An AGV vehicle driving steering assembly

Abstract

An AGV vehicle driving steering assembly includes an assembly frame, to which a wheel axle, a steering tie rod and a control screw seat are connected. A driving motor is installed on the assembly frame, and a transmission assembly and a coaxial reversing assembly are connected to the output shaft of the driving motor. The transmission assembly is connected to the wheel axle, and the coaxial reversing assembly is connected to the wheel axle and is opposite to the steering of the wheel axle. A first steering sleeve is installed on one side of the coaxial reversing assembly. A second steering sleeve arranged opposite to the first steering sleeve is installed on the wheel axle, and passive fitting surfaces are provided on the facing surfaces of the first steering sleeve and the second steering sleeve. A steering control assembly that can slide along the wheel axle is provided between the first steering sleeve and the second steering sleeve. Compared with the prior art, the present application combines the driving structure and the steering structure in a design that occupies a small space and has a certain vibration reduction effect, so that the vehicle body can adapt to complex working environments and can stably steer during movement.

Description

Technical Field

[0001] The invention belongs to the field of automotive electronics, and in particular relates to an AGV vehicle driving steering assembly. Background Art

[0002] AGV, also known as automatic guided vehicle or unmanned transport vehicle, is an automated unmanned intelligent transport equipment. It belongs to the mobile robot system and can travel along a pre-set path. It is one of the key equipment in modern industrial automated logistics systems such as computer integrated manufacturing systems. AGV has significant characteristics such as flexibility and intelligence. It can easily reorganize the system to achieve flexible transportation in the production process. Compared with traditional manual or semi-manual material transportation methods, the AGV system reduces labor intensity, reduces danger, and improves production efficiency. It can play an important role in all walks of life.

[0003] The existing mainstream AGV vehicles mainly use steering wheel structures for steering, which have the following problems: 1. It needs to rely on a special steering motor, which is complex in structure and occupies a large space. 2. If it is applied to a larger AGV vehicle, in order to ensure sufficient driving force, multiple sets of steering wheels are required, and the cost of the whole vehicle is too high. 3. The steering wheel generally uses a solid carcass, which has poor vibration reduction performance, so it has high requirements for the operating environment.

[0004] Therefore, based on some of the above prior art situations, the present application has been further designed and improved. Summary of the invention

[0005] In view of the above shortcomings in the prior art, the present invention provides an AGV vehicle driving and steering assembly, which has a simple and reliable structure, low production cost, and is suitable for larger AGV equipment. In addition, the present application combines the driving structure and the steering structure in a design, occupies a small space, and has a certain vibration reduction effect, so that the vehicle body can adapt to complex working environments and can stably steer during movement.

[0006] In order to solve the above technical problems, the present invention is solved by the following technical solutions.

[0007] An AGV vehicle driving steering assembly comprises an assembly frame, and the assembly frame is connected with a wheel axle, a steering tie rod and a control screw seat.

[0008] The assembly frame is equipped with a driving motor, and the output shaft of the driving motor is connected with a transmission component and a coaxial reversing component, the transmission component is connected to the wheel axle, the coaxial reversing component is connected to the wheel axle and is opposite to the wheel axle, and a first steering sleeve is installed on one side of the coaxial reversing component. The wheel axle is equipped with a second steering sleeve arranged opposite to the first steering sleeve, and the first steering sleeve and the second steering sleeve are provided with passive fitting surfaces on the facing surfaces. A steering control component that can slide along the wheel axle is provided between the first steering sleeve and the second steering sleeve, and the steering control component includes a sliding seat, and active fitting surfaces that can fit and transmit with the passive fitting surface are provided on both sides of the sliding seat.

[0009] The steering tie rod is provided with a threaded section, and the control screw seat is provided with an internal thread matched with the threaded section. The sliding seat is provided with a steering gear, and the control screw seat is provided with a gear portion matched with the steering gear. Universal connectors are provided on both sides of the wheel axle, and the other side of the universal connector is connected to a wheel seat, and the two sides of the steering tie rod are connected to a pulling ring rotatably assembled with the wheel seat. The wheel seat is turned by the extension and contraction of the steering tie rod, and then the vehicle body is turned. At the same time, the assembly method of the universal connector and the pulling ring can provide a certain vibration reduction effect.

[0010] The effect of this design is that the rotation direction of the control screw seat is controlled by making the steering control component fit and drive with the first steering sleeve or the second steering sleeve, thereby controlling the extension and retraction of the steering tie rod.

[0011] In a preferred embodiment, the transmission assembly includes a first transmission gear and a second transmission gear meshing with each other, the first transmission gear is mounted on the output shaft, and the second transmission gear is mounted on the axle. The transmission assembly is used to drive the axle to rotate, and the transmission method is simple and reliable with low cost.

[0012] In a preferred embodiment, the coaxial reversing assembly comprises a reversing sleeve and a first gear, an intermediate gear and a second gear meshed in sequence, the first gear is mounted on the output shaft, the second gear is mounted on the reversing sleeve, and the reversing sleeve is rotatably mounted on the wheel axle. The first steering sleeve is mounted on one side of the reversing sleeve, so that the steering of the first steering sleeve is opposite to the steering of the second steering sleeve.

[0013] In a preferred embodiment, the assembly frame is provided with a connecting assembly, the intermediate gear is provided with an intermediate shaft, and the output shaft and the intermediate shaft are rotatably connected and assembled with the connecting assembly. The connecting assembly can ensure that the first gear, the intermediate gear, and the second gear are tightly and reliably engaged, and can greatly reduce the overall weight of the assembly.

[0014] In a preferred embodiment, the steering control assembly further comprises a telescopic member fixed on the assembly frame, the output end of the telescopic member is provided with a connecting rod, the end of the connecting rod is provided with a connecting ring, and the connecting ring is assembled and connected with the sliding seat. The telescopic member drives the sliding seat to slide along the wheel axle to fit the first steering sleeve or the second steering sleeve, thereby realizing the steering switch of the steering gear.

[0015] In a preferred embodiment, the telescopic member is a telescopic cylinder, which has a simple and reliable structure, low cost, and is conducive to the simplification of the overall structural design.

[0016] In a preferred embodiment, the universal connector is a cross-axis coupling, which has high transmission efficiency and large load-bearing capacity.

[0017] In a preferred embodiment, the wheel seat is equipped with a tire, the tire is a pneumatic tire, and the tire surface is provided with anti-skid grooves, so that the tire can adapt to more terrains and expand the scope of use of AGV equipment.

[0018] In a preferred embodiment, the assembly frame is provided with a first connecting member, a second connecting member and a third connecting member, the wheel axle is rotatably connected and assembled with the first connecting member, the steering rod is rotatably connected and assembled with the second connecting member, and the control screw seat is rotatably connected and assembled with the third connecting member.

[0019] In a preferred embodiment, the active fitting surface and the passive fitting surface are made of metal friction material, which provides tight and reliable fitting, low cost and high cost performance.

[0020] Compared with the prior art, the beneficial effects of the present application are: providing an AGV vehicle driving and steering assembly, which has a simple and reliable structure, low production cost, and is suitable for larger AGV equipment. In addition, the present application combines the driving structure and the steering structure in a design, occupies a small space, and has a certain vibration reduction effect, so that the vehicle body can adapt to complex working environments and can stably steer during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional schematic diagram of an embodiment.

[0022] Figure 2 It is a schematic plan view of an embodiment.

[0023] Figure 3 It is a plan view of the main structure of the embodiment.

[0024] Figure 4 It is a three-dimensional schematic diagram of the wheel axle and steering rod transmission structure.

[0025] Figure 5 It is a three-dimensional schematic diagram of the control screw seat.

[0026] Figure 6 It is a three-dimensional schematic diagram of the inversion sleeve.

[0027] Figure 7 It is a three-dimensional schematic diagram of the sliding seat.

[0028] Figure 8 It is a three-dimensional schematic diagram of the telescopic part.

[0029] The following is a description of the markings in the accompanying drawings of the specification:

[0030] 1. Assembly frame; 11. First connecting piece; 12. Second connecting piece; 13. Third connecting piece; 14. Assembly hole; 15. Driving motor; 151. Output shaft; 16. Connecting assembly parts;

[0031] 2. axle; 21. universal joint; 22. wheel seat; 23. tire; 231. anti-skid pattern;

[0032] 3. Steering tie rod; 31. Pull ring; 32. Threaded section;

[0033] 4. Control screw seat; 41. Internal thread; 42. Gear tooth portion;

[0034] 5. Transmission assembly; 51. First transmission gear; 52. Second transmission gear;

[0035] 6. Coaxial reversing assembly; 61. Reversing sleeve; 62. First gear; 63. Intermediate gear; 631. Intermediate shaft; 64. Second gear;

[0036] 7. Steering control assembly; 71. Sliding seat; 72. Active fitting surface; 73. Telescopic member; 74. Connecting rod; 75. Connecting ring; 76. Steering gear;

[0037] 80. First steering sleeve; 81. Second steering sleeve; 82. Passive fitting surface. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0039] In the following embodiments, the same or similar reference numerals throughout represent the same or similar components or components with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0040] In the description of the present invention, it should be understood that the terms: center, longitudinal, transverse, length, width, thickness, up, down, front, back, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and therefore cannot be understood as limiting the present invention. In addition, the terms: first, second, etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features shown. In the description of the present invention, unless otherwise clearly specified and limited, the terms: install, connect, connect, etc. should be understood in a broad sense, and ordinary technicians in this field can understand the specific meaning of the above terms in this practicality according to the specific circumstances.

[0041] refer to Figures 1 to 8 , an AGV vehicle driving steering assembly, including an assembly frame 1, the assembly frame 1 is provided with an assembly hole 14, and the assembly hole 14 is used for connecting and assembling with a vehicle body. The assembly frame 1 is connected with a wheel axle 2, a steering tie rod 3 and a control screw seat 4. Specifically, the assembly frame 1 is provided with a first connecting member 11, a second connecting member 12 and a third connecting member 13, the wheel axle 2 is rotatably connected and assembled with the first connecting member 11 by a bearing connection, the steering tie rod 3 is rotatably connected and assembled with the second connecting member 12 by a bearing connection, and the control screw seat 4 is rotatably connected and assembled with the third connecting member 13 by a bearing connection.

[0042] Specifically, the assembly frame 1 is provided with a driving motor 15, and the output shaft 151 of the driving motor 15 is connected with a transmission assembly 5 and a coaxial reversing assembly 6, the transmission assembly 5 is connected with the wheel shaft 2, the coaxial reversing assembly 6 is connected with the wheel shaft 2 and rotates in the opposite direction to the wheel shaft 2, and a first steering sleeve 80 is installed on one side of the coaxial reversing assembly 6. The transmission assembly 5 includes a first transmission gear 51 and a second transmission gear 52 meshing with each other, the first transmission gear 51 is mounted on the output shaft 151, and the second transmission gear 52 is mounted on the wheel shaft 2. The transmission assembly 5 is used to drive the wheel shaft 2 to rotate, and the transmission method is simple and reliable, and the cost is low. The coaxial reversing assembly 6 includes a reversing sleeve 61 and a first gear 62, an intermediate gear 63 and a second gear 64 meshing in sequence, the first gear 62 is mounted on the output shaft 151, the second gear 64 is mounted on the reversing sleeve 61, and the reversing sleeve 61 is rotatably mounted on the wheel shaft 2. The first steering sleeve 80 is mounted on one side of the reversing sleeve 61. The rotation direction of the first steering sleeve 80 is opposite to the rotation direction of the second steering sleeve 81 .

[0043] Among them, universal connectors 21 are provided on both sides of the wheel axle 2, and a wheel seat 22 is connected to the other side of the universal connector 21. Pulling rings 31 are connected to the wheel seat 22 on both sides of the steering tie rod 3, which are rotatably assembled by bearing connection. A tire 23 is assembled and connected to the wheel seat 22. The wheel seat 22 is turned by the extension and retraction of the steering tie rod 3, and then the vehicle body is turned. At the same time, the assembly method of the universal connector 21 and the pulling ring 31 can provide a certain vibration reduction effect. The tire 23 is an inflatable tire 23, and the surface of the tire 23 is provided with anti-skid grooves 231. The tire 23 can adapt to more terrains and expand the range of use scenarios of AGV equipment. Preferably, the universal connector 21 is a cross-axis coupling with high transmission efficiency and large load-bearing capacity.

[0044] In particular, the assembly frame 1 is provided with a connecting assembly part 16, the intermediate gear 63 is provided with an intermediate shaft 631, and the output shaft 151 and the intermediate shaft 631 are rotatably connected and assembled with the connecting assembly part 16. The connecting assembly part 16 can ensure that the first gear 62, the intermediate gear 63, and the second gear 64 are tightly and reliably engaged, and can greatly reduce the overall weight of the assembly.

[0045] In the embodiment, the wheel axle 2 is provided with a second steering sleeve 81 which is arranged opposite to the first steering sleeve 80, and the first steering sleeve 80 and the second steering sleeve 81 have passive fitting surfaces 82 on their facing surfaces. A steering control assembly 7 which can slide along the wheel axle 2 is provided between the first steering sleeve 80 and the second steering sleeve 81, and the steering control assembly 7 includes a sliding seat 71, and active fitting surfaces 72 which can fit and transmit with the passive fitting surfaces 82 are provided on both sides of the sliding seat 71. The steering control assembly 7 also includes a telescopic member 73 fixed on the assembly frame 1, and a connecting rod 74 is provided at the output end of the telescopic member 73, and a connecting ring 75 is provided at the end of the connecting rod 74, and the connecting ring 75 is assembled and connected with the sliding seat 71 by a bearing connection. The sliding seat 71 is driven by the telescopic member 73 to slide along the wheel axle 2 to fit the first steering sleeve 80 or the second steering sleeve 81, thereby realizing the steering switching of the steering gear 76.

[0046] The present application drives the tie rod by screw thread drive, and its specific structure is: the steering tie rod 3 is provided with a threaded section 32, and the control screw seat 4 is provided with an internal thread 41 that matches the threaded section 32. The sliding seat 71 is provided with a steering gear 76, and the control screw seat 4 is provided with a gear portion 42 that matches the steering gear 76. The steering control assembly 7 is made to fit and transmit with the first steering sleeve 80 or the second steering sleeve 81 to control the rotation direction of the control screw seat 4, thereby controlling the extension and retraction of the steering tie rod 3.

[0047] In this embodiment, the telescopic member 73 is a telescopic cylinder. The structure is simple and reliable, the cost is low, and it is conducive to the simplification of the overall structural design. The active fitting surface 72 and the passive fitting surface 82 are made of metal friction material. The fitting is tight and reliable, the cost is low, and the cost performance is high.

[0048] Working principle: The driving motor 15 and the telescopic member 73 are electrically connected to the vehicle body control unit, and the driving motor 15 and the telescopic member 73 can be controlled by the control unit. When the driving motor 15 is started, the wheel axle 2 rotates under the drive of the transmission assembly 5, so that the vehicle body moves forward. When the vehicle body is in a straight-moving state, the steering control assembly 7 is located between the first steering sleeve 80 and the second steering sleeve 81, and the active contact surface 72 is not in contact with the passive contact surface 82 of the first steering sleeve 80 and the second steering sleeve 81. At this time, the steering rod 3 is in a neutral state. Assuming that the steering control assembly 7 is in contact with the second steering sleeve 81, it is a left-turn state. When the vehicle body needs to turn left, the telescopic member 73 retracts to make the steering control assembly 7 fit with the second steering sleeve 81, and the rotation of the wheel axle 2 is transmitted to the control screw seat 4 through the steering gear 76. The control screw seat 4 rotates to make the steering rod 3 extend toward the second steering sleeve 81, so that the vehicle body turns left.

[0049] Compared with the prior art, the present application provides an AGV driving and steering assembly, which has a simple and reliable structure, low production cost, and is suitable for larger AGV equipment. In addition, the present application combines the driving structure and the steering structure, occupies a small space, and has a certain vibration reduction effect, so that the vehicle body can adapt to complex working environments and can stably steer during movement.

[0050] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field shall fall within the protection scope of the present invention.

Claims

1. An AGV vehicle driving steering assembly, characterized in that: It comprises an assembly frame (1), to which a wheel axle (2), a steering tie rod (3) and a control screw seat (4) are connected; The assembly frame (1) is provided with a driving motor (15), the output shaft (151) of the driving motor (15) is connected to a transmission assembly (5) and a coaxial reversing assembly (6), the transmission assembly (5) is connected to the wheel axle (2), the coaxial reversing assembly (6) is connected to the wheel axle (2) and rotates in the opposite direction to the wheel axle (2), and a first steering sleeve (80) is provided on one side of the coaxial reversing assembly (6); The wheel axle (2) is provided with a second steering sleeve (81) disposed opposite to the first steering sleeve (80), and passive contact surfaces (82) are provided on the facing surfaces of the first steering sleeve (80) and the second steering sleeve (81); a steering control assembly (7) that can slide along the wheel axle (2) is provided between the first steering sleeve (80) and the second steering sleeve (81), and the steering control assembly (7) comprises a sliding seat (71), and active contact surfaces (72) that can contact and drive with the passive contact surfaces (82) are provided on both sides of the sliding seat (71); The steering tie rod (3) is provided with a threaded section (32), and the control screw seat (4) is provided with an internal thread (41) that cooperates with the threaded section (32); the sliding seat (71) is provided with a steering gear (76), and the control screw seat (4) is provided with a gear portion (42) that cooperates with the steering gear (76); universal connectors (21) are provided on both sides of the wheel shaft (2), and the other side of the universal connector (21) is connected to a wheel seat (22), and pulling rings (31) that are rotatably assembled with the wheel seat (22) are connected to both sides of the steering tie rod (3); The transmission assembly (5) comprises a first transmission gear (51) and a second transmission gear (52) meshing with each other, the first transmission gear (51) being mounted on the output shaft (151), and the second transmission gear (52) being mounted on the wheel axle (2); The coaxial reversing assembly (6) comprises a reversing sleeve (61) and a first gear (62), an intermediate gear (63) and a second gear (64) which are meshed in sequence, wherein the first gear (62) is mounted on the output shaft (151), the second gear (64) is mounted on the reversing sleeve (61), and the reversing sleeve (61) is rotatably mounted on the wheel axle (2); the first steering sleeve (80) is mounted on one side of the reversing sleeve (61); a connecting assembly part (16) is provided on the assembly frame (1), an intermediate shaft (631) is provided on the intermediate gear (63), and the output shaft (151) and the intermediate shaft (631) are rotatably connected and assembled with the connecting assembly part (16).

2. The AGV driving steering assembly according to claim 1, characterized in that: The steering control assembly (7) further comprises a telescopic member (73) fixedly mounted on the assembly frame (1); a connecting rod (74) is provided at the output end of the telescopic member (73); a connecting ring (75) is provided at the end of the connecting rod (74); and the connecting ring (75) is assembled and connected to the sliding seat (71).

3. The AGV driving steering assembly according to claim 2, characterized in that: The telescopic member (73) is a telescopic cylinder.

4. The AGV driving steering assembly according to claim 1, characterized in that: The universal connection piece (21) is a cross-axis coupling.

5. The AGV driving steering assembly according to claim 1, characterized in that: A tire (23) is mounted and connected to the wheel seat (22); the tire (23) is a pneumatic tire (23); and anti-skid grooves (231) are provided on the surface of the tire (23).

6. The AGV driving steering assembly according to claim 1, characterized in that: The assembly frame (1) is provided with a first connecting member (11), a second connecting member (12) and a third connecting member (13); the wheel axle (2) is rotatably connected and assembled with the first connecting member (11); the steering tie rod (3) is rotatably connected and assembled with the second connecting member (12); and the control screw seat (4) is rotatably connected and assembled with the third connecting member (13).

7. The AGV driving steering assembly according to claim 1, characterized in that: The active fitting surface (72) and the passive fitting surface (82) are made of metal friction material.

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