CN206606258U - Agv steering mechanism - Google Patents
Agv steering mechanism Download PDFInfo
- Publication number
- CN206606258U CN206606258U CN201720221927.7U CN201720221927U CN206606258U CN 206606258 U CN206606258 U CN 206606258U CN 201720221927 U CN201720221927 U CN 201720221927U CN 206606258 U CN206606258 U CN 206606258U
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- Prior art keywords
- drive link
- connecting rod
- steering
- steering mechanism
- agv
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Abstract
The utility model discloses AGV steering mechanism, including a pair of coaxial deflecting rollers, the steering bindiny mechanism that deflecting roller described in a pair is driven by single motor connects and is synchronized with the movement to same direction, the part that is connected with two deflecting rollers of bindiny mechanism that turns to can rotation, and under non-steering state, in the central points of two parallel axis of rotation and two deflecting rollers is generally aligned in the same plane.The utility model deft design, it is simple and compact for structure, steering attachment structure and the setting of three-dimensional connector and input/output port by linkage, it can effectively realize that single motor drives two deflecting rollers synchronously to rotate in same direction, relative to the structure of differential steering, only need a motor, power source is reduced, and driving wheel and deflecting roller are separated, and two deflecting roller linkages, the situation of skidding is less prone to, even if there is the situation that side deflecting roller skids, also steering can be realized in the presence of overall structure, the stability of operation is relatively more preferable.
Description
Technical field
The utility model is related to a kind of steering mechanism, especially a kind of AGV steering mechanism.
Background technology
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV), refers to and is equipped with electric magnetically or optically wait automatically
Guiding device, can be travelled, the transport vehicle with safeguard protection and various transfer functions along defined guide path, and industry should
The carrier of driver is not required in, using chargeable battery as its power resources.Computer is typically can pass through to control its row
Enter route and behavior, or it is set up using electromagnetic path (electromagnetic path-following system)
Course, electromagnetic path is sticked on floor, the message that automatic guided vehicle then follows electromagnetic path to be brought move with
Action.
The existing more use differential drive devices of AGV are realized driving and turned, and mainly use the rotating speed of two motors
Differential turned than realizing, it generally comprises dolly vehicle body and differential drive assembly, differential drive assembly include driving arm and
Cover of driver for supporting driving arm, dolly vehicle body is fixed on driving arm, driving arm on the cover of driver and
It is fixedly connected with cover of driver.
Such a structure, typically will two motors could realize steering, power source quantity is more, also, when deflecting roller
It when skidding, can not just ensure the accuracy turned to, or even steering can not be realized, reduce the stability of AGV operations.
In addition, using differential steering structure, the impossible entirely accurate of controller, vehicle can produce wheel in motion process
Sliding, can cause the abrasion of wheel,
Such a fixed structure, causes AGV dollies to run into the process of running when jolting, dolly vehicle body vibration amplitude is larger,
Service life is short.
Also, differential steering is influenceed larger by path method for correcting error, and the path method for correcting error of main flow is mould at this stage
PID control regulation is pasted, certain control is delayed because sensor device is generated, and there is also bright for the regulation of PID control integral term
Aobvious hysteresis, the cumulant increase of deviation, it is impossible in a short time by error convergence to acceptable scope.
In being rectified a deviation for path traveling deviation exist the problem of being difficult to the short time and restrain, some scholars apply a kind of mould
The method for correcting error of Control PID is pasted, fuzzy control is actually the clearly data fuzzy set combination collected, control targe
Fuzzy set, finally again controls the realization of the clear data of obfuscation, fuzzy PID control strategy in practice is very multiple
Miscellaneous, many function traditional PID controls can just be solved, and needed to gather substantial amounts of parameter using Fuzzy processing, lost time
Cost.
Utility model content
The purpose of this utility model is exactly to be turned to solve the above-mentioned problems in the prior art there is provided a kind of AGV
Mechanism.
The purpose of this utility model is achieved through the following technical solutions：
AGV steering mechanism, including a pair of coaxial deflecting rollers, the steering that deflecting roller described in a pair is driven by single motor
Bindiny mechanism connects and is synchronized with the movement to same direction, and the steering bindiny mechanism can with the part that two deflecting rollers are connected
Under rotation, and non-steering state, in the central points of two parallel axis of rotation and two deflecting rollers is generally aligned in the same plane.
It is preferred that, described AGV steering mechanism, wherein：The motor is by the reductor that is fixed on support frame and turns
Disk connects the steering bindiny mechanism.
It is preferred that, described AGV steering mechanism, wherein：The steering bindiny mechanism is connected including one end with the rotating disk
The first drive link, one end of pivotally connected second drive link of the other end of first drive link, second drive link
The other end it is pivotally connected with T-shaped connecting portion and can rotation three-dimensional connector first connecting rod, the of the three-dimensional connector
Two connecting rods connect a deflecting roller, one end of pivotally connected 3rd drive link of its third connecting rod, the other end of the 3rd drive link
The head rod of pivotally connected input/output port, the input/output port can rotation and its second connecting rod connects another turn
To wheel, first drive link, first connecting rod, third connecting rod, head rod are parallel to each other and parallel with the deflecting roller, institute
State the second drive link parallel with the 3rd drive link.
It is preferred that, described AGV steering mechanism, wherein：Second drive link and the 3rd drive link include center-pole
And the connector at the center-pole two ends is bolted to, the connector includes annulus pivot connection.
It is preferred that, described AGV steering mechanism, wherein：The three-dimensional connector includes pivot, and the pivot runs through one
Support crossbeam and its periphery is set with graphite bearing, the two ends of the graphite bearing connect thrust bearing respectively, the graphite bearing,
The fixing nut of thrust bearing and pivot described in bolt connection coordinates to be pivotally secured within described in the support beam, the stone
The first connecting rod, second connecting rod and third connecting rod are set on the periphery branch sleeve of black bearing, the sleeve.
It is preferred that, described AGV steering mechanism, wherein：The first connecting rod, second connecting rod and third connecting rod respectively with institute
State sleeve weld.
It is preferred that, described AGV steering mechanism, wherein：The axle center of the output shaft of the motor is to the three-dimensional connector
The axis of rotation distance be equal to its to the input/output port the axis of rotation distance.
It is preferred that, described AGV steering mechanism, wherein：3 proximity transducers are placed equidistant on support frame as described above, they
The line of central point be a bearing of trend and the second drive link bearing of trend identical straight line, during non-steering state, position
Proximity transducer in centre position is coaxial with the bolt for connecting first drive link and the second drive link.
It is preferred that, described AGV steering mechanism, wherein：At least two are additionally provided with the support beam positioned at described
The damper of motor both sides, is hinge connection between the damper and support beam and/or vehicle body.The damper connects car
Body.
It is preferred that, described AGV steering mechanism, wherein：Axial connecting assembly is additionally provided with the support beam, it is described
It is hinge connection between axial connecting assembly and vehicle body.
The advantage of technical solutions of the utility model is mainly reflected in：
The utility model deft design, it is simple and compact for structure, pass through the steering attachment structure and three-dimensional connector of linkage
With the setting of input/output port, it can effectively realize that single motor drives two deflecting rollers synchronously to rotate in same direction, relative to differential
The structure of steering a, it is only necessary to motor, power source is reduced, and driving wheel and deflecting roller are separated, and two deflecting roller linkages, no
Easily there is situation about skidding, even if there is the situation that side deflecting roller skids, steering can be also realized in the presence of overall structure,
The stability of operation is relatively more preferable.
Structure of the present utility model causes two wheels are synchronous to turn to, it is not necessary to control the rotating speed of two electrodes respectively, therefore
Complicated correction process is not needed, control method is simpler, the operation stability being further ensured that.
By the shock-damping structure for setting damper and being hinged, AGV damping effect can be effectively improved, it is to avoid vehicle body goes out
Existing violent oscillatory motion, it is ensured that stability when AGV is run, to the adaptability of different road conditions more preferably.
The design of multiple proximity transducers and position is set, the accurate control of steering angle can be easily carried out, protected
The accuracy and validity of course changing control are demonstrate,proved, is controlled with hardware signal, the dependence for algorithm is reduced.
Brief description of the drawings
Fig. 1 is of the present utility model to look up three-dimensional structure diagram；
Fig. 2 is side isometric view of the present utility model；
Fig. 3 is upward view of the present utility model；
Fig. 4 is three-dimensional connector construction schematic diagram in the utility model；
Fig. 5 is rearview of the present utility model.
Embodiment
The purpose of this utility model, advantage and feature, will be schemed by the non-limitative illustration of preferred embodiment below
Show and explain.These embodiments are only the prominent examples using technical solutions of the utility model, all to take equivalent substitution or wait
Technical scheme formed by effect conversion, all fall within the utility model it is claimed within the scope of.
The utility model discloses a kind of AGV steering mechanism, as shown in Figure 1, including the common deflecting roller 1 of a pair of axles, a pair
Projection of the deflecting roller 1 on the same plane parallel with them is overlapped, and deflecting roller 1 passes through single motor 3 described in a pair
The steering bindiny mechanism 2 of driving connects and is synchronized with the movement to same direction, the steering bindiny mechanism 2 and two deflecting rollers
The part of 1 connection can rotation, while under non-steering state, the central point of two parallel axis of rotation and two deflecting rollers 1
In being generally aligned in the same plane.
Wherein, as shown in accompanying drawing 1, accompanying drawing 2, a pivotally connected reductor 4 for the motor 3 simultaneously passes through the reductor 4
It is fixed on a support frame, support frame as described above includes quadra and is symmetricly set in the support horizontal stroke of the quadra both sides
Beam 26, and the axle center of the output shaft of the motor 3 is located at the center position of support frame as described above, i.e., it arrives following three-dimensional connectors
The distance of 23 axis of rotation is equal to it to the distance of the axis of rotation of following input/output ports 25, and the output shaft of the reductor 4 prolongs
The lower section of support frame as described above is reached, the region that the output shaft of the reductor 4 is located at below support frame as described above connects a rotating disk 5,
Bindiny mechanism 2 is turned to described in the bolt connection of rotating disk 5, and drives the steering bindiny mechanism 2 to operate.
Specifically, as shown in Figure 1, the bindiny mechanism 2 that turns to includes the first drive link 21, second transmission of linkage
Bar 22, three-dimensional connector 23, the 3rd drive link 24 and input/output port 25, the first drive link described in the bolt connection of rotating disk 5
21 one end, and drive first drive link 21 around the central axis of the rotating disk 5, first drive link 21 it is another
End pivoting connects one end of second drive link 22, the pivotally connected three-dimensional connector of the other end of second drive link 22
23。
The three-dimensional connector 23 have T-shaped connecting portion and can rotation, it is detailed, as shown in accompanying drawing 3- accompanying drawings 4, described three
Include pivot 234 to connector 23, the support beam 26 that the pivot 234 runs through in support frame as described above and its extend to it is described
Region periphery outside support beam 26 is set with graphite bearing 235, and the graphite bearing 235 includes different first of exradius
Torus and the second torus, and the two ends of the graphite bearing 235 connect thrust bearing 236, the graphite bearing respectively
235th, thrust bearing 236 and two fixing nuts 237 for being bolted to the two ends of pivot 234 coordinate the pivot 234
It is fixed in the support beam 26, and the fixing nut 237 away from support beam 26 farther out is with thrust bearing 236 and away from branch
It is respectively arranged with pad 239 between support crossbeam thrust bearing 236 farther out and support beam 26, the of the graphite bearing 235
It is T-shaped on one torus periphery branch sleeve 238, the sleeve 238 that first connecting rod 231, second connecting rod 232 and the 3rd is distributed with
Connecting rod 233, and the first connecting rod 231 and third connecting rod 233 are in same direction extension, while it is preferred that the first connecting rod
231st, second connecting rod 232 and third connecting rod 233 are welded with the sleeve 238 respectively.
Second drive link 22 connects the first connecting rod 231, and the second connecting rod 232 connects a deflecting roller 1, and
And the deflecting roller 1 can the relatively described rotation of second connecting rod 232, pivotally connected 3rd drive link 24 of third connecting rod 233
One end, the pivotally connected input/output port 25 of the other end of the 3rd drive link 24, the input/output port 25 can rotation, specifically
, the structure of the input/output port 25 is close with the structure of the three-dimensional connector 23, and difference is：It only has two connections
Bar, i.e., the orthogonal connecting rod 252 of head rod 251 and second, and the pivot of the input/output port 25 is rotatable
Ground is arranged in another support beam 26, corresponding, and two above-mentioned axis of rotation are the three-dimensional connector 23 and are bi-directionally connected
The central shaft of the pivot of device 25.
3rd drive link 24 is the pivotally connected head rod 251, and second connecting rod 252 connects another
Individual deflecting roller 1, the deflecting roller 1 equally can the relatively described rotation of second connecting rod 252.
In addition, from the point of view of the overall structure for turning to bindiny mechanism 2, first drive link 21, first connecting rod 231,
Third connecting rod 233, head rod 251 are parallel to each other and parallel with the deflecting roller 1, and second drive link 22 and the 3rd is passed
Lever 24 is parallel.
Meanwhile, it is pivotally connected for the ease of carrying out, as shown in Figure 3, the drive link 24 of the second drive link 22 and the 3rd
Include center-pole 210 and be bolted to the connector 220 at the two ends of center-pole 210, the connector 220 includes circle
Ring pivot connection.
During specific connection, so that second drive link 22 and the first connecting rod 231 are connected as an example, as shown in Figure 5, institute
The annulus pivot connection for stating the one end of the second drive link 22 is sleeved on the outer ring of a spherical bearing 30, the spherical bearing 30
Inner ring is fixed on a bolt 10, the through hole that the bolt 10 is set on the first connecting rod 231, and with a locking screw
Mother 20, which coordinates, fits the first connecting rod 231 with an end face of the spherical bearing, the locking nut 20 and spherical axis
Pad is additionally provided between another end face held.
Also, in order to the effective extreme position control for carrying out steering angle and steering, as shown in Figure 2, institute
At least three proximity transducer 9 that AGV steering mechanism also includes being fixed at equal intervals by installing plate 8 on support frame as described above is stated,
Preferably 3 and their central point are located along the same line, and the bearing of trend of the straight line and second drive link 22
Bearing of trend is identical, in non-steering state, centrally located proximity transducer 9 be connected first drive link 21 and
The bolt of second drive link 22 is coaxial.
Further, in order to improve the damping performance of vehicle, as shown in Figure 5, be additionally provided with the support beam 26 to
Few two dampers 6 positioned at the both sides of motor 3, the damper 6 connects vehicle body（Not shown in figure）, also, preferably institute
State between damper 6 and support beam 26 and/or vehicle body is hinge connection.
Specifically, as shown in Figure 5, the damper 6 includes the first articulated section 61 and articulated section 62, first hinge
One end of socket part 61 is pivotally connected in the support beam 26 by bolt, nut and support, first articulated section 61
Telescopically one end of the second articulated section 62 described in grafting in the other end, naturally it is also possible to which the other end of first articulated section is inserted
It is connected in second articulated section, the other end pivotally connected one of second articulated section 62 is used for the connector for connecting vehicle body
63, also, the two ends of a spring 64 are separately fixed at the spring fixed tray of first articulated section 61 and second articulated section
On 62 spring fixed tray, when run into jolt road conditions when, the compression of spring 64 in the shock absorber 6 ensures the steady of vehicle body.
Finally, be additionally provided with axial connecting assembly 7 in the support beam 26, the axial connecting assembly 7 and vehicle body it
Between be hinge connection, therefore, when shaking, the deformation that can be connected through the hinge is come the buffering vibrated.
During AGV steering mechanism of the present utility model work, by taking accompanying drawing 5 as an example, when needing to turn right, the motor 3 it is dynamic
Power passes to the rotating disk 5 after the reductor 4, and the rotating disk 5 rotates clockwise drive 21 turns of first drive link
It is dynamic, when first drive link 21 is rotated, pull second drive link 22 to be moved to the direction of deflecting roller 1 on the left side, described the
The movement of two drive links 22 pulls the sleeve 238 in the three-dimensional connector 23 to produce rotation again, so as to drive and the three-dimensional
The deflecting roller 1 that connector 23 is connected is rotated clockwise（Turn right）, meanwhile, the third connecting rod 233 of the three-dimensional connector 23 it is suitable
Hour hands, which are rotated, pulls the 3rd drive link 24 to be moved to the direction of deflecting roller 1 on the right, with the shifting of the 3rd drive link 24
It is dynamic, the sleeve rotation of the input/output port 25 is pulled, so as to drive connected another deflecting roller 1 to rotate clockwise（It is right
Turn）, and then realize steering.
The process of left-hand rotation is identical with said process principle, and difference is in the opposite direction, to will not be repeated here.
The utility model still has numerous embodiments, all technologies formed by all use equivalents or equivalent transformation
Scheme, all falls within protection domain of the present utility model.
Claims (10)
1.AGV steering mechanism, including a pair of coaxial deflecting rollers（1）, it is characterised in that：Deflecting roller described in a pair（1）Pass through list
Individual motor（3）The steering bindiny mechanism of driving（2）Connect and be synchronized with the movement to same direction, the steering bindiny mechanism（2）With
Two deflecting rollers（1）The part of connection can turn under rotation, and non-steering state described in two parallel axis of rotation and two
To wheel（1）Central point be generally aligned in the same plane in.
2. AGV steering mechanism according to claim 1, it is characterised in that：The motor（3）By being fixed on support frame
Reductor（4）And rotating disk（5）Connect the steering bindiny mechanism（2）.
3. AGV steering mechanism according to claim 2, it is characterised in that：The steering bindiny mechanism（2）Including one end with
The rotating disk（5）First drive link of connection（21）, first drive link（21）Pivotally connected second drive link of the other end
（22）One end, second drive link（22）The other end it is pivotally connected with T-shaped connecting portion and can rotation three-dimensional connection
Device（23）First connecting rod（231）, the three-dimensional connector（23）Second connecting rod（232）Connect a deflecting roller（1）, it
Three connecting rods（233）Pivotally connected 3rd drive link（24）One end, the 3rd drive link（24）The other end it is pivotally connected double
To connector（25）Head rod（251）, the input/output port（25）Can rotation and its second connecting rod（252）Connection
Another deflecting roller（1）, first drive link（21）, first connecting rod（231）, third connecting rod（233）, head rod
（251）Be parallel to each other and with the deflecting roller（1）It is parallel, second drive link（22）With the 3rd drive link（24）It is parallel.
4. AGV steering mechanism according to claim 3, it is characterised in that：Second drive link（22）And the 3rd transmission
Bar（24）Include center-pole（210）And it is bolted to the center-pole（210）The connector at two ends（220）, the company
Fitting（220）Including annulus pivot connection.
5. AGV steering mechanism according to claim 4, it is characterised in that：The three-dimensional connector（23）Including pivot
（234）, the pivot（234）Through a support beam（26）And its periphery is set with graphite bearing（235）, the graphite bearing
（235）Two ends connect thrust bearing respectively（236）, the graphite bearing（235）, thrust bearing（236）With bolt connection institute
State pivot（234）Fixing nut（237）Coordinate the pivot（234）It is fixed on the support beam（26）On, the stone
Black bearing（235）Periphery branch sleeve（238）, the sleeve（238）It is upper that the first connecting rod is set（231）, second connecting rod
（232）And third connecting rod（233）.
6. AGV steering mechanism according to claim 5, it is characterised in that：The first connecting rod（231）, second connecting rod
（232）And third connecting rod（233）Respectively with the sleeve（238）Welding.
7. AGV steering mechanism according to claim 6, it is characterised in that：The motor（3）Output shaft axle center to institute
State three-dimensional connector（23）The axis of rotation distance be equal to its arrive the input/output port（25）The axis of rotation distance.
8. according to any described AGV steering mechanism of claim 3-7, it is characterised in that：3 are placed equidistant on support frame as described above
Proximity transducer（9）, the line of their central point is a bearing of trend and second drive link（22）Bearing of trend is identical
Straight line, during non-steering state, centrally located proximity transducer（9）With being connected first drive link（21）With second
Drive link（22）Bolt it is coaxial.
9. AGV steering mechanism according to claim 5, it is characterised in that：The support beam（26）On be additionally provided with to
Few two are located at the motor（3）The damper of both sides（6）, the damper（6）With support beam（26）And/or between vehicle body
For hinge connection.
10. AGV steering mechanism according to claim 9, it is characterised in that：The support beam（26）On be additionally provided with axle
To connecting assembly（7）, the axial connecting assembly（7）It is hinge connection between vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720221927.7U CN206606258U (en) | 2017-03-08 | 2017-03-08 | Agv steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720221927.7U CN206606258U (en) | 2017-03-08 | 2017-03-08 | Agv steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206606258U true CN206606258U (en) | 2017-11-03 |
Family
ID=60165289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720221927.7U Expired - Fee Related CN206606258U (en) | 2017-03-08 | 2017-03-08 | Agv steering mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206606258U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864586A (en) * | 2017-03-08 | 2017-06-20 | 苏州易摩物联科技有限公司 | Agv steering mechanism |
| CN111071333A (en) * | 2019-12-26 | 2020-04-28 | 安徽宇锋仓储设备有限公司 | AGV four-wheel counterweight steering system |
-
2017
- 2017-03-08 CN CN201720221927.7U patent/CN206606258U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864586A (en) * | 2017-03-08 | 2017-06-20 | 苏州易摩物联科技有限公司 | Agv steering mechanism |
| CN111071333A (en) * | 2019-12-26 | 2020-04-28 | 安徽宇锋仓储设备有限公司 | AGV four-wheel counterweight steering system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171103 Termination date: 20180308 |