CN207060210U - A kind of automatical pilot transportation vehicle and its driving steering mechanism - Google Patents
A kind of automatical pilot transportation vehicle and its driving steering mechanism Download PDFInfo
- Publication number
- CN207060210U CN207060210U CN201720979303.1U CN201720979303U CN207060210U CN 207060210 U CN207060210 U CN 207060210U CN 201720979303 U CN201720979303 U CN 201720979303U CN 207060210 U CN207060210 U CN 207060210U
- Authority
- CN
- China
- Prior art keywords
- lower installation
- installation board
- steering mechanism
- mounting plate
- rotary shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses one kind to drive steering mechanism, including anti-vibration component, rotation bearing component and chassis assembly, anti-vibration component includes the upper mounting plate and lower installation board that stacks arrangement and relative can move up and down, lower installation board is provided with centre bore, and corner feedback device, multiple shock-proof springs and the limited post for limiting maximum spacing between upper mounting plate and lower installation board are provided between upper mounting plate and lower installation board；Rotation bearing component includes rotary shaft and rotary shaft fixed seat through centre bore and that rotate coaxially cooperation, and the upper end of rotary shaft is coaxially connected with steering synchronizing wheel and lower end and chassis assembly are affixed, and rotary shaft fixed seat and lower installation board are affixed.This programme reduces the structural complexity of driving steering mechanism, reduces organization volume in the case where not influenceing to travel, transporting, draw and transportation in can adapt to shorter work on the spot environment.The invention also discloses a kind of automatical pilot transportation vehicle for including above-mentioned driving steering mechanism.
Description
Technical field
Mobile robot technology field is the utility model is related to, more particularly to a kind of automatical pilot transportation vehicle and its driving turn
To mechanism.
Background technology
Automatical pilot transportation vehicle (abbreviation AGV) is that one kind is equipped with the homing guidance devices such as electromagnetism, optics, can be along regulation
Guided path travels, and has the transport vehicle of safeguard protection and various mobile load functions, belongs to wheeled mobile robot category.For
The working environment that mobile space is small, steering space is small is adapted to, its drive mechanism is typically always integrally formed formula structure with steering mechanism,
Steering mode be generally divided into it is independent deflect wheeled, differential speed driven type and Mecanum is wheeled etc., and AGV full side can be achieved
Position turning function, but independent deflection is wheeled and the wheeled mechanism load ability of Mecanum shows slightly deficiency relative to differential speed driven type.
And existing differential steering formula drive mechanism one side structure is complex, volume is still larger, in traction, handling process still
Relatively low work on the spot environment is not adapted to；On the other hand on flat smooth road surface or there can only be the road traveling of minimum obstacle,
Make vehicle body unstable, when mechanism is in roughness pavement operation, driving wheel bottom surface adhesive force reduces, or even influences dolly traveling essence
, transportation safety hidden danger be present in degree.Existing driving steering mechanism uses differential steering mode more, but general device volume is larger, high
Degree is higher, and more difficult adaptation roughness pavement.
Utility model content
In order to solve existing for existing driving steering mechanism it is complicated, volume is larger, traction, can not in transportation
The problem of adapting to shorter work on the spot environment, the utility model provides a kind of new driving steering mechanism to be included with one kind
The automatical pilot transportation vehicle of the driving steering mechanism.
Technical scheme provided by the utility model is specific as follows：
One kind driving steering mechanism, applied to automatical pilot transportation vehicle, including anti-vibration component, rotation bearing component and chassis
Component, wherein,
The anti-vibration component includes the upper mounting plate and lower installation board that stacks arrangement and relative can move up and down, under described
Installing plate is provided with centre bore, and corner feedback device, multiple shock-proof springs are provided between the upper mounting plate and the lower installation board
And for limiting the limited post of maximum spacing between the upper mounting plate and the lower installation board；
The rotation bearing component includes rotary shaft and rotary shaft through the centre bore and that rotate coaxially cooperation
Fixed seat, the upper end of the rotary shaft is coaxially connected with steering synchronizing wheel and lower end and the chassis assembly are affixed, the rotation
Axle fixed seat and the lower installation board are affixed.
Preferably, in above-mentioned driving steering mechanism, the chassis assembly includes being used for the inclination for supporting both ends driving wheel
Rotating shaft and the axis with the inclination rotating shaft interconnection, the both ends of the axis are connected to a rotary shaft and fixed
Plate, two rotation axis fixing plates are rotatable by the relatively described inclination rotating shaft of the axis.
Preferably, in above-mentioned driving steering mechanism, the lower end of two rotation axis fixing plates is fixed in revolution and fixed
Plate.
Preferably, in above-mentioned driving steering mechanism, the lower installation board is fixed in the lower end of the limited post, it is described on
Installing plate is slidably matched by spacing hole and the limited post, and the upper end of the limited post is provided with above the upper mounting plate
Defining flange.
Preferably, in above-mentioned driving steering mechanism, positioning is additionally provided between the upper mounting plate and the lower installation board
Lead, the shock-proof spring are set in the positioning guide column periphery.
Preferably, in above-mentioned driving steering mechanism, the centre bore both sides have been arranged symmetrically multiple shock-proof springs.
Preferably, in above-mentioned driving steering mechanism, the upper mounting plate is provided with to be available for above the centre bore
The upper centre bore for turning to synchronizing wheel and running through.
Preferably, in above-mentioned driving steering mechanism, installation is provided between the upper centre bore and the steering synchronizing wheel
Gap.
Preferably, in above-mentioned driving steering mechanism, the corner feedback device includes being fixed on the lower installation board
Planetary gear mounting seat and the first planetary gear for being rotationally connected with the planetary gear mounting seat, first planetary gear pass through
Upper timing belt and the steering synchronizing wheel drive connection, the wheel footpath phase of the wheel footpath of first planetary gear and the steering synchronizing wheel
Deng.
Driving steering mechanism provided by the utility model, including anti-vibration component, rotation bearing component and chassis assembly, its
In, anti-vibration component includes the upper mounting plate and lower installation board that stacks arrangement and relative can move up and down, during lower installation board is provided with
Heart hole, corner feedback device, multiple shock-proof springs are provided between upper mounting plate and lower installation board and for limiting upper mounting plate
The limited post of maximum spacing between lower installation board；Rotation bearing component includes through centre bore and rotates coaxially cooperation
Rotary shaft and rotary shaft fixed seat, the upper end of rotary shaft is coaxially connected with steering synchronizing wheel and lower end and chassis assembly are affixed, rotation
Shaft fixing block is affixed with lower installation board.
The utility model can make rotation bearing component make full use of shock-absorbing group by opening up centre bore on anti-vibration component
The space of part, so that the structure between the upper lower installation board of anti-vibration component is compacter, while by corner feedback device and keep away
Shake spring etc. is arranged between lower installation board, is further reduced mechanism overall volume, is reduced mechanism whole height.Can
See, the utility model reduces the structural complexity of driving steering mechanism, reduced in the case where not influenceing to travel, transporting
Organization volume, drawing and can adapt to shorter work on the spot environment in transportation.
The utility model additionally provides a kind of automatical pilot transportation vehicle for including above-mentioned driving steering mechanism.The homing guidance
The derivation for the beneficial effect that the derivation of beneficial effect caused by transport vehicle is brought with above-mentioned driving steering mechanism is substantially
It is similar, therefore repeat no more herein.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the general assembly structural representation of the driving steering mechanism in the utility model specific embodiment；
Fig. 2 is the driving steering mechanism obstacle detouring schematic diagram in the utility model specific embodiment；
Fig. 3 is the chassis assembly structural representation in the utility model specific embodiment；
Fig. 4 is the corner feedback device structural representation in the utility model specific embodiment.
Fig. 1 is into Fig. 4：
11- upper mounting plates, 12- limited posts, 13- lower installation boards, 14- positioning guide columns, the upper centre bores of 15-, 16- shock-absorbing bullets
Spring, 21- turn to synchronizing wheel, 22- rotary shafts, 23- rotary shafts fixed seat, 31- driving wheels, 32- chains, 33- motors, 34-
Rotation axis fixing plate, 35- axis, 36- motor reducers, 37- motor fixing plates, 38- tilt rotating shaft, 39- turns round fixed plate,
310- minor sprockets, 311- chains grinding wheel press cap, 312- drivings grinding wheel press cap, 313- big sprocket wheels, the upper timing belts of 41-, 42- code-discs, 43- planets
Take turns timing belt, the planets of 48- second under mounting seat, 44- mounting seats centre bore, the planetary gears of 45- first, 46- code-discs synchronizing wheel, 47-
Wheel.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1 to Fig. 4 is refer to, Fig. 1 is that total assembling structure of the driving steering mechanism in the utility model specific embodiment shows
It is intended to, Fig. 2 is the driving steering mechanism obstacle detouring schematic diagram in the utility model specific embodiment, and Fig. 3 is that the utility model is specific
Chassis assembly structural representation in embodiment, Fig. 4 are that the corner feedback device structure in the utility model specific embodiment is shown
It is intended to.
In a kind of specific embodiment scheme, the utility model provides a kind of driving applied to automatical pilot transportation vehicle
Steering mechanism, the mechanism mainly include three anti-vibration component, rotation bearing component and chassis assembly parts, wherein, anti-vibration component
Including the upper mounting plate 11 and lower installation board 13 that stacks arrangement and relative can move up and down, lower installation board 13 is provided with centre bore,
Corner feedback device, multiple shock-proof springs 16 are provided between upper mounting plate 11 and lower installation board 13 and for limiting upper mounting plate
The limited post 12 of maximum spacing between 11 and lower installation board 13；Rotation bearing component includes through centre bore and rotated coaxially
The rotary shaft 22 and rotary shaft fixed seat 23 of cooperation, the upper end of rotary shaft 22, which is coaxially connected with, turns to synchronizing wheel 21 and lower end and bottom
Disk component is affixed, and rotary shaft fixed seat 23 and lower installation board 13 are affixed.
Anti-vibration component specifically includes upper mounting plate 11, limited post 12, lower installation board 13, shock-proof spring 16 and corner feedback dress
Put.Upper mounting plate 11 and lower installation board 13 can pass through the relatively upper and lower resilient movement of shock-proof spring 16, it is preferable that centre bore both sides
Multiple shock-proof springs 16 have been arranged symmetrically, as shown in figure 1, being arranged such, the load between upper and lower installing plate can have been made to be distributed more
Add uniformly, avoid vehicle body from rocking.Preferably, positioning guide column 14 is additionally provided between upper mounting plate 11 and lower installation board 13,
Shock-proof spring 16 is set in the periphery of positioning guide column 14, as depicted in figs. 1 and 2, is arranged such, it is ensured that shock-proof spring 16 is steady
Surely predeterminated position is arranged on, avoids it from being moved.In addition, the effect of limited post 12 be between the upper lower installation board of limitation most
Big spacing, avoid drawing bad shock-proof spring 16 or upper mounting plate 11 to depart from lower installation board 13, limited post 12 away from excessive between the two
The overall security of anti-vibration component is not only increased, but also upper mounting plate can be limited by designing the height of limited post 12
Ultimate range between 11 and lower installation board 13, in this way, can be so that the volume of anti-vibration component is compacter.Need what is illustrated
It is that the structure type of limited post 12 can have a variety of, it is preferable that lower installation board is fixed in the lower end of the limited post 12 in this programme
On 13, upper mounting plate 11 is slidably matched by spacing hole and limited post 12, i.e. upper guard plate 11 can glide along limited post 12
Dynamic, the upper end of limited post 12 is provided with the defining flange positioned at the top of upper mounting plate 11, as shown in Fig. 2 the defining flange external diameter is big
In the aperture of the spacing hole of upper mounting plate 11, so that upper guard plate 11 can not depart from limited post 12.Certainly, people in the art
The one end of limited post 12 with flange or limited block can also be connected to the lower section of lower installation board 13 by member, and limited post 12 is another
End is fixed on upper mounting plate 11, is repeated no more herein.
The centre bore that lower installation board 13 opens up is used to assemble rotation bearing component, and rotary shaft fixed seat 23 may pass through the center
Kong Bingyu lower installation boards 13 are fixedly connected, so that rotation bearing component is solid by rotary shaft fixed seat 23 and lower installation board 13
Connect.Rotary shaft fixed seat 23 is nested inside with rotary shaft 22, and rotary shaft 22 rotates coaxially cooperation with rotary shaft fixed seat 23, when
When mechanism needs to turn to, under the dynamic action of motor 33, rotary shaft 22 is in the internal rotating of rotary shaft fixed seat 23, steering
Synchronizing wheel 21 is affixed with the upper end of rotary shaft 22 and is rotated together with rotary shaft 22.Rotary shaft 22 and chassis assembly are affixed, to realize
The turning function of chassis assembly.
In mechanism running, oppressed due to car body weight and drive steering mechanism, the close proximity to ground of driving wheel 31, now,
Shock-proof spring 16 is compressed and provides adhesive force for driving wheel 31；When running into road barrier, shock-proof spring 16 will be played and kept away
Shake acts on.
The utility model can make rotation bearing component make full use of shock-absorbing group by opening up centre bore on anti-vibration component
The space of part, so that the structure between the upper lower installation board of anti-vibration component is compacter, while by corner feedback device and keep away
Shake spring 16 etc. is arranged between lower installation board, is further reduced mechanism overall volume, is reduced mechanism whole height.Can
See, the utility model reduces the structural complexity of driving steering mechanism, reduced in the case where not influenceing to travel, transporting
Organization volume, drawing and can adapt to shorter work on the spot environment in transportation.
It refer to Fig. 3, the chassis assembly in this programme includes：Driving wheel 31, chain 32, motor 33, rotary shaft are solid
Fixed board 34, axis 35, motor reducer 36, motor fixing plate 37, tilt rotating shaft 38, be revolution fixed plate 39, big sprocket wheel 313, small
Sprocket wheel 310, chain grinding wheel press cap 311 and driving grinding wheel press cap 312 etc..The center that rotating shaft 38 is located at chassis assembly is tilted, by tilting
Motor fixing plate 37, big sprocket wheel 313 and driving wheel 31 are respectively sequentially installed with the center of rotating shaft 38 to direction of both ends, its
In, driving wheel 31 with tilt the coaxial cooperation of rotating shaft 38 and can surround tilt rotating shaft 38 axis rotation, driving wheel 31 be directly with
The part of ground contact.One end of motor fixing plate 37 is affixed with tilting rotating shaft 38, and the other end is connected with motor reducer 36, electricity
Machine decelerator 36 connects the output shaft of motor 33, and the output revolving shaft of motor reducer 36 is connected with minor sprocket 310, minor sprocket
310 are connected by chain 32 and big sprocket wheel 313, and the walking and differential that mechanism can be achieved under the driving of motor 33 turn
To etc. function, the sprocket diameter of minor sprocket 310 be less than the sprocket diameter of big sprocket wheel 313, therefore the transmission for slowing down and increasing and turning round can be realized
Effect.Driving grinding wheel press cap 312 is separately mounted to tilt the shaft end position of rotating shaft 38, and axial limiting effect is played to driving wheel 31；Chain
Grinding wheel press cap 311 is separately mounted to the roller end of motor reducer 36, and axial limiting effect is played to minor sprocket 310.
It should be noted that axis 35, with tilting the interconnection of rotating shaft 38, the both ends of axis 35 are connected to a rotation
Rotating shaft fixed plate 34, two rotation axis fixing plates 34 are rotatable by the above-mentioned relative tilt rotating shaft 38 of axis 35.Axis 35 with
The interconnection of rotating shaft 38 is tilted, the height of chassis assembly can be further reduced, make overall structure compacter.Specifically, this
Axis 35 in specific embodiment scheme is fixedly connected with tilting the square crossing of rotating shaft 38, and tilt rotating shaft 38 is provided centrally with one
The individual pilot hole to intersect vertically with own axes, together with axis 35 is just interference fitted with the pilot hole, as seen from Figure 3, axis
35 sequentially pass through first piece of rotation axis fixing plate 34, tilt rotating shaft 38 and second piece of rotation axis fixing plate 34, wherein, tilt rotating shaft
38 center and axis 35 are affixed, and axis 35 is the structures such as circular shaft or bent axle, and therefore, those skilled in the art can be with root
Arrange axis 35 according to different demands and tilt the intersecting angle between rotating shaft 38, not necessarily vertical relation.Axis 35
Both ends are connected with two rotation axis fixing plates 34 by bearing rotary respectively.Two rotation axis fixing plates 34 pass through the portions such as connecting plate
Part and rotary shaft 22 are affixed, so that rotation bearing component links together with chassis assembly, realize the steering work(of chassis assembly
Energy.
Fig. 2 and Fig. 3 are referred to, when the driving wheel 31 of side runs into obstacle, because difference in height be present in mechanism both sides bottom surface,
In addition to the shock-absorbing effect of shock-proof spring 16, the side drive wheel 31 for having obstacle will rotate and raise around axis 35, so as to more
Obstacle is easily passed over, during especially by pit, is absorbed in the driving wheel 31 of pit in the case where tilting the booster action of rotating shaft 38, institute
Caused difference in height will obtain effective compensation.Ground level is poor due to eliminating, and the hanging phenomenon in the side of driving wheel 31 will no longer
Occur, solve the problems, such as that vehicle body is unstable, transportation safety hidden danger be present during obstacle detouring, reduce rough road and face mechanism
Caused by stress concentration phenomenon influence.
Preferably, the lower end of two rotation axis fixing plates 34 is fixedly connected with revolution fixed plate 39, from the figure 3, it may be seen that rotation
Rotating shaft fixed plate 34 is arranged in the front and rear sides for tilting rotating shaft 38, and its upper end and rotary shaft 22 are affixed, and lower end is fixed with revolution
Plate 39 is affixed, and three is fixedly connected with each other, so as to further enhancing firm effect.
Fig. 1 and Fig. 4 are refer to, corner feedback device is arranged on lower installation board 13, mainly included：Upper timing belt 41, code
Disk 42, planetary gear mounting seat 43, mounting seat centre bore 44, the first planetary gear 45, code-disc synchronizing wheel 46, lower timing belt 47, second
Planetary gear 48 etc., the wheel footpath of the first planetary gear 45 are more than the wheel footpath of the second planetary gear 48, and planetary gear mounting seat 43 is fixed on lower peace
In loading board 13, the first planetary gear 45 is be hinged by mounting seat centre bore 44 and planetary gear mounting seat 43, and passes through upper timing belt 41
Steering synchronizing wheel 21 with rotating bearing component is connected, and wheel footpath of the wheel footpath of the first planetary gear 45 with turning to synchronizing wheel 21
It is equal.Second planetary gear 48 is located at the underface of the first planetary gear 45 and, second planet coaxially affixed with the first planetary gear 45
Wheel 48 is by lower timing belt 47 and the V belt translation of code-disc synchronizing wheel 46, the wheel footpath of the second planetary gear 48 and the wheel footpath of code-disc synchronizing wheel 46
Equal, code-disc synchronizing wheel 46 is coaxially connected with code-disc 42 and is fixed in planetary gear mounting seat 43, is arranged such, and rotating shaft 22 turns
Fast, the corner can of rotating shaft 22 equal with the rotating speed of the first planetary gear 45, the second planetary gear 48 and code-disc synchronizing wheel 46
1 is carried out by corner feedback device:1 transmits, and single-ring encoder can be used in code-disc 42.When 31 differential speed rotation of driving wheel, chassis
Component drives steering synchronizing wheel 21 to rotate by rotary shaft 22, and most rotational angle is accurately transferred to by corner feedback device at last
In code-disc 42, it is final caused by electric signal input controller, with real time correction mechanism caused deviation in the process of running.
Preferably, the synchronizing wheel 21 that is available for turning to that this programme is offered on upper mounting plate 11 above centre bore runs through
Upper centre bore 15, as shown in figure 1, rotation bearing component rotary shaft 22 connection turn to synchronizing wheel 21 stretch out in lower installation board 13
Centre bore above, when upper mounting plate 11 and lower installation board 13 are close to each other, the spacing between upper lower installation board diminishes, i.e.
Also diminish for accommodating rotary shaft 22 and turning to the space of synchronizing wheel 21, now, using the upper centre bore 15 of upper mounting plate 11, just
Steering synchronizing wheel 21 can be made to make full use of the space of the thickness direction of upper mounting plate 11, so that upper mounting plate 11 and lower peace
Loading board 13 can be further towards.
In order to further improve the installing space between upper lower installation board, this programme also offers use on upper mounting plate 11
In accommodating the hole arranged of corner feedback device, this is hole arranged communicated with above-mentioned upper installing hole 15 and formed one be similar to it is digital
The hole of " 8 " shape, may be designed in oval well format.First planetary gear 45 of corner feedback device is arranged at planetary gear installation
On seat 43 and the hole arranged of upper mounting plate 11 can be run through, the height of the first planetary gear 45 is highly consistent simultaneously with turning to synchronizing wheel 21
And both are connected by upper timing belt 41, it is arranged such, corner feedback device and rotation bearing component and lower installation board 13
Relative position then keep constant, only upper mounting plate 11 can move up and down with respect to lower installation board 13.This programme passes through in upper peace
Centre bore 15 and hole arranged is opened up in loading board 11, the space availability ratio between lower installation board is improved, so that shock-absorbing
Modular construction is compacter.In addition, the line at center of the center of the first planetary gear 45 with turning to synchronizing wheel 21 is preferably designed for
It is parallel with the long side of upper mounting plate 11, i.e. it is parallel with the front and rear straight trip direction of driving wheel 31, it is arranged so as to, driving can be turned to
Device integrally keeps symmetrical, so as to improve stability.
Preferably, installation gap is provided between upper centre bore 15 and steering synchronizing wheel 21, is arranged so as to, the drive can be facilitated
In assembling process, operating personnel will turn to synchronizing wheel 21 and are installed in rotary shaft 22 dynamic transfer manually, or will rotation
Axle 22 is installed in rotary shaft fixed seat 23.
Compared with prior art, this programme has the advantages that：
1st, the driving steering mechanism designed by the utility model, it is being equipped with shock-proof spring, axis and rotary shaft etc. zero
On the basis of part, on the premise of both having possessed certain obstacle climbing ability, higher bottom surface adhesive force, overall structure is more simplified, reduce
Axis height, the structure between upper lower installation board is compacter, meanwhile, corner feedback device is deposited in inside installing plate, entered
One step reduces mechanism overall volume, reduces mechanism whole height；
2nd, the driving steering mechanism designed by the utility model, axis and shock-proof spring part are remaining original obstacle detouring energy
Sufficient, effective bottom surface adhesive force and operation stability are provided for the operation of AGV vehicles on the premise of power and shock-proof effect, is ensured
AGV normally travel, while greatly reduce the influence that rough road faces stress concentration phenomenon caused by mechanism；
3rd, the driving steering mechanism designed by the utility model, corner feedback device is by more synchronous belt mechanisms 1:1 turn
Runner deflection angle is accurately transferred to single-ring encoder by speed than lower, instead of traditional encoder or magnetic coder,
Ensure to reduce cost on the premise of corner feedback function；
4th, the utility model can not only be individually used for the driving steering of AGV dollies, multigroup can also be used cooperatively, meanwhile,
It can be used in all kinds of logistic storage floor trucks, there is very high be applicable.
The utility model additionally provides a kind of automatical pilot transportation vehicle for including above-mentioned driving steering mechanism.The homing guidance
The derivation for the beneficial effect that the derivation of beneficial effect caused by transport vehicle is brought with above-mentioned driving steering mechanism is substantially
It is similar, therefore repeat no more herein.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or new using this practicality
Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments in the case where not departing from spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (10)
1. one kind driving steering mechanism, applied to automatical pilot transportation vehicle, it is characterised in that including anti-vibration component, rotation load-bearing
Component and chassis assembly, wherein,
The anti-vibration component includes the upper mounting plate (11) and lower installation board (13) that stacks arrangement and relative can move up and down, institute
State lower installation board (13) and be provided with centre bore, corner feedback dress is provided between the upper mounting plate (11) and the lower installation board (13)
Put, multiple shock-proof springs (16) and for limiting maximum spacing between the upper mounting plate (11) and the lower installation board (13)
Limited post (12)；
The rotation bearing component includes rotary shaft (22) and rotary shaft through the centre bore and that rotate coaxially cooperation
Fixed seat (23), the upper end of the rotary shaft (22) is coaxially connected with steering synchronizing wheel (21) and lower end is consolidated with the chassis assembly
Connect, the rotary shaft fixed seat (23) and the lower installation board (13) are affixed.
2. driving steering mechanism according to claim 1, it is characterised in that the chassis assembly includes being used to support both ends
The inclination rotating shaft (38) of driving wheel (31) and the axis (35) with described inclination rotating shaft (38) interconnection, the axis (35)
Both ends be connected to one rotation axis fixing plate (34), two it is described rotation axis fixing plates (34) pass through the axis
(35) relatively described inclination rotating shaft (38) is rotatable.
3. driving steering mechanism according to claim 2, it is characterised in that under two rotation axis fixing plates (34)
End is fixed in revolution fixed plate (39).
4. driving steering mechanism according to claim 1, it is characterised in that institute is fixed in the lower end of the limited post (12)
Lower installation board (13) is stated, the upper mounting plate (11) is slidably matched by spacing hole and the limited post (12), the limited post
(12) upper end is provided with the defining flange above the upper mounting plate (11).
5. driving steering mechanism according to claim 1, it is characterised in that the upper mounting plate (11) and the lower installation
Positioning guide column (14) is additionally provided between plate (13), the shock-proof spring (16) is set in the positioning guide column (14) periphery.
6. driving steering mechanism according to claim 1, it is characterised in that the centre bore both sides have been arranged symmetrically multiple
The shock-proof spring (16).
7. driving steering mechanism according to claim 1, it is characterised in that the upper mounting plate (11) is provided with positioned at described
The upper centre bore (15) that the steering synchronizing wheel (21) is run through is available for above centre bore.
8. driving steering mechanism according to claim 7, it is characterised in that the upper centre bore (15) turns to together with described
Installation gap is provided between step wheel (21).
9. driving steering mechanism according to claim 1, it is characterised in that the corner feedback device includes being fixed on institute
State the planetary gear mounting seat (43) on lower installation board (13) and be rotationally connected with the planetary gear mounting seat (43) first
Planetary gear (45), first planetary gear (45) are connected by upper timing belt (41) and the steering synchronizing wheel (21), institute
The wheel footpath for stating the first planetary gear (45) is equal with the wheel footpath of the steering synchronizing wheel (21).
10. a kind of automatical pilot transportation vehicle, it is characterised in that turned to including driving as claimed in any one of claims 1-9 wherein
Mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720979303.1U CN207060210U (en) | 2017-08-07 | 2017-08-07 | A kind of automatical pilot transportation vehicle and its driving steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720979303.1U CN207060210U (en) | 2017-08-07 | 2017-08-07 | A kind of automatical pilot transportation vehicle and its driving steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207060210U true CN207060210U (en) | 2018-03-02 |
Family
ID=61518955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720979303.1U Active CN207060210U (en) | 2017-08-07 | 2017-08-07 | A kind of automatical pilot transportation vehicle and its driving steering mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207060210U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284552A (en) * | 2017-08-07 | 2017-10-24 | 浙江国自机器人技术有限公司 | A kind of automatical pilot transportation vehicle and its driving steering mechanism |
| CN108982116A (en) * | 2018-06-27 | 2018-12-11 | 北京艾瑞思机器人技术有限公司 | Transport vehicle and its chassis parameter calibration method, device and computer-readable medium |
| CN112061181A (en) * | 2020-09-28 | 2020-12-11 | 广东博智林机器人有限公司 | Position detection device and transport vehicle |
-
2017
- 2017-08-07 CN CN201720979303.1U patent/CN207060210U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284552A (en) * | 2017-08-07 | 2017-10-24 | 浙江国自机器人技术有限公司 | A kind of automatical pilot transportation vehicle and its driving steering mechanism |
| CN108982116A (en) * | 2018-06-27 | 2018-12-11 | 北京艾瑞思机器人技术有限公司 | Transport vehicle and its chassis parameter calibration method, device and computer-readable medium |
| CN108982116B (en) * | 2018-06-27 | 2020-07-03 | 北京旷视机器人技术有限公司 | Transport vehicle and chassis parameter calibration method, device and computer readable medium thereof |
| CN112061181A (en) * | 2020-09-28 | 2020-12-11 | 广东博智林机器人有限公司 | Position detection device and transport vehicle |
| CN112061181B (en) * | 2020-09-28 | 2022-06-03 | 广东博智林机器人有限公司 | Position detection device and transport vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207060210U (en) | A kind of automatical pilot transportation vehicle and its driving steering mechanism | |
| CN106892014B (en) | A kind of planet gear type barrier-surpassing robot suitable for rotating ladder | |
| CN101850795B (en) | Wheel-leg combined type mobile robot platform | |
| WO2020010575A1 (en) | Suspension system and full piggy-back mobile robot | |
| CN101554890B (en) | Rocker-type wheel and track combining robot | |
| CN102303655B (en) | Wheel-legged combined-type robot platform | |
| CN105799503A (en) | Electric car chassis assembly capable of achieving four-wheel wheel-side-motor drive and four-wheel independent turning and control method | |
| CN101973307A (en) | Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle | |
| WO2018090649A1 (en) | Multi-ground-clearance self-steering mechanism | |
| CN107284552A (en) | A kind of automatical pilot transportation vehicle and its driving steering mechanism | |
| US8944446B1 (en) | Swivel drive system | |
| CN203601424U (en) | Planetary gear robot | |
| CN107985442A (en) | Drive mechanism for wheel, wheel unit and unmanned platform truck | |
| JP5733719B2 (en) | Four-wheeled vehicle | |
| CN110510029A (en) | Mecanum wheel duplex branch leg and Omni-mobile posture adjustment platform | |
| WO2019157101A1 (en) | Ground vehicle | |
| CN206827443U (en) | A kind of lifting type AGV dollies | |
| CN207089491U (en) | A kind of omni-directional wheel roller bears type AGV | |
| CN2841272Y (en) | Composite moving mechanism of autonomous obstacle-surmounting robot | |
| CN109591677B (en) | Universal vehicle platform for stage | |
| CN201677944U (en) | Wheel leg composite type mobile robot platform | |
| WO2006062905A2 (en) | Omnidirectional wheel modules and vehicles and methods employing same | |
| CN110143236A (en) | A kind of AGV is synchronous to turn to chassis structure | |
| WO2020244341A1 (en) | Differential drive device and agv | |
| CN107336574A (en) | A kind of liftable robot of changeable wheelbase |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |