CN110254562A - An automatic guided transport vehicle with an independent steering mechanism - Google Patents

Abstract

The invention discloses an automatic guided transport vehicle with an independent steering mechanism in the technical field of transport vehicles, which includes a bottom plate, a running mechanism and a steering mechanism. It is connected with the running mechanism, and the top of the bottom plate is connected with the steering mechanism. Through the installation of the bottom plate, the running mechanism and the steering mechanism on the device, a complete 90° steering is realized under the condition that the posture of the body remains unchanged, and the goods are avoided. When the vehicle body turns together, the cargo may shift under the action of centrifugal force, resulting in the phenomenon of vehicle overturning. The automatic guided transport vehicle body itself has no turning radius, which is suitable for scenes with narrow spaces and improves the utilization rate of the site.

Description

An automatic guided transport vehicle with an independent steering mechanism

technical field

The invention relates to the technical field of automatic guided transport vehicles, in particular to an automatic guided transport vehicle with an independent steering mechanism.

Background technique

Automated Guided Vehicle (AGV), also known as unmanned van, is equipped with automatic guidance devices such as electromagnetic or optical, can drive along the prescribed guiding path, and has safety protection and various transfer functions transport vehicle. At present, most of the automatic guided transport vehicles on the market adopt the traditional differential drive mode and single/dual drive mode, the turning radius is too large, and it is accompanied by the problem of insufficient steering ability or oversteering, which will reduce space utilization to some extent rate, reducing work efficiency. In addition, during the turning process of some automatic guided transport vehicles, the cargo turns with the vehicle body, and the cargo may shift under the action of centrifugal force, causing the vehicle to overturn.

Contents of the invention

The object of the present invention is to provide an automatic guided transport vehicle with an independent steering mechanism, so as to solve the problem that the excessively large turning radius of the existing automatic guided transport vehicle proposed in the above background technology easily leads to cargo displacement and space utilization reduced problem.

In order to achieve the above object, the present invention provides the following technical solutions: an automatic guided transport vehicle with an independent steering mechanism, including a bottom plate, a running mechanism and a steering mechanism, an arc-shaped chute and a shaft hole are opened on the bottom plate, and the The bottom of the base plate is connected with the running gear, the top of the base plate is connected with the steering gear, and the four sensors are installed on the base plate.

Preferably, four traveling units are installed on the traveling mechanism, and the traveling unit includes a rotating shaft, a long pin shaft, a base, a wheel, a traveling main shaft, a pulley, a bearing seat and a traveling motor, and the rotating shaft and the long pin shaft are connected by bolts Installed on the base, the wheels and the driving main shaft are fixed on the bottom of the base through the bearing seat, and the traveling motor is connected with the traveling main shaft through a belt pulley.

Preferably, the steering mechanism includes a connecting rod mechanism, a ball screw, a sprocket and a steering motor, the connecting rod mechanism includes a short connecting rod, a long connecting rod and a short pin shaft, and a screw is installed on the ball screw Bearing housing, left and right screw integral screw, nut and screw nut seat.

Preferably, one end of the short connecting rod is connected to the base of the walking unit through an arc-shaped chute on the bottom plate, the other end of the short connecting rod is connected to a short pin, and the long connecting rod is installed by screws On the nut seat, the two ends of the long connecting rod are connected with the short connecting rod through the short pin shaft, the two ends of the ball screw are fixed on the base plate through the screw nut seat, and the steering motor is connected with the sprocket Ball screw connection.

Compared with the prior art, the beneficial effects of the present invention are: through the setting of the automatic guided transport vehicle with an independent steering mechanism, the structure is simple, easy to implement, low in cost, and easy to maintain; In the case of a complete 90° turn, it avoids the phenomenon that the cargo may shift under the action of centrifugal force when the cargo turns with the vehicle body, which may cause the vehicle to overturn; the body of the automatic guided transport vehicle has no turning radius, which is suitable for small spaces. scene, improving the utilization rate of the site.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of walking unit of the present invention;

Fig. 3 is a structural schematic diagram of the steering mechanism of the present invention.

In the figure: 1 travel mechanism, 2 bottom plate, 2-1 sensor, 3 steering mechanism, 1-1 travel motor, 1-2 travel spindle, 1-3 bearing seat, 1-4 pulley, 1-5 wheel, 1-6 Long pin shaft, 1-7 shaft, 1-8 base, 3-1 ball screw, 3-2 screw nut seat, 3-3 short pin shaft, 3-4 steering motor, 3-5 sprocket, 3- 6 short connecting rods, 3-7 long connecting rods.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The present invention provides the following technical solution: an automatic guided transport vehicle with an independent steering mechanism, which is used to prevent the occurrence of problems such as cargo displacement and space utilization reduction caused by excessive turning radius of the automatic guided transport vehicle. Please refer to Figure 1, including base plate 2, traveling mechanism 1 and steering mechanism 3, arc-shaped chute and rotating shaft 1-7 holes are opened on base plate 2, the bottom of base plate 2 is connected with running mechanism 1, and the top of base plate 2 is connected with steering mechanism 3 , the four sensors 2-1 are installed on the bottom plate 2, specifically, the bottom plate 2 supports the steering mechanism 3 and fixes the running mechanism 1.

Please refer to Fig. 2, four traveling units are installed on the traveling mechanism 1, and the traveling unit includes a rotating shaft 1-7, a long pin shaft 1-6, a base 1-8, a wheel 1-5, a traveling main shaft 1-2, and a pulley 1- 4. The bearing seat 1-3 and the traveling motor 1-1, the rotating shaft 1-7 and the long pin shaft 1-6 are installed on the base 1-8 through bolts, and the wheels 1-5 and the driving main shaft are fixed on the base 1-8 through the bearing seat 1-3. At the bottom of the base 1-8, the traveling motor 1-1 is connected to the traveling main shaft 1-2 through the pulley 1-4. Specifically, the four traveling units respectively control the rotation and angular offset of the four wheels 1-5, and the traveling motor 1 The rotation of -1 is used to drive the rotation of the wheel 1-5, the walking main shaft 1-2 is used to fix the rotation position of the wheel 1-5, and the bearing seat 1-3 is used to fix the position of the walking main shaft 1-2, Belt pulley 1-4 is used for connecting travel motor 1-1 and travel main shaft 1-2.

Please refer to Fig. 3, steering mechanism 3 comprises link mechanism, ball screw 3-1, sprocket wheel 3-5 and steering motor 3-4, and link mechanism comprises short connecting rod 3-6, long connecting rod 3-7 and The short pin shaft 3-3 and the ball screw 3-1 are equipped with a screw bearing seat, a left and right screw, a nut and a nut seat, specifically, the left and right screw improves the stability of the ball screw 3-1 , to facilitate the transmission of power and improve the synchronization of rotation.

Please refer to Fig. 3 again, one end of the short connecting rod 3-6 is connected with the base 1-8 of the walking unit through the arc-shaped chute provided on the base plate 2, and the other end of the short connecting rod 3-6 is connected with the short pin shaft 3 -3 connection, the long connecting rod 3-7 is installed on the screw nut seat 3-2 by screws, and the 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, and the balls The two ends of the lead screw 3-1 are fixed on the base plate 2 through the lead screw nut seat 3-2, and the steering motor 3-4 is connected with the ball screw 3-1 through the sprocket 3-5, specifically, the short connecting rod 3- 6 is used to connect the base 1-8 of the walking unit, thereby driving the moving unit to move the position, the short pin shaft 3-3 is used to connect and fix the short connecting rod 3-6 and the long connecting rod 3-7, and the long connecting rod Rod 3-7 is used to drive the movement of short connecting rod 3-6, and steering motor 3-4 is used to drive the rotation of ball screw 3-1.

In the specific use process, when the automatic guided transport vehicle is walking along the line, when two adjacent sensors 2-1 detect signals at the same time, the steering mechanism works, and the steering motor 3-4 drives the lead screw 3-5 through the sprocket 3-5. 1 rotates together, the long connecting rod 3-7 moves linearly with the nut 3-2, and the short connecting rod 3-6 pushes the walking unit 1 around the shaft hole on the bottom plate 2 under the action of the long connecting rod 3-7 At the same time, rotate 90°inwardly or outwardly to realize right-angle turning and reversing driving.

While the invention has been described above with reference to certain embodiments, various modifications may be made and equivalents may be substituted for parts thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the various embodiments disclosed in the present invention can be used in combination with each other in any way, and the description of these combinations is not exhaustive in this specification only for the sake of Omit length and resource conservation considerations. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims (4)

1. a kind of automated guided vehicle with independent steering gear, it is characterised in that: including bottom plate (2), walking mechanism (1) With steering mechanism (3), arc chute and the hole shaft (1-7), the bottom of the bottom plate (2) and walking are provided on the bottom plate (2) Mechanism (1) connection, the top of the bottom plate (2) are connect with steering mechanism (3), and 4 sensors (2-1) are mounted on bottom plate (2) on.

2. a kind of automated guided vehicle with independent steering gear according to claim 1, it is characterised in that: described There are four walking units for installation in walking mechanism (1), and the walking unit includes shaft (1-7), long pin shaft (1-6), pedestal (1- 8), wheel (1-5), walking main shaft (1-2), belt pulley (1-4), bearing block (1-3) and movable motor (1-1), the shaft (1- 7) it is mounted on pedestal (1-8) with long pin shaft (1-6) by bolt, the wheel (1-5) and driving spindle pass through bearing block (1- 3) it is fixed on the bottom of pedestal (1-8), the movable motor (1-1) is connect by belt pulley (1-4) with walking main shaft (1-2).

3. a kind of automated guided vehicle with independent steering gear according to claim 1, it is characterised in that: described Steering mechanism (3) includes link mechanism, ball-screw (3-1), sprocket wheel (3-5) and steering motor (3-4), the link mechanism packet Short connecting rod (3-6), long connecting rod (3-7) and short pin shaft (3-3) are included, lead screw shaft bearings, a left side are installed on the ball-screw (3-1) Dextrorotation one lead screw, nut and nut seat.

4. a kind of automated guided vehicle with independent steering gear according to claim 3, it is characterised in that: described One end of short connecting rod (3-6) passes through the arc chute being provided with and the pedestal (1-8) of walking unit on bottom plate (2) and connects, described short The other end of connecting rod (3-6) is connect with short pin shaft (3-3), and the long connecting rod (3-7) is mounted on feed screw nut seat (3- by screw 2) on, the both ends of the long connecting rod (3-7) pass through short pin shaft (3-3) and connect with short connecting rod (3-6), the ball-screw (3- 1) both ends are fixed on bottom plate (2) by feed screw nut seat (3-2), and the steering motor (3-4) passes through sprocket wheel (3-5) and rolling Ballscrew (3-1) connection.