A synchronous steering chassis structure for AGV

Abstract

The present invention discloses an AGV synchronous steering chassis structure, including a bottom plate, a rubber wheel driving mechanism arranged on the bottom plate, and a chain drive steering mechanism, wherein the rubber wheel driving mechanism includes four rotating platforms fixed on the bottom plate, and motor drive wheel mechanisms respectively arranged on each rotating platform; the chain drive steering mechanism includes two chains, two chain driving mechanisms fixed on the bottom plate, and each chain is simultaneously engaged with the corresponding chain driving mechanism and a pair of rotating platforms located on the same side. The present invention can realize the synchronous and same-direction rotation of two wheels on the same axis through the motor-controlled chain drive, thereby realizing the independent steering of the front and rear wheels of the AGV four-wheel chassis, with a simple structure, simple and reliable control, and can realize the rotation of the AGV in situ, which is economical and practical, and has good steering flexibility and high reliability.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transport vehicle manufacturing, and in particular to an AGV synchronous steering chassis structure, which is mainly used to complete the straight-line driving of the transport vehicle and has excellent turning function. Background Art

[0002] AGV is an intelligent transport logistics vehicle. Its chassis travel mechanism is the actuator for AGV to move straight and turn. Its performance directly affects the accuracy of AGV line patrol. AGV is usually used in high-density automated warehousing systems and some automated production equipment that requires auxiliary material handling. The traditional AGV chassis travel mechanism adopts a three-wheel, four-wheel, six-wheel or crawler chassis mechanism.

[0003] The three-wheel type has a simple structure, but it may slip due to the height of the structure installation;

[0004] The four-wheel structure has a similar layout to the chassis of a car, in which the two wheels on the same axis are driving wheels, and the other two wheels are steering wheels. The advantage is that the structure is simple, but the disadvantage is that the turning radius is large and it cannot turn on the spot. The second is that four Mecanum wheels are used as driving wheels. The advantage is that it can achieve all-round movement, but the disadvantage is that the Mecanum wheels are expensive and easy to wear out.

[0005] The six-wheel structure is the walking layout structure adopted by most AGVs nowadays. Its advantage is that it can realize reciprocating linear motion. The drive wheels are arranged on the central axis of the vehicle body to realize on-the-spot turning, and the turning radius is relatively small. However, its disadvantage is that when going uphill or downhill, the drive wheels are easily lifted up by the universal wheels on both sides. When the drive wheels do not have enough grip on the ground, it will cause the drive wheels to "slip".

[0006] Therefore, it is urgent to develop an AGV chassis travel mechanism that can complete straight-line driving and have excellent turning function. Summary of the invention

[0007] The present invention provides an AGV synchronous steering chassis structure. The present invention can realize the synchronous and same-direction rotation of two wheels on the same axis through a motor-controlled chain transmission, thereby realizing independent steering of the front and rear wheels of the AGV four-wheel chassis. The structure is simple, the control is simple and reliable, the AGV can be rotated in situ, the structure is economical and practical, the steering flexibility is good, and the reliability is high.

[0008] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0009] An AGV synchronous steering chassis structure comprises a bottom plate, a rubber wheel driving mechanism and a chain drive steering mechanism arranged on the bottom plate.

[0010] The rubber wheel driving mechanism comprises four rotating platforms fixed on the bottom plate and motor driving wheel mechanisms respectively arranged on each rotating platform;

[0011] The chain drive steering mechanism comprises two chains and two chain drive mechanisms fixed on the bottom plate, and each chain is simultaneously meshed with the corresponding chain drive mechanism and a pair of rotating platforms located on the same side.

[0012] Furthermore, the four rotating platforms are fixed on the bottom plate in a bilaterally symmetrical manner.

[0013] Furthermore, the chain driving mechanism is located on the symmetry line of the two connected rotating platforms.

[0014] Furthermore, the rotating platform comprises a first sprocket and a slewing support bearing, and the first sprocket is fixedly connected to the inner ring of the slewing support bearing.

[0015] Furthermore, the motor drive wheel mechanism includes a motor seat fixedly arranged on the first sprocket, a motor and a first flange respectively arranged on both sides of the motor seat, a coupling connecting the first flange and the motor drive shaft, and a rubber wheel fixedly connected to the flange.

[0016] Furthermore, the first sprocket is provided with a slot which is gap-matched with the rubber wheel, and the rubber wheel passes through the slot to contact the ground.

[0017] Furthermore, the chain drive mechanism includes a motor fixing mounting plate fixed on the base plate, a chain motor arranged on the motor fixing mounting plate, a second flange, a second coupling connecting the chain motor and the second flange, and a second sprocket fixedly connected to the second flange.

[0018] Furthermore, the motor fixing mounting plate is fixed on the base plate through a plurality of copper pillars.

[0019] Furthermore, the chain, the first sprocket and the second sprocket are on the same horizontal plane.

[0020] Furthermore, the chain motor is provided with a locking device.

[0021] Compared with the chassis walking mechanism of the existing AGV intelligent transport vehicle, the present invention can realize 360° rotation of the chassis in situ, has simple and reliable control, is economical and practical, has good steering flexibility and high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the mechanism of an embodiment of the present invention.

[0023] Figure 2It is a schematic top view of the overall structure of the mechanism of an embodiment of the present invention.

[0024] Explanation of the numbering of the parts in the schematic diagram:

[0025] As shown in the figure: 1-motor seat, 2-motor, 3-first flange, 4-first coupling, 5-rubber wheel, 6-first sprocket, 7-slewing support bearing, 8-chain, 9-second sprocket, 10-second flange, 11-second coupling, 12-motor fixed mounting plate, 13-chain motor, 14-base plate. DETAILED DESCRIPTION

[0026] The purpose of the present invention is further described in detail below through specific examples. The examples cannot be repeated here one by one, but the implementation mode of the present invention is not limited to the following examples.

[0027] like Figure 1 and Figure 2 As shown, an AGV synchronous steering chassis structure includes a bottom plate 14, a rubber wheel driving mechanism and a chain drive steering mechanism arranged on the bottom plate 14,

[0028] The rubber wheel driving mechanism comprises four rotating platforms fixed on the bottom plate symmetrically, and a motor driving wheel mechanism respectively arranged on each rotating platform;

[0029] The chain drive steering mechanism includes two chains 8 and two chain drive mechanisms fixed on the base plate 14. Each chain 8 is simultaneously engaged with the corresponding chain drive mechanism and a pair of rotating platforms located on the same side. At the same time, the chain drive mechanism is located on the symmetry line of the two connected rotating platforms.

[0030] Specifically, the rotating platform includes a first sprocket 6 and a slewing bearing 7 , and the first sprocket 6 is fixedly connected to the inner ring of the slewing bearing 7 .

[0031] Specifically, the motor drive wheel mechanism includes a motor base 1 fixedly mounted on the first sprocket 6, a motor 2 and a first flange 3 respectively mounted on both sides of the motor base, a coupling 4 connecting the first flange 3 and the motor transmission shaft, and a rubber wheel 5 fixedly connected to the flange. A light hole is left on one side of the motor base 1 and is fixedly connected to the motor 2 by screws, and a bearing is provided on the opposite light hole to support the first flange 3, and the first flange 3 is fixedly connected to the hub of the rubber wheel 5 by bolts.

[0032] The first sprocket 6 is fixedly connected to the threaded hole on the inner ring of the slewing support bearing 7 by screws passing through the optical hole, and is fixedly connected to the motor base 1 of the motor drive wheel mechanism by bolts. The rotating platform is fixedly connected to the threaded hole on the outer ring of the slewing support bearing 7 by screws and the optical hole of the base plate 14.

[0033] In addition, the first sprocket 6 is provided with a slot which is gap-matched with the rubber wheel 5, and the rubber wheel passes through the slot and contacts the ground, which effectively reduces the center of gravity height of the AGV trolley and ensures stability.

[0034] Specifically, the chain drive mechanism includes a motor fixing mounting plate 12 fixed to the base plate 14 by a plurality of copper columns 15, a chain motor 13 arranged on the motor fixing mounting plate 12, a second flange 10, a second coupling 11 connecting the chain motor 13 and the second flange 10, and a second sprocket 9 fixed to the second flange 10 by bolts.

[0035] Specifically, the chain 8 , the first sprocket 6 , and the second sprocket 9 are on the same horizontal plane, ensuring normal and reliable transmission operation of the chain 8 , the first sprocket 6 , and the second sprocket 9 .

[0036] Specifically, the chain motor 13 is provided with a locking device, which can keep the current route unchanged during normal driving without turning.

[0037] The distance between the two rotating platforms is determined as needed, and the length of the chain 8 and the parallelism of the rubber wheels 5 of the motor-driven wheel mechanisms on the two platforms must be considered. The tension of the chain 8 can be adjusted by replacing the second sprocket 9 with different diameters.

[0038] The usage process of this embodiment is as follows:

[0039] After power is turned on, the four wheels face forward initially, the front and rear four motors 2 drive the four rubber wheels 5 to move forward continuously, and the front and rear two chain motors 13 are locked to achieve straight-line driving of the chassis. When turning or rotating in place is required, the front and rear two chain motors 13 drive the chain 8, each driving the front and rear two rotating platforms to rotate a certain angle, thereby achieving all-round movement.

[0040] The above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An AGV synchronous steering chassis structure, characterized in that: It comprises a bottom plate (14), a rubber wheel driving mechanism and a chain drive steering mechanism arranged on the bottom plate (14), The rubber wheel drive mechanism comprises four rotating platforms fixed on the base plate and motor drive wheel mechanisms respectively arranged on the respective rotating platforms, wherein the four rotating platforms are fixed on the base plate in a bilaterally symmetrical manner, wherein the rotating platforms comprise a first sprocket (6) and a slewing support bearing (7), wherein the first sprocket (6) is fixedly connected to the inner ring of the slewing support bearing (7); the motor drive wheel mechanism comprises a motor seat (1) fixedly arranged on the first sprocket (6), a motor (2) and a first flange (3) respectively arranged on both sides of the motor seat, a coupling (4) connecting the first flange (3) and the motor transmission shaft, and a rubber wheel (5) fixedly connected to the flange; The chain drive steering mechanism comprises two chains (8) and two chain drive mechanisms fixed on the base plate (14); each chain (8) is simultaneously meshed with the corresponding chain drive mechanism and a pair of rotating platforms located on the same side; the two chain drive mechanisms are located on the symmetry line of the two connected rotating platforms; each chain drive mechanism comprises a motor fixing mounting plate (12) fixed on the base plate (14), a chain motor (13) arranged on the motor fixing mounting plate (12), a second flange (10), a second coupling (11) connecting the chain motor (13) and the second flange (10), and a second sprocket (9) fixedly connected to the second flange (10).

2. The AGV synchronous steering chassis structure according to claim 1 is characterized in that: The chain (8), the first sprocket (6), and the second sprocket (9) are located on the same horizontal plane.

3. The AGV synchronous steering chassis structure according to claim 1 is characterized in that: The first sprocket (6) is provided with a slot which is clearance-matched with the rubber wheel (5), and the rubber wheel passes through the slot to contact the ground.

4. The AGV synchronous steering chassis structure according to claim 1 is characterized in that: The motor fixing mounting plate (12) is fixed to the base plate via a plurality of copper pillars (15).

5. The AGV synchronous steering chassis structure according to claim 1 is characterized in that: The chain motor (13) is provided with a locking device.

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