Walking steering mechanism of AGV automobile carrying robot

Abstract

The utility model relates to the technical field of carrying robots, in particular to a walking steering mechanism of an AGV (automatic guided vehicle) carrying robot, which comprises a carrying vehicle and first steering wheels, a first steering table is rotatably mounted at one end of the bottom of the carrying vehicle, and two first steering wheels are rotatably mounted on two sides of the bottom of the first steering table; a second steering table is rotationally installed at the other end of the bottom of the carrying vehicle, two second steering wheels are rotationally installed on the two sides of the bottom of the second steering table, and a steering mechanism is arranged in the carrying vehicle body between the first steering table and the second steering table. The steering mechanism can achieve small-radius steering of the carrier and even achieve in-situ turning operation in a space limited scene, the application range of the carrier is effectively expanded, the guiding effect of the carrier is improved, the advancing route of the carrier is optimized, the automobile carrying efficiency can be improved, and time loss is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a walking and steering mechanism of an AGV automobile transport robot. Background Art

[0002] AGV vehicle handling robot refers to a transport vehicle with an automatic guidance device such as electromagnetic or optical, which can travel along a specified guidance path and has safety protection and various transfer functions. It does not require a driver in industrial applications, can be charged, and its route and behavior can be controlled by a computer.

[0003] However, some AGV vehicle handling robots currently in use are generally driven by a steering wheel. In the prior art, the motors in the steering wheel structure are mostly placed on the side of the steering wheel, which increases the space required for the entire steering wheel to rotate, resulting in problems such as inaccurate guidance of the entire wheel structure, complex power structure and steering mechanism, and a large turning radius. This is not conducive to optimizing the travel route of the AGV vehicle handling robot and is not convenient for use in scenarios with limited space. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a walking and steering mechanism for an AGV automobile handling robot.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A walking steering mechanism of an AGV automobile transport robot comprises a transport vehicle and a first steering wheel, wherein a first steering platform is rotatably mounted at one end of the bottom of the transport vehicle, two first steering wheels are rotatably mounted on both sides of the bottom of the first steering platform, a second steering platform is rotatably mounted at the other end of the bottom of the transport vehicle, two second steering wheels are rotatably mounted on both sides of the bottom of the second steering platform, and a steering mechanism is arranged in the transport vehicle body between the first steering platform and the second steering platform.

[0007] Preferably, stabilizing wheels are rotatably mounted on both sides of the middle of the transport vehicle, and the distance between the two stabilizing wheels is greater than the distance between the two first steering wheels.

[0008] Preferably, a dual-axis motor is fixedly installed at the center of the first steering platform, and the ends of two output shafts of the dual-axis motor are fixedly connected to the two first steering wheels.

[0009] Preferably, an outer ring at the top end of the first turning platform is provided with an external gear, and one side of the external gear is meshed with a first gear rotatably installed in the body of the transport vehicle.

[0010] Preferably, an annular groove is provided on the top of the second turning platform, an internal gear is provided on the side wall of the annular groove, and a second gear is meshed with a side of the internal gear close to the first gear.

[0011] Preferably, an annular fixing plate is fixedly mounted on the bottom end of the transport vehicle below the second turning platform, and the rotating shaft of the second gear is rotatably connected to the top of the fixing plate.

[0012] Preferably, the steering mechanism includes a steering motor and a transmission belt, a pulley is fixedly connected to the bottom end of the rotating shaft of the first gear, a driven pulley is fixedly connected to the bottom end of the rotating shaft of the second gear, the pulley and the driven pulley are connected by a transmission belt, a fourth gear is fixedly connected to the middle of the rotating shaft of the first gear, the fourth gear is meshed with the third gear on the side away from the first turning platform, a steering motor is fixedly installed in the body of the transport vehicle on one side of the first gear, and the output shaft of the steering motor is fixedly connected to the center of the third gear.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] The utility model provides a first turning platform and a second turning platform, and the first turning platform and the second turning platform can both rotate as a whole, thereby driving the first steering wheel and the second steering wheel to rotate as a whole, wherein the dual-axis motor drives the two first steering wheels to rotate synchronously, which can effectively save the space occupied by the power mechanism. At the same time, the dual-axis motor and the steering mechanism are arranged separately, which can reduce the complexity of the structure inside the transport vehicle, and can increase the additional functions of the transport vehicle in the saved space, thereby improving the intelligence of the transport vehicle.

[0015] The utility model provides a steering mechanism, and during the steering process, the steering mechanism is controlled to make the rotation directions of the first steering platform and the second steering platform opposite, so that the small radius steering of the transport vehicle can be achieved, and even the operation of turning around on the spot can be achieved in a scene with limited space. Compared with the traditional steering wheel method, the use range of the transport vehicle is effectively expanded, the guiding effect of the transport vehicle is improved, the travel route of the transport vehicle is optimized, the efficiency of automobile transportation can be improved, and the time loss can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of a walking and steering mechanism of an AGV automobile handling robot proposed in the utility model;

[0017] Figure 2 This is a schematic diagram of the steering mechanism structure of the walking steering mechanism of an AGV automobile handling robot proposed in the utility model;

[0018] Figure 3 The utility model proposes a walking and steering mechanism of an AGV automobile handling robot. Figure 2 A magnified view of the structure at center;

[0019] Figure 4This is a schematic diagram of the structure of the first turning platform of the walking and turning mechanism of the AGV automobile handling robot proposed in the utility model;

[0020] Figure 5 The utility model provides a schematic diagram of the structure of the second turning platform of the walking and turning mechanism of the AGV automobile handling robot.

[0021] In the figure: 1. transport vehicle; 2. stabilizing wheel; 3. first turning platform; 4. first turning wheel; 5. dual-axis motor; 6. external gear; 61. first gear; 7. second turning platform; 8. fixing plate; 9. second turning wheel; 10. annular groove; 11. internal gear; 111. second gear; 12. steering mechanism; 13. steering motor; 14. third gear; 15. fourth gear; 16. pulley; 17. transmission belt. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0023] Reference Figure 1-5 A walking steering mechanism of an AGV automobile transport robot comprises a transport vehicle 1 and a first steering wheel 4, a first steering platform 3 is rotatably mounted at one end of the bottom of the transport vehicle 1, two first steering wheels 4 are rotatably mounted on both sides of the bottom of the first steering platform 3, a second steering platform 7 is rotatably mounted at the other end of the bottom of the transport vehicle 1, two second steering wheels 9 are rotatably mounted on both sides of the bottom of the second steering platform 7, and a steering mechanism 12 is arranged in the body of the transport vehicle 1 between the first steering platform 3 and the second steering platform 7. The top of the transport vehicle 1 has a jacking function and can be used for transporting automobiles. The first steering platform 3 and the second steering platform 7 can be rotated as a whole to drive the first steering wheel 4 and the second steering wheel 9 to rotate as a whole. At the same time, during the steering process, the steering mechanism 12 is controlled to make the first steering platform 3 and the second steering platform 7 rotate in opposite directions, so that the small radius steering of the transport vehicle 1 can be realized, and even the operation of turning around in place can be realized in a scene with limited space. Compared with the traditional steering wheel method, the use scope of the transport vehicle 1 is effectively expanded, the guiding effect of the transport vehicle 1 is improved, the travel route of the transport vehicle 1 is optimized, the efficiency of automobile transport can be improved, and time loss can be reduced.

[0024] As a technical optimization solution of the utility model, stabilizing wheels 2 are rotatably installed on both sides of the middle of the transport vehicle 1, and the distance between the two stabilizing wheels 2 is greater than the distance between the two first steering wheels 4. The two stabilizing wheels 2 play a stable supporting function for the transport vehicle 1 when the transport vehicle 1 performs a small radius turning operation.

[0025] As a technical optimization solution of the utility model, a dual-axis motor 5 is fixedly installed at the center of the first turning platform 3, and the two output shaft ends of the dual-axis motor 5 are fixedly connected to the two first turning wheels 4. The dual-axis motor 5 drives the two first turning wheels 4 to rotate synchronously, which can effectively save the space occupied by the power mechanism. At the same time, the dual-axis motor 5 is arranged separately from the steering mechanism 12, which can reduce the complexity of the structure in the transport vehicle 1, that is, the additional functions of the transport vehicle 1 can be increased in the saved space, and the intelligence of the transport vehicle 1 can be improved.

[0026] As a technical optimization solution of the utility model, an outer ring at the top of the first turning platform 3 is provided with an outer gear 6, and one side of the outer gear 6 is meshed with a first gear 61 rotatably mounted in the body of the transport vehicle 1. The rotation of the first gear 61 can drive the outer gear 6 to rotate, thereby causing the first turning platform 3 and the first steering wheel 4 to rotate as a whole.

[0027] As a technical optimization solution of the utility model, an annular groove 10 is provided on the top of the second turning platform 7, and an internal gear 11 is provided on the side wall of the annular groove 10. The second gear 111 is meshed with the internal gear 11 close to the first gear 61. The rotation of the second gear 111 can drive the internal gear 11 to rotate, so that the second turning platform 7 and the second turning wheel 9 rotate as a whole. Through the setting of the annular groove 10, the internal gear 11 and the external gear 6 can rotate in opposite directions under the premise of synchronous rotation, which can effectively reduce the turning radius of the transport vehicle 1.

[0028] As a technical optimization solution of the utility model, a ring-shaped fixing plate 8 is fixedly installed at the bottom of the transport vehicle 1 below the second turning platform 7, and the rotating shaft of the second gear 111 is rotatably connected to the top of the fixing plate 8. The fixing plate 8 is used to close the bottom of the transport vehicle 1 and provide support for the second gear 111.

[0029] As a technical optimization scheme of the utility model, the steering mechanism 12 includes a steering motor 13 and a transmission belt 17, a pulley 16 is fixedly connected to the bottom end of the rotating shaft of the first gear 61, a driven pulley is fixedly connected to the bottom end of the rotating shaft of the second gear 111, and the pulley 16 is connected to the driven pulley through the transmission belt 17. A fourth gear 15 is fixedly connected to the middle of the rotating shaft of the first gear 61, and the third gear 14 is meshed with the fourth gear 15 away from the first turning platform 3. A steering motor 13 is fixedly installed in the body of the transport vehicle 1 on the side of the first gear 61, and the output shaft of the steering motor 13 is fixedly connected to the center of the third gear 14. When the steering motor 13 rotates, the third gear 14 moves synchronously, so that the fourth gear 15 and the first gear 61 rotate synchronously, and the second gear 111 rotates through the pulley 16 and the transmission belt 17, so that the first turning platform 3 and the second turning platform 7 can be rotated in the opposite direction, thereby achieving the purpose of reducing the turning radius.

[0030] When the utility model is in use, the transport vehicle 1 moves in the travel path through the control of the built-in computer. During the walking process, the dual-axis motor 5 works to drive the two first steering wheels 4 to rotate synchronously, providing forward power for the transport vehicle 1. When encountering a turn, the built-in computer controls the steering motor 13 to rotate, and the third gear 14 moves synchronously, so that the fourth gear 15 and the first gear 61 rotate synchronously, and the second gear 111 rotates through the pulley 16 and the transmission belt 17. The rotation of the first gear 61 can drive the outer gear 6 to rotate, so that the first steering platform 3 and the first steering wheel 4 rotate as a whole. The rotation of the second gear 111 can drive the inner gear 11 to rotate, so that the second steering platform 7 and the second steering wheel 9 rotate as a whole. Through the setting of the annular groove 10, the inner gear 11 and the outer gear 6 can rotate in opposite directions under the premise of synchronous rotation, thereby reducing the turning radius. After the rotation is completed, the steering motor 13 reverses to restore the positions of the first steering platform 3 and the second steering platform 7.

[0031] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A walking and steering mechanism of an AGV vehicle handling robot, comprising a handling vehicle (1) and a first steering wheel (4), characterized in that: A first turning platform (3) is rotatably mounted at one end of the bottom of the transport vehicle (1), two first turning wheels (4) are rotatably mounted on both sides of the bottom of the first turning platform (3), a second turning platform (7) is rotatably mounted at the other end of the bottom of the transport vehicle (1), two second turning wheels (9) are rotatably mounted on both sides of the bottom of the second turning platform (7), and a steering mechanism (12) is arranged in the body of the transport vehicle (1) between the first turning platform (3) and the second turning platform (7).

2. The walking and steering mechanism of the AGV vehicle handling robot according to claim 1 is characterized in that: Stabilizing wheels (2) are rotatably mounted on both sides of the middle of the transport vehicle (1), and the distance between the two stabilizing wheels (2) is greater than the distance between the two first steering wheels (4).

3. The walking and steering mechanism of the AGV vehicle handling robot according to claim 1 is characterized in that: A double-axis motor (5) is fixedly mounted at the center of the first steering platform (3), and the two output shaft ends of the double-axis motor (5) are fixedly connected to the two first steering wheels (4).

4. The walking and steering mechanism of the AGV vehicle handling robot according to claim 1 is characterized in that: An outer ring at the top end of the first turning platform (3) is provided with an external gear (6), and one side of the external gear (6) is meshed with a first gear (61) rotatably mounted in the body of the transport vehicle (1).

5. The walking and steering mechanism of the AGV vehicle handling robot according to claim 4 is characterized in that: An annular groove (10) is provided on the top of the second turning platform (7), an internal gear (11) is provided on the side wall of the annular groove (10), and a second gear (111) is meshed with the side of the internal gear (11) close to the first gear (61).

6. The walking and steering mechanism of the AGV vehicle handling robot according to claim 5, characterized in that: An annular fixing plate (8) is fixedly mounted on the bottom end of the transport vehicle (1) below the second turning platform (7), and the rotating shaft of the second gear (111) is rotatably connected to the top of the fixing plate (8).

7. The walking and steering mechanism of the AGV vehicle handling robot according to claim 5, characterized in that: The steering mechanism (12) comprises a steering motor (13) and a transmission belt (17); a pulley (16) is fixedly connected to the bottom end of the rotating shaft of the first gear (61); a driven pulley is fixedly connected to the bottom end of the rotating shaft of the second gear (111); the pulley (16) and the driven pulley are connected via a transmission belt (17); a fourth gear (15) is fixedly connected to the middle of the rotating shaft of the first gear (61); a third gear (14) is meshed with the fourth gear (15) on the side away from the first steering platform (3); a steering motor (13) is fixedly installed in the body of the transport vehicle (1) on the side of the first gear (61); and an output shaft of the steering motor (13) is fixedly connected to the center of the third gear (14).

Images