CN216185596U

CN216185596U - Articulated double steering wheel AGV actuating mechanism

Info

Publication number: CN216185596U
Application number: CN202122625178.3U
Authority: CN
Inventors: 范宏平; 陈垒; 王同; 张云峰; 陈章明
Original assignee: SAIC Maxus Vehicle Co Ltd Nanjing Branch
Current assignee: SAIC Maxus Vehicle Co Ltd Nanjing Branch
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2022-04-05
Anticipated expiration: 2031-10-29

Abstract

The utility model relates to an articulated double-steering engine AGV driving mechanism, which comprises an external AGV body frame, and an articulated mechanism, a steering engine and universal wheels which are arranged in the AGV body frame; the hinge mechanism is arranged at one end of the AGV body frame and is hinged with the AGV body frame through a hinge shaft; the two groups of steering engines are arranged, the first group of steering engines are fixedly arranged on the hinge mechanism, the second group of steering engines are fixedly arranged at the other end of the AGV body frame, and the two groups of steering engines are arranged in a paired angle distribution manner; the AGV comprises an AGV body frame, a first group of steering engines, a second group of universal wheels, a first group of universal wheels, a second group of steering engines and a third group of universal wheels, wherein the first group of universal wheels and the second group of steering engines are arranged on the AGV body frame in parallel, and the first group of universal wheels and the second group of universal wheels are arranged in an angle distribution mode. The utility model has compact structure, less space usage, high controllability and stable performance, can provide sufficient traction force and avoids the situations of skidding, direction out of control and the like.

Description

Articulated double steering wheel AGV actuating mechanism

Technical Field

The utility model relates to an AGV driving mechanism, in particular to an articulated double-steering engine AGV driving mechanism suitable for a whole automobile factory stamping workshop production line, and belongs to the technical field of automatic materials.

Background

An AGV (automatic Guided Vehicle) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions. AGV has been widely used in fields such as factory logistics automation, automated assembly line, etc.

Along with the automation of the automobile complete machine manufacturer punching press workshop of China, the intelligent degree is higher and higher, and the production beat is faster and faster, and the transport of more and more whole car manufacturer production line parts (material frame) adopts AGV to transport, and under quick production beat, in order to guarantee that AGV can be accurate quick get into production station and can ensure operating personnel's personal safety again simultaneously, just need dispose high-efficient, safe and reliable's AGV.

The existing AGV chassis is complex in structure and high in requirement on road flatness, and when the AGV chassis runs on a rugged road, a driving wheel is easy to leave the road due to jolt, so that traction force is insufficient, and the phenomena of skidding, out-of-control direction and the like are caused.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem of overcoming the defects in the prior art and provides the articulated double-steering engine AGV driving mechanism which is reasonable in structure, convenient to use and high in controllability.

In order to solve the technical problem, the utility model provides an articulated double-steering engine AGV driving mechanism which comprises an external AGV body frame, and an articulated mechanism, a steering engine and universal wheels which are arranged in the AGV body frame; the hinge mechanism is arranged at one end of the AGV body frame and is hinged with the AGV body frame through a hinge shaft;

the two groups of steering engines are arranged, the first group of steering engines are fixedly arranged on the hinge mechanism, the second group of steering engines are fixedly arranged at the other end of the AGV body frame, and the two groups of steering engines are arranged in a paired angle distribution manner; the AGV comprises an AGV body frame, a first group of steering engines, a second group of universal wheels, a first group of universal wheels, a second group of steering engines and a third group of universal wheels, wherein the first group of universal wheels and the second group of steering engines are arranged on the AGV body frame in parallel, and the first group of universal wheels and the second group of universal wheels are arranged in an angle distribution mode.

Further, hinge mechanisms includes articulated support, self-lubricating copper sheathing and articulated shaft, articulated support adopts the crane span structure, and it has the hinge hole that is used for installing self-lubricating copper sheathing to open on it to through install in articulated shaft in the hinge hole is connected with AGV automobile body frame is articulated.

Furthermore, the steering engine comprises driving motor, gear reduction unit, steering motor, steering unit and drive wheel, the drive wheel is installed on the base through the pivot to be connected the cooperation with the driving motor who installs on the base, through driving motor drive rotation, steering unit and gear reduction unit cooperation installation to through steering motor drive.

Furthermore, a steering motor encoder and a position detection potentiometer are installed in the steering unit.

Furthermore, the rotation range of the steering unit is 0-180 degrees.

Furthermore, the number of the universal wheels is four, and the four universal wheels are respectively arranged at four corners of the chassis.

The utility model has the following beneficial effects: according to the hinge type double-steering engine AGV driving mechanism, the steering engine driving wheels and the universal wheels which are arranged on the hinge type double-steering engine AGV driving mechanism can float up and down relative to an AGV body frame when passing through an uneven road surface through a hinge type structure, and the directions of the two rotating wheels floating up and down at the same time are opposite to adapt to the height difference of the road surface, so that the two driving wheels can be in close contact with the road surface under the condition that the heights of the road surfaces where the two driving wheels are located are not consistent, the driving wheels can provide sufficient traction force, and the situations of slipping, direction runaway and the like are avoided.

Drawings

Fig. 1 is a view showing the overall structural arrangement of the present invention.

Fig. 2 is a schematic structural diagram of a steering engine and a universal wheel in an articulated mechanism.

Fig. 3 is a view showing an installation structure of the hinge mechanism of the present invention.

Fig. 4 is a structure view of a steering engine of the present invention.

Description of the drawings: the AGV comprises the following components, by weight, 1-an AGV body frame, 2-a hinged support, 21-a self-lubricating copper bush, 3-a first group of steering gears, 31-a driving motor, 32-a gear speed reducing device, 33-a steering motor, 34-a steering motor encoder, 35-a driving wheel, 4-a first universal wheel, 5-a second group of steering gears, 6-a second universal wheel and 7-a hinged shaft.

Detailed Description

Examples

The articulated double steering wheel AGV actuating mechanism that this embodiment provided, its structure is shown in fig. 1 to fig. 4, including outside AGV automobile body frame 1 and install in its inside articulated mechanism, steering wheel and universal wheel. Wherein, hinge mechanisms sets up in AGV body frame 1's one end, is connected with AGV body frame is articulated through articulated shaft 7.

The steering wheel has two sets ofly, and wherein, the first steering wheel 3 of group is fixed mounting on articulated mounting 2 of articulated mechanism, and the steering wheel 5 of second group is fixed mounting at the other end of AGV automobile body frame 1, and the first steering wheel 3 of group and the steering wheel 5 of second group are to the angular distribution range. Meanwhile, the universal wheels are also provided with two groups, wherein the first universal wheel 4 and the first steering engine 3 are arranged on the hinged support 2 in parallel, the second universal wheel 6 and the second rudder 5 are arranged on the AGV body frame 1 in parallel, and the two groups of universal wheels are also distributed and arranged in pairs.

The hinge mechanism consists of a hinge support 2, a self-lubricating copper sleeve 21 and a hinge shaft 7. Articulated bracket 2 adopts the crane span structure, and self-lubricating copper sheathing 21 sets up in articulated hole of articulated bracket 2, is connected through articulated shaft 7 and AGV body frame 1 are articulated, can realize articulated bracket 2's fluctuation for when drive wheel 35 passes through uneven pavement, articulated bracket 2 can carry out self-adaptation regulation according to ground unevenness situation, has improved the adaptability of drive wheel to the complicated road surface condition, guarantees AGV dolly even running.

Meanwhile, the two groups of steering engines are identical in structure and respectively comprise a driving motor 31, a gear reduction device 32, a steering motor 33, a steering motor encoder 34, a driving wheel 35 and the like, the driving wheel 35 can realize linear driving and steering, a steering unit is driven by the steering motor 33 and is provided with the steering motor encoder 34 and a high-precision position detection potentiometer, the steering unit can rotate within the range of 0-180 degrees, and the driving wheel 35 can move in any direction and can accurately stop moving by matching with the forward and reverse rotation of the driving motor 31.

The articulated double steering wheel AGV actuating mechanism that this embodiment provided, can make the drive wheel 35 and the first universal wheel 4 of the first group steering wheel of installing on its articulated mounting through articulated structure when passing through the road surface of injustice, can float from top to bottom for AGV automobile body frame 1, and two runners are at the opposite direction of floating from top to bottom at same moment, with the difference in height on adaptation road surface, thereby ensure under the high inconsistent condition in road surface that two steering wheel drive wheels located, two drive wheels also all can with road surface in close contact with, it can provide sufficient traction force to have guaranteed that the drive wheel, avoided skidding, the condition such as direction out of control takes place.

In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.

Claims

1. The utility model provides an articulated formula double steering wheel AGV actuating mechanism which characterized in that: the AGV comprises an external AGV body frame, and a hinge mechanism, a steering engine and universal wheels which are arranged in the AGV body frame; the hinge mechanism is arranged at one end of the AGV body frame and is hinged with the AGV body frame through a hinge shaft;

2. The articulated double steering engine AGV drive mechanism of claim 1, characterized in that: articulated mechanism includes articulated support, self-lubricating copper sheathing and articulated shaft, articulated support adopts the crane span structure, and it has the hinge hole that is used for installing the self-lubricating copper sheathing to open on it to through install in articulated shaft in the hinge hole is connected with AGV automobile body frame is articulated.

3. The articulated double steering engine AGV drive mechanism of claim 1, characterized in that: the steering engine comprises driving motor, gear reduction unit, steering motor, steering unit and drive wheel, the drive wheel is installed on the base through the pivot to be connected the cooperation with the driving motor who installs on the base, rotatory through driving motor drive, steering unit and gear reduction unit cooperation installation to through steering motor drive.

4. The articulated double steering engine AGV drive mechanism of claim 3, characterized in that: and a steering motor encoder and a position detection potentiometer are arranged in the steering unit.

5. The articulated double steering engine AGV drive mechanism of claim 3, characterized in that: the rotation range of the steering unit is 0-180 degrees.

6. The articulated double steering engine AGV drive mechanism of claim 1, characterized in that: the number of the universal wheels is four, and the four universal wheels are respectively arranged at four corners of the chassis.