A steering mechanism and method for an automated guided vehicle chassis

Abstract

The application discloses a steering mechanism and a steering method of an automatic guided vehicle chassis, and relates to the technical field of steering devices.The steering mechanism comprises a base, one steering motor, a transmission belt, four sets of electromagnetic clutch devices, four rotating parts, four driving motors and four driving wheels.The steering motor comprises a stator and a steering shaft, and the stator is installed on the base.The electromagnetic clutch device comprises a first electromagnetic part and a second electromagnetic part.When power is supplied, the first electromagnetic part and the second electromagnetic part are fixed to each other.When power is cut off, the first electromagnetic part can rotate freely relative to the second electromagnetic part.The transmission belt is connected to the steering shaft and the four first electromagnetic parts.The rotating part is rotationally connected to the base.The rotating part is fixedly connected to the second electromagnetic part and the driving motor.The driving motor is connected to the driving wheel.Only one steering motor is installed in the steering mechanism to control the direction adjustment of a single driving wheel or multiple driving wheels, the cost of the mechanism is relatively low, the power consumption is relatively small, and the volume occupied is relatively small.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steering devices, in particular to a steering mechanism and a steering method of an automatic guided vehicle chassis. BACKGROUND

[0002] An AGV (Automated Guided Vehicle) is an industrial vehicle that loads goods by automatic or manual means, travels along a set route automatically or drags a loading platform to a designated location, and then unloads goods by automatic or manual means.

[0003] The current mainstream omnidirectional AGV chassis design diagram is as shown in Figure 1 , which has four drive motors and four steering motors. The drive motors are responsible for the movement of the chassis, and the steering motors are responsible for adjusting the direction of the wheels.

[0004] The current mainstream omnidirectional AGV steering principle diagram is as shown in Figure 2 . The steering shaft of the steering motor is connected to the rotating flange, and the steering shaft and the rotating flange are locked, so that the rotating flange rotates with the steering shaft. The drive motor is fixed on the rotating flange, and the drive shaft of the drive motor is connected to the wheel. The steering shaft rotates, which can change the direction of the wheel.

[0005] When the omnidirectional AGV chassis turns left, there are two control methods: the first method is as shown in Figure 3 , the two front wheels turn left, and the directions of the two rear wheels remain unchanged. The second method is as shown in Figure 4 , the two front wheels turn left, and the two rear wheels turn right, and at the same time, the speed of the right wheel is greater than that of the left wheel. Figure 4 The steering radius of the method shown in Figure 3 is smaller than that of .

[0006] When the omnidirectional AGV chassis turns right, there are two control methods: the first method is as shown in Figure 5 , the two front wheels turn right, and the directions of the two rear wheels remain unchanged. The second method is as shown in Figure 6 , the two front wheels turn right, and the two rear wheels turn left, and at the same time, the speed of the left wheel is greater than that of the right wheel. Figure 6 The steering radius of the method shown in Figure 5 is smaller than that of .

[0007] When the omnidirectional AGV chassis turns in place, as shown in Figure 7 , the directions of the four wheels are adjusted, the directions of the adjacent two wheels are perpendicular, the directions of the diagonal two wheels are parallel but opposite, and the speeds of the four wheels are the same, so as to realize the turning in place.

[0008] The current steering scheme has the following problems: (1) the current scheme is controlled by four steering motors to control the rotation of each wheel, and the four steering motor scheme has high cost, high power consumption, and large volume; (2) if the steering angles are not synchronized during rotation (the reason for the asynchronization may be the asynchronization of the control signal, or the different ground friction, or the uneven ground), the wheels are easy to jam. Therefore, many AGVs have to slow down or even stop when turning left or right, and then continue to walk after completing the left or right turn. SUMMARY

[0009] In view of the above two problems of the current steering scheme, the automatic guided vehicle chassis steering mechanism and the steering method are provided to solve the problems.

[0010] In a first aspect, the application provides an automatic guided vehicle chassis steering mechanism, and adopts the following technical scheme.

[0011] The automatic guided vehicle chassis steering mechanism comprises a base, one steering motor, a transmission belt, four sets of electromagnetic clutch devices, four rotating members, four drive motors and four drive wheels.

[0012] The steering motor comprises a stator and a steering shaft, and the stator is installed on the base.

[0013] Each set of electromagnetic clutch devices comprises a first electromagnetic member and a second electromagnetic member. When powered on, the first electromagnetic member and the second electromagnetic member are fixed to each other. When powered off, the first electromagnetic member can rotate freely relative to the second electromagnetic member.

[0014] The transmission belt connects the steering shaft and the four first electromagnetic members.

[0015] The rotating member is rotatably connected to the base. The rotating member is fixedly connected to one second electromagnetic member and fixedly connected to one drive motor. The drive shaft of the drive motor is connected to the drive wheel. The four drive wheels are respectively a left front wheel, a right front wheel, a left rear wheel and a right rear wheel.

[0016] By adopting the technical scheme, the on-off of the four sets of electromagnetic clutch devices can realize the direction adjustment of a wheel or multiple wheels. For example, a number of sets of the electromagnetic clutch devices are powered on, and the other number of sets of the electromagnetic clutch devices are powered off, the steering motor is started, the direction of the driving wheel connected to the powered-on sets of the electromagnetic clutch devices is adjusted, and the direction of the driving wheel connected to the powered-off sets of the electromagnetic clutch devices is unchanged. The number of sets can be one, two or three, that is, the above effect can be realized. The above steering mechanism has low cost, low power consumption and small volume. When the wheels rotate, the driving wheels are connected by one transmission belt, and the angle synchronization of the driving wheels is high, and the wheels are not easy to jam. When the AGV car turns left or right, the AGV car does not need to slow down or stop, and can continue to walk while turning left or right.

[0017] A preferred scheme of the steering mechanism of the automatic guided vehicle chassis is that the steering mechanism further comprises seven synchronous wheels and two tensioning columns. The two tensioning columns are fixed on the base.

[0018] Each of the first electromagnetic members is fixedly sleeved with a synchronous wheel. The steering shaft is fixedly sleeved with a synchronous wheel. Each of the tensioning columns is movably sleeved with a synchronous wheel, so that the synchronous wheel can freely rotate on the tensioning column. The two tensioning columns are arranged on both sides of the steering shaft. The transmission belt is tightly wound outside the four first electromagnetic members and the other three synchronous wheels.

[0019] By adopting the technical scheme, one transmission belt is tightly connected outside the four driving wheels, so that the steering shaft can synchronously drive the synchronous rotation of the four driving wheels, the rotation direction and angle are the same, the wheels are not easy to jam during steering, and the wheels can continue to walk while turning left or right without the need to slow down or stop.

[0020] A preferred scheme of the steering mechanism of the automatic guided vehicle chassis is that the first electromagnetic member has a connecting column and a cylindrical cap. The connecting column is fixed to the top surface of the cylindrical cap. The connecting column is fixedly sleeved with a synchronous wheel. The cylindrical cap has a cylindrical cavity with an opening downward. The second electromagnetic member is cylindrical and is fitted in the cylindrical cavity.

[0021] By adopting the technical scheme, the first electromagnetic member can smoothly rotate relative to the second electromagnetic member, and the butt joint area of the first electromagnetic member and the second electromagnetic member is large. When synchronous rotation is needed, the mutual magnetic attraction after power-on is large, and the synchronization is good.

[0022] A preferred solution of the steering mechanism of the AGV chassis is that the rotating member has an inner ring and an outer ring. The inner ring is free to rotate relative to the outer ring. The outer ring is fixed to the base. The second electromagnetic member and the driving motor are fixed to the inner ring.

[0023] By using the above technical solution, the second electromagnetic member, the driving motor and the driving wheel can be driven to rotate synchronously.

[0024] A preferred solution of the steering mechanism of the AGV chassis is that the rotating member includes an inverted L-shaped connecting plate. The inverted L-shaped connecting plate has a vertical connecting upper flat plate and a vertical plate. The upper flat plate is fixed to the inner ring. The driving motor is installed on one side of the vertical plate. The driving shaft of the driving motor passes through the vertical plate without contact and is connected to one of the driving wheels.

[0025] By using the above technical solution, the driving wheel can be driven to rotate by the driving motor to drive the steering mechanism to move forward, and can be driven to change the moving direction by the steering motor.

[0026] In a second aspect, the application provides a steering method based on the steering mechanism of the AGV chassis, and uses the following technical solution.

[0027] A steering method using the steering mechanism of the AGV chassis described above to steer, the steering method comprising: energizing some of the electromagnetic clutches and de-energizing the other electromagnetic clutches, starting the steering motor, the direction of the driving wheels connected by the energized electromagnetic clutches being adjusted, and the direction of the driving wheels connected by the de-energized electromagnetic clutches remaining unchanged.

[0028] By using the above technical solution, by controlling the on-off of the four electromagnetic clutches, the direction adjustment of a single wheel or multiple wheels can be achieved.

[0029] A preferred solution of the steering method is that to control the steering mechanism to turn left, the electromagnetic clutches on the left front wheel and the right front wheel are energized, the electromagnetic clutches on the left rear wheel and the right rear wheel are de-energized, the steering motor is started to drive the left front wheel and the right front wheel to rotate synchronously to the left to achieve left turning.

[0030] By using the above technical solution, only one steering motor, one transmission belt and four electromagnetic clutches can be used to control the left front wheel and the right front wheel to rotate synchronously to the left to achieve left turning.

[0031] A preferred solution of the steering method is that when the steering motor is started, the four driving motors are also started, so that the steering mechanism moves forward while turning left.

[0032] By adopting the above technical scheme, the steering mechanism can continue to walk while turning left without deceleration or stop.

[0033] A preferred scheme of the steering method is that, to control the steering mechanism to turn counterclockwise at a spot, the electromagnetic clutch devices on the left front wheel and the right rear wheel are powered on, the electromagnetic clutch devices on the left rear wheel and the right front wheel are powered off, the steering motor is started to drive the left front wheel and the right rear wheel to turn right, the electromagnetic clutch devices on the left front wheel and the right rear wheel are powered off, the electromagnetic clutch devices on the left rear wheel and the right front wheel are powered on, the steering motor is started to drive the left rear wheel and the right front wheel to turn left, and the steering motor is turned off or the four electromagnetic clutch devices are powered off, and the four driving motors are started to make the steering mechanism turn counterclockwise at the spot.

[0034] By adopting the above technical scheme, only one steering motor, one transmission belt and four electromagnetic clutch devices can control the steering mechanism to rotate at a spot.

[0035] In summary, the steering mechanism and the steering method of the automatic guided vehicle chassis have the following beneficial effects: only one steering motor is used to control the direction adjustment of a single driving wheel or multiple driving wheels, the mechanism has low cost, low power consumption and small volume. The multiple wheels have good rotation synchronization and are not easy to jam, and the steering mechanism can walk while turning left or right. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 A current mainstream omnidirectional AGV chassis design drawing mentioned as background technology.

[0037] Figure 2 A current mainstream omnidirectional AGV steering principle diagram mentioned as background technology.

[0038] Figure 3 A top view schematic diagram of a first left turning control mode of an omnidirectional AGV chassis mentioned as background technology.

[0039] Figure 4 A top view schematic diagram of a second left turning control mode of an omnidirectional AGV chassis mentioned as background technology.

[0040] Figure 5 A top view schematic diagram of a first right turning control mode of an omnidirectional AGV chassis mentioned as background technology.

[0041] Figure 6 A top view schematic diagram of a second right turning control mode of an omnidirectional AGV chassis mentioned as background technology.

[0042] Figure 7 A top view schematic diagram of a spot steering of an omnidirectional AGV chassis mentioned as background technology.

[0043] Figure 8 Structure diagram of steering mechanism of AGV chassis mentioned in the embodiment.

[0044] Figure 9 For Figure 8 Sectional view along A-A section, section line through the axis of the two synchronous wheels.

[0045] Reference signs: 1, base; 2, steering motor; 3, transmission belt; 4, electromagnetic clutch device; 5, rotating part; 6, drive motor; 7, drive wheel; 8, tensioning column; 9, synchronous wheel; 401, first electromagnetic part; 402, second electromagnetic part; 501, inner ring; 502, outer ring; 503, inverted L-shaped connecting plate; 5031, upper flat plate; 5032, vertical plate; 601, drive shaft; 4011, connecting column; 4012, cylindrical cap; 201, stator; 202, steering shaft. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the following embodiments, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0047] As Figure 8 A steering mechanism of AGV chassis, comprising a square plate-shaped base 1, a steering motor 2, a transmission belt 3 which can be a belt, four sets of electromagnetic clutch devices 4, four rotating parts 5, four drive motors 6 and four drive wheels 7, and two tensioning columns 8 and seven synchronous wheels 9.

[0048] A set of electromagnetic clutch devices 4, a rotating part 5, a drive motor 6 and a drive wheel 7 are installed on each of the four corners of the base 1. The drive wheels 7 located at the four corners of the base 1 are respectively the front left wheel, the front right wheel, the rear left wheel and the rear right wheel.

[0049] The electromagnetic clutch device 4 is an electromagnetic clutch, which is an electromagnetic mechanical connector that uses the principle of electromagnetic induction and the friction between the inner and outer friction plates to make two rotating parts in a mechanical transmission system combined or separated from the driving part without stopping rotation. It is an automatic electric appliance. The electromagnetic clutch can be used to control the starting, reversing, speed regulation and braking of machinery. It has the advantages of simple structure, fast action, small control energy, easy remote control, small size, large torque transmission, rapid and smooth braking when used as a braking control, and is widely used in various machining tools and mechanical transmission systems.

[0050] As Figure 9 , in particular, the electromagnetic clutch device 4 of the present application comprises a first electromagnetic member 401 and a second electromagnetic member 402. When powered, the first electromagnetic member 401 and the second electromagnetic member 402 are magnetically attracted to each other and fixed. When powered off, the first electromagnetic member 401 can rotate freely relative to the second electromagnetic member 402.

[0051] The rotating member 5 comprises an inner ring 501, an outer ring 502 and an inverted L-shaped connecting plate 503. The inner ring 501 and the outer ring 502 can be connected by a ring of balls, so that the inner ring 501 can rotate freely relative to the outer ring 502, which is equivalent to a bearing structure or a rotating flange structure. The inverted L-shaped connecting plate 503 comprises an integrally formed upper flat plate 5031 and a vertical plate 5032. The vertical plate 5032 is connected perpendicularly to one side of the upper flat plate 5031. The upper flat plate 5031 is fixed to the inner ring 501. The outer ring 502 passes through the base 1 and is fixed to the base 1. The driving motor 6 is installed on one side of the vertical plate 5032, and its driving shaft 601 passes through the vertical plate 5032 to the other side without contact and is connected to a driving wheel 7.

[0052] The rotating member 5 is located below the base 1, and the electromagnetic clutch device 4 is located above the base 1. The second electromagnetic member 402 is fixed to the inner ring 501. The second electromagnetic member 402 is a cylinder. The first electromagnetic member 401 has a connecting column 4011 and a cylindrical cap 4012. The connecting column 4011 is fixed to the top surface of the cylindrical cap 4012. The cylindrical cap 4012 has a cylindrical cavity with an opening facing downward. The second electromagnetic member 402 is fitted into the cylindrical cavity. The outer periphery of the connecting column 4011 is fixed with a synchronous wheel 9. The transmission belt 3 is wrapped around the four connecting columns 4011 at the four corners.

[0053] Two tensioning columns 8 are fixed to the upper surface of the base 1. The upper end of each tensioning column 8 is rotatably fitted with a synchronous wheel 9, i.e. the synchronous wheel 9 can rotate freely on the upper end of the tensioning column 8.

[0054] The stator 201 of the steering motor 2 is located above the base 1, and can be fixed to two mounting plates (not shown) on both sides of the stator 201 of the steering motor 2, and the lower ends of the two mounting plates are fixed to the base 1. The steering shaft 202 in the middle of the steering motor 2 is downward, which can be completely above the base 1 or pass through the base 1 without contact. A synchronous wheel 9 is fixed to the steering shaft 202.

[0055] Four synchronous wheels 9 are sleeved on the four first electromagnetic members 401, two synchronous wheels 9 are sleeved on the two tensioning columns 8, and one synchronous wheel 9 is sleeved on the steering shaft 202, and the above seven synchronous wheels 9 are located on the same horizontal plane. The transmission belt 3 passes through the four synchronous wheels 9 sleeved on the four first electromagnetic members 401 from the outside, passes through the two synchronous wheels 9 sleeved on the two tensioning columns 8 from the outside, and passes through the synchronous wheel 9 sleeved on the steering shaft 202 from the inside, that is, the winding direction of the transmission belt 3 on the steering shaft 202 and the tensioning column 8 is opposite, so that the transmission belt 3 can be tensioned, and the two tensioning columns 8 are located on both sides of the steering shaft 202, the two tensioning columns 8 and the steering shaft 202 are not on the same straight line, so that the transmission belt 3 wrapped around both sides of the steering shaft 202 is close to parallel, so that the contact area between the transmission belt 3 and the steering shaft 202 is large, the friction is large, and it is beneficial to drive the transmission belt 3 to operate by the steering shaft 202. Since the transmission belt 3 passes through the four synchronous wheels 9 sleeved on the four first electromagnetic members 401 from the outside, the four synchronous wheels 9 are equal in size, therefore, the rotation angles of the four synchronous wheels 9 are equal, and the rotation directions are the same, that is, clockwise rotation or counterclockwise rotation. The clockwise and counterclockwise can be defined from the perspective of looking down from the direction of the base 1.

[0056] The steering principle of the above automatic guided vehicle chassis steering mechanism is that a plurality of electromagnetic clutch devices 4 are powered on, and the other plurality of electromagnetic clutch devices 4 are powered off, the steering motor 2 is started, the direction of the drive wheel 7 connected by the plurality of electromagnetic clutch devices 4 powered on is adjusted, and the direction of the drive wheel 7 connected by the other plurality of electromagnetic clutch devices 4 powered off is unchanged. The plurality of groups can be one group, two groups, three groups or four groups, that is, only one steering motor 2 is installed to control the direction adjustment of a single drive wheel 7 or a plurality of drive wheels 7, so that the cost of the steering mechanism is lower, the power consumption is smaller, and the occupied volume is smaller. A plurality of wheels are turned through the transmission belt 3, the synchronization is good, and the steering is not easy to jam.

[0057] Using the above automatic guided vehicle chassis steering mechanism, left turn, right turn, clockwise rotation on the spot or counterclockwise rotation on the spot can be realized, and walking can also be realized at the same time during left turn or right turn.

[0058] Several steering methods are introduced below. It should be noted that before steering, the four drive wheels 7 are in the forward state.

[0059] First, left turn. To realize left turn, it can be adjusted to Figure 3 or Figure 4 state, for example, adjusted to Figure 3The state of the left front wheel and the right front wheel, and the right rear wheel and the left rear wheel, respectively. The electromagnetic clutch 4 on the left front wheel and the right front wheel is powered on, and the electromagnetic clutch 4 on the left rear wheel and the right rear wheel is powered off. The steering motor 2 is started, and the steering shaft 202 is controlled to rotate clockwise (viewed from the top). The left rear wheel and the right rear wheel rotate counterclockwise, for example, rotate 45° clockwise from the forward state. Then, the electromagnetic clutch 4 on the left front wheel and the right rear wheel is powered off, and the electromagnetic clutch 4 on the left rear wheel and the right front wheel is powered on. The steering motor 2 is started, and the steering shaft 202 is controlled to rotate counterclockwise (viewed from the top), for example, rotate 45° counterclockwise from the forward state, so as to reach the state of the left front wheel and the right front wheel, and the right rear wheel and the left rear wheel, respectively. The steering motor 2 is turned off or the four sets of electromagnetic clutches 4 are powered off while the steering motor 2 is turned on. The four drive motors 6 are started, and the rotation directions and rotation speeds of the four drive motors 6 are the same, so that the steering mechanism performs counterclockwise steering in place. The rotation directions of the four drive motors 6 are the same, which means that the drive motors 6 are all rotating clockwise from the outside of the drive motors 6.

[0060] The second, if you want to turn right, the electromagnetic clutch 4 on the left front wheel and the right front wheel can also be powered on, and the electromagnetic clutch 4 on the left rear wheel and the right rear wheel is powered off. The steering motor 2 is started, and different from the left turn, the steering shaft 202 is controlled to rotate counterclockwise when turning right, so that the left front wheel and the right front wheel rotate clockwise, that is, deflect to the right. The other principles and control methods can refer to the left turn method.

[0061] The third, counterclockwise steering in place, that is, to adjust to the state of the left front wheel and the right front wheel, and the right rear wheel and the left rear wheel, respectively. The electromagnetic clutch 4 on the left front wheel and the right rear wheel is powered on, and the electromagnetic clutch 4 on the left rear wheel and the right front wheel is powered off. The steering motor 2 is started, and the steering shaft 202 is controlled to rotate counterclockwise, so that the left rear wheel and the right front wheel rotate clockwise, for example, rotate 45° clockwise from the forward state. Then, the electromagnetic clutch 4 on the left front wheel and the right rear wheel is powered off, and the electromagnetic clutch 4 on the left rear wheel and the right front wheel is powered on. The steering motor 2 is started, and the steering shaft 202 is controlled to rotate clockwise (viewed from the top), for example, rotate 45° clockwise from the forward state, so as to reach the state of the left front wheel and the right front wheel, and the right rear wheel and the left rear wheel, respectively. The steering motor 2 is turned off or the four sets of electromagnetic clutches 4 are powered off while the steering motor 2 is turned on. The four drive motors 6 are started, and the rotation directions and rotation speeds of the four drive motors 6 are the same, so that the steering mechanism performs counterclockwise steering in place. The rotation directions of the four drive motors 6 are the same, which means that the drive motors 6 are all rotating clockwise from the outside of the drive motors 6. Figure 7 Figure 7 The third, counterclockwise steering in place, that is, to adjust to the state of the left front wheel and the right front wheel, and the right rear wheel and the left rear wheel, respectively. The electromagnetic clutch 4 on the left front wheel and the right rear wheel is powered on, and the electromagnetic clutch 4 on the left rear wheel and the right front wheel is powered off. The steering motor 2 is started, and the steering shaft 202 is controlled to rotate counterclockwise, so that the left rear wheel and the right front wheel rotate clockwise, for example, rotate 45° clockwise from the forward state. Then, the electromagnetic clutch 4 on the left front wheel and the right rear wheel is powered off, and the electromagnetic clutch 4 on the left rear wheel and the right front wheel is powered on. The steering motor 2 is started, and the steering shaft 202 is controlled to rotate clockwise (viewed from the top), for example, rotate 45° clockwise from the forward state, so as to reach the state of the left front wheel and the right front wheel, and the right rear wheel and the left rear wheel, respectively. The steering motor 2 is turned off or the four sets of electromagnetic clutches 4 are powered off while the steering motor 2 is turned on. The four drive motors 6 are started, and the rotation directions and rotation speeds of the four drive motors 6 are the same, so that the steering mechanism performs counterclockwise steering in place. The rotation directions of the four drive motors 6 are the same, which means that the drive motors 6 are all rotating clockwise from the outside of the drive motors 6.The third, counterclockwise steering in place, that is, to adjust to the state of the left front wheel and the right front wheel, and the right rear wheel and the left rear wheel, respectively. The electromagnetic clutch 4 on the left front wheel and the right rear wheel is powered on, and the electromagnetic clutch 4 on the left rear wheel and the right front wheel is powered off. The steering motor 2 is started, and the steering shaft 202 is controlled to rotate counterclockwise, so that the left rear wheel and the right front wheel rotate clockwise, for example, rotate 45° clockwise from the forward state. Then, the electromagnetic clutch 4 on the left front wheel and the right rear wheel is powered off, and the electromagnetic clutch 4 on the left rear wheel and the right front wheel is powered on. The steering motor 2 is started, and the steering shaft 202 is controlled to rotate clockwise (viewed from the top), for example, rotate 45° clockwise from the forward state, so as to reach the state of the left front wheel and the right front wheel, and the right rear wheel and the left rear wheel, respectively. The steering motor 2 is turned off or the four sets of electromagnetic clutches 4 are powered off while the steering motor 2 is turned on. The four drive motors 6 are started, and the rotation directions and rotation speeds of the four drive motors 6 are the same, so that the steering mechanism performs counterclockwise steering in place. The rotation directions of the four drive motors 6 are the same, which means that the drive motors 6 are all rotating clockwise from the outside of the drive motors 6.

[0062] The fourth, clockwise turning in place, the control mode and counterclockwise turning in place is basically the same, the difference is that the last four drive motors 6 rotation direction is, from the outside of the drive motor 6, drive motor 6 are counterclockwise rotation, so as to realize the steering mechanism of the clockwise turning in place.

[0063] The steering mechanism and steering method of the automatic guided vehicle chassis of the above embodiments, only one steering motor 2 is installed, which can control the direction adjustment of single drive wheel 7 or multiple drive wheels 7, so that the cost of the mechanism is low, the power consumption is small, the occupied volume is small, when turning, the multiple wheels connected by the transmission belt 3 rotate synchronously, and it is not easy to jam, when turning left or right, it can not need to slow down or stop, and it can walk forward synchronously.

[0064] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A steering mechanism for an automated guided vehicle chassis, characterized in that, It includes a base (1), a steering motor (2), a transmission belt (3), four sets of electromagnetic clutches (4), four rotating parts (5), four drive motors (6) and four drive wheels (7); The steering motor (2) includes a stator (201) and a steering shaft (202), the stator (201) being mounted on the base (1); Each electromagnetic clutch device (4) includes a first electromagnetic component (401) and a second electromagnetic component (402); when energized, the first electromagnetic component (401) and the second electromagnetic component (402) are fixed to each other; when de-energized, the first electromagnetic component (401) can rotate freely relative to the second electromagnetic component (402); The drive belt (3) connects the steering shaft (202) and the four first electromagnetic components (401). The rotating component (5) is rotatably connected to the base (1); the rotating component (5) is fixedly connected to a second electromagnetic component (402) and a drive motor (6); the drive shaft (601) of the drive motor (6) is connected to the drive wheel (7); the four drive wheels (7) are the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, respectively.

2. The steering mechanism of the automated guided vehicle chassis according to claim 1, characterized in that, The steering mechanism also includes seven synchronous pulleys (9) and two tensioning columns (8); the two tensioning columns (8) are fixed on the base (1); A synchronous pulley (9) is fixedly fitted on each of the first electromagnetic components (401); a synchronous pulley (9) is fixedly fitted on the steering shaft (202); a synchronous pulley (9) is movably fitted on each of the tensioning columns (8), so that the synchronous pulley (9) can rotate freely on the tensioning column (8); two tensioning columns (8) are arranged on both sides of the steering shaft (202); the transmission belt (3) is tensioned around the outside of the synchronous pulleys (9) on the four first electromagnetic components (401), and tensioned around the other three synchronous pulleys (9).

3. The steering mechanism of the automated guided vehicle chassis according to claim 2, characterized in that, The first electromagnetic component (401) has a connecting post (4011) and a cylindrical cap (4012); the connecting post (4011) is fixed to the top surface of the cylindrical cap (4012); a synchronous wheel (9) is fixedly sleeved on the connecting post (4011); the cylindrical cap (4012) has a cylindrical cavity with the opening facing downward; the second electromagnetic component (402) is cylindrical and is adapted to be installed in the cylindrical cavity.

4. The steering mechanism of the automated guided vehicle chassis according to claim 1, characterized in that, The rotating component (5) has an inner ring (501) and an outer ring (502); the inner ring (501) can rotate freely relative to the outer ring (502); the outer ring (502) is fixed to the base (1); the second electromagnetic component (402) and the drive motor (6) are fixed to the inner ring (501).

5. The steering mechanism of the automated guided vehicle chassis according to claim 4, characterized in that, The rotating component (5) includes an inverted L-shaped connecting plate (503); the inverted L-shaped connecting plate (503) has a vertically connected upper plate (5031) and a vertical plate (5032); the upper plate (5031) is fixed to the inner ring (501); the drive motor (6) is installed on one side of the vertical plate (5032); the drive shaft (601) of the drive motor (6) passes through the vertical plate (5032) without contact and is connected to a drive wheel (7).

6. A steering method, using the steering mechanism of the automated guided vehicle chassis according to any one of claims 1 to 5, characterized in that, The steering method includes: energizing a plurality of the electromagnetic clutch devices (4) and de-energizing the other plurality of electromagnetic clutch devices (4), starting the steering motor (2), adjusting the direction of the drive wheels (7) connected to the energized plurality of electromagnetic clutch devices (4), and keeping the direction of the drive wheels (7) connected to the de-energized other plurality of electromagnetic clutch devices (4) unchanged.

7. The steering method according to claim 6, characterized in that, To control the steering mechanism to turn left, the electromagnetic clutch devices (4) on the left front wheel and the right front wheel are energized, and the electromagnetic clutch devices (4) on the left rear wheel and the right rear wheel are de-energized. The steering motor (2) is started, which drives the left front wheel and the right front wheel to turn to the left synchronously, thus achieving a left turn.

8. The steering method according to claim 7, characterized in that, While the steering motor (2) is started, the four drive motors (6) are started, so that the steering mechanism moves forward while turning left.

9. The steering method according to claim 6, characterized in that, To control the steering mechanism to turn counterclockwise in place, first energize the electromagnetic clutch devices (4) on the left front wheel and the right rear wheel, de-energize the electromagnetic clutch devices (4) on the left rear wheel and the right front wheel, start the steering motor (2), and drive the left front wheel and the right rear wheel to turn right; de-energize the electromagnetic clutch devices (4) on the left front wheel and the right rear wheel, energize the electromagnetic clutch devices (4) on the left rear wheel and the right front wheel, start the steering motor (2), and drive the left rear wheel and the right front wheel to turn left; turn off the steering motor (2) or de-energize the four sets of electromagnetic clutch devices (4), start the four drive motors (6), and make the steering mechanism turn counterclockwise in place.

Images