheels on the same axis through the motor control chain transmission, and then realize the independent steering of the front and rear wheels of the AGV four-wheel chassis. The structure is simple and the control is simple. Reliable, AGV can rotate in situ, economical and practical, with good steering flexibility and high reliability.

In order to achieve the above object, the present invention adopts the following technical solutions:

An AGV synchronous steering chassis structure, including a base plate, a rubber wheel drive mechanism and a chain drive steering mechanism arranged on the base plate,

The rubber wheel driving mechanism includes four rotating platforms fixed on the base plate, and motor driving wheel mechanisms respectively arranged on each rotating platform;

The chain drive steering mechanism includes two chains and two chain drive mechanisms fixed on the bottom plate, and each chain meshes with the corresponding chain drive mechanism and a pair of rotating platforms on the same side at the same time.

Further, the four rotating platforms are symmetrically fixed on the bottom plate.

Further, the chain driving mechanism is located on the symmetry line of the two connected rotating platforms.

Further, the rotating platform includes a first sprocket and a slewing support bearing, and the first sprocket is fixedly connected to the inner ring of the slewing support bearing.

Further, the motor drive wheel mechanism includes a motor seat fixedly arranged on the first sprocket, a motor and a first flange respectively arranged on both sides of the motor seat, and a motor connecting the first flange and the motor. The coupling of the transmission shaft and the rubber wheel fixed to the flange.

Further, the first sprocket is provided with a slot that is loosely matched with the rubber wheel, and the rubber wheel passes through the slot and contacts the ground.

Further, the chain drive mechanism includes a motor fixed mounting plate fixed on the base plate, a chain motor arranged on the motor fixed mounting plate, a second flange, and a motor connecting the chain motor and the second flange The second shaft coupling of the disc, and the second sprocket fixedly connected with the second flange.

Further, the fixed mounting plate of the motor is fixed on the bottom plate through several copper pillars.

Further, the chain, the first sprocket and the second sprocket are on the same level.

Further, the chain motor is provided with a locking device.

Compared with the chassis running mechanism of the existing AGV intelligent transport trolley, the present invention can realize the 360° rotation of the chassis in situ, the control is simple and reliable, economical and practical, the steering flexibility is good, and the reliability is high.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the overall structure of the mechanism of the embodiment of the present invention.

Fig. 2 is a schematic top view of the overall structure of the mechanism of the embodiment of the present invention.

Explanation of the labels of the components in the schematic diagram:

As shown in the figure: 1-motor seat, 2-motor, 3-first flange, 4-first coupling, 5-rubber wheel, 6-first sprocket, 7-slewing support bearing, 8- Chain, 9-the second sprocket wheel, 10-the second flange, 11-the second coupling, 12-motor fixed mounting plate, 13-chain motor, 14-base plate.

Detailed ways

The purpose of the present invention will be further described in detail through specific examples below, and the examples cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following examples.

As shown in Figures 1 and 2, an AGV synchronous steering chassis structure includes a base plate 14, a rubber wheel drive mechanism and a chain drive steering mechanism arranged on the base plate 14,

The rubber wheel driving mechanism includes four rotating platforms symmetrically fixed on the bottom plate, and motor driving wheel mechanisms respectively arranged on each rotating platform;

The chain drive steering mechanism includes two chains 8 and two chain drive mechanisms fixed on the base plate 14, each chain 8 is simultaneously engaged with the corresponding chain drive mechanism and a pair of rotating platforms on the same side, and at the same time , the chain drive mechanism is located on the symmetry line of the two connected rotating platforms.

Specifically, the rotating platform includes a first sprocket 6 and a slewing support bearing 7 , and the first sprocket 6 is fixedly connected with the inner ring of the slewing support bearing 7 .

Specifically, the motor drive wheel mechanism includes a motor base 1 fixedly arranged on the first sprocket 6, a motor 2 and a first flange 3 respectively arranged on both sides of the motor base, connecting the first The shaft coupling 4 of the flange 3 and the motor transmission shaft and the rubber wheel 5 fixedly connected with the flange. Among them, there is a light hole on one side of the motor base 1, which is fixedly connected with the motor 2 through screws, and the light hole on the opposite side is provided with a bearing to support the first flange 3, and the first flange 3 passes through the hub of the rubber wheel 5. Fastened with bolts.

The first sprocket 6 is fixedly connected with the threaded hole on the inner ring of the slewing support bearing 7 through the light hole through the screw, and is fixedly connected with the motor seat 1 of the motor drive wheel mechanism through the bolt, and the rotating The platform is fixedly connected with the threaded hole on the outer ring of the slewing support bearing 7 by the light hole of the screw and the base plate 14 .

In addition, the first sprocket 6 is provided with a slot that fits with the rubber wheel 5, and the rubber wheel passes through the slot to contact the ground, effectively reducing the height of the center of gravity of the AGV trolley, ensuring stability.

Specifically, the chain drive mechanism includes a motor fixed mounting plate 12 fixed on the bottom plate 14 through several copper pillars 15, a chain motor 13 arranged on the motor fixed mounting plate 12, and a second flange 10 , the second shaft coupling 11 connecting the chain motor 13 and the second flange 10 , and the second sprocket 9 fixedly connected with the second flange 10 by bolts.

Specifically, the chain 8 , the first sprocket 6 , and the second sprocket 9 are on the same level, which ensures the normal and reliable transmission of the chain 8 , the first sprocket 6 , and the second sprocket 9 .

Specifically, the chain motor 13 is provided with a locking device, which can keep the current route unchanged during normal driving without turning.

The distance between the two rotating platforms depends on the needs, and the length of the chain 8 and the parallelism of the rubber wheels 5 of the motor drive wheel mechanism on the two platforms need to be considered. The tension of the chain 8 can be adjusted by replacing the second chain with different diameters. Wheel 9 realizes regulation.

The usage process of this embodiment is as follows:

After power on, the initial four wheels all face forward, and the front and rear four motors 2 drive the four rubber wheels 5 to move forward continuously, and the front and rear two chain motors 13 are locked to realize the straight running of the chassis. When needing to turn or rotate in situ, the front and back two chain motors 13 drive the chain 8, respectively drive the front and back two rotating platforms to rotate a certain angle, and then realize the omnidirectional movement.

The above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in different forms can also be made. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (10)

1. a kind of AGV is synchronous to turn to chassis structure, which is characterized in that including bottom plate (14), be arranged on the bottom plate (14) Rubber tire driving mechanism and chain conveyer steering mechanism,

The rubber tire driving mechanism includes four rotatable platforms being fixed on the bottom plate, is separately positioned on each rotatable platform On motor driving wheel mechanism；

The chain conveyer steering mechanism includes two chains, two is fixed on chain drive mechanism on the bottom plate (14), and every A pair of of rotatable platform of the chain simultaneously with corresponding chain drive mechanism and positioned at the same side is meshed.

2. AGV according to claim 1 is synchronous to turn to chassis structure, it is characterised in that: four rotatable platform left sides The right side is symmetrically fixed on the bottom plate.

3. AGV according to claim 2 is synchronous to turn to chassis structure, it is characterised in that: the chain drive mechanism is located at phase On the line of symmetry of two rotatable platforms of connection.

4. AGV according to claim 1 is synchronous to turn to chassis structure, it is characterised in that: the rotatable platform includes the One sprocket wheel (6), slewing bearing (7), first sprocket wheel (6) and the inner ring of the slewing bearing (7) are fixedly connected with.

5. AGV according to claim 4 is synchronous to turn to chassis structure, it is characterised in that: motor driving wheel mechanism packet Include the motor cabinet (1) being fixed on first sprocket wheel (6), be separately positioned on the motor cabinet two sides motor (2) and First flange disk (3), the shaft coupling (4) for connecting first flange disk (3) and motor transmission shaft and the rubber tire being connected with ring flange (5).

6. AGV according to claim 5 is synchronous to turn to chassis structure, it is characterised in that: be arranged on first sprocket wheel (6) There is the fluting with the rubber tire (5) clearance fit, the rubber tire passes through the fluting and ground and touches.

7. AGV according to claim 4 is synchronous to turn to chassis structure, it is characterised in that: the chain drive mechanism includes solid It is scheduled on the motor fixed mounting plate (12) on the bottom plate (14), the chain being arranged on the motor fixed mounting plate (12) electricity Machine (13), second flange disk (10), the connection chain motor (13) and second flange disk (10) second shaft coupling (11) and Connected the second sprocket wheel (9) of the second flange disk (10).

8. AGV according to claim 7 is synchronous to turn to chassis structure, it is characterised in that: the motor fixed mounting plate (12) it is fixed on the bottom plate by several copper posts (15).

9. AGV according to claim 7 is synchronous to turn to chassis structure, it is characterised in that: the chain (8), the first chain Wheel (6), the second sprocket wheel (9) are in same level.

10. AGV according to claim 1 is synchronous to turn to chassis structure, it is characterised in that: the chain motor (13) is set It is equipped with locking device.