CN112061236A - AGV chassis frame with supporting wheels adopting double-wheel differential driving device - Google Patents
AGV chassis frame with supporting wheels adopting double-wheel differential driving device Download PDFInfo
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- CN112061236A CN112061236A CN202011076697.2A CN202011076697A CN112061236A CN 112061236 A CN112061236 A CN 112061236A CN 202011076697 A CN202011076697 A CN 202011076697A CN 112061236 A CN112061236 A CN 112061236A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/02—Understructures, i.e. chassis frame on which a vehicle body may be mounted comprising longitudinally or transversely arranged frame members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an AGV chassis frame with supporting wheels adopting a double-wheel differential driving device, which solves the problems that the existing AGV is easy to slip and snake-shaped advance in the walking process. The structure of the traditional AGV chassis frame is changed, a double-wheel differential driving device arranged in the center of the chassis frame is eliminated, the front side of the chassis frame is arranged into a front walking driving frame body in a large seesaw mode, supporting wheels on four corners of the traditional chassis frame are respectively replaced by the double-wheel differential driving device, and the accurate steering and alignment of the whole chassis frame are realized by accurately controlling the rotating speeds of eight driving motors in four groups of double-wheel differential driving devices; the front walking drive frame body in the form of the large seesaw arranged on the front side of the chassis frame improves the ground grabbing force of four groups of double-wheel differential drive devices on the chassis frame and ensures the accurate steering control of the chassis frame. The electric controller can sensitively correct the deviation of the walking direction, and the snake-shaped advancing phenomenon of the vehicle body is overcome.
Description
Technical Field
The invention relates to an automatic guided vehicle, in particular to a chassis frame of the automatic guided vehicle.
Background
An AGV is an automatic guided vehicle, a chassis frame of the conventional AGV is generally rectangular, a double-wheel differential driving device is arranged in the center of the rectangular chassis frame, the double-wheel differential driving device is a driving and steering executing mechanism of the automatic guided vehicle, and four corners of the rectangular chassis frame are provided with support wheels (directional wheels or universal wheels) without power, and the four support wheels mainly play a role in supporting the weight of the chassis frame and the weight of a vehicle body; the structure of the existing double-wheel differential driving device is that a main body frame of the double-wheel differential driving device is a traveling frame, a left driving motor and a right driving motor are respectively arranged on the traveling frame, the left driving motor is connected with a left traveling wheel through a left speed reducer, the right driving motor is connected with a right traveling wheel through a right speed reducer, the left traveling wheel and the right traveling wheel are positioned on the same horizontal plane, a central bearing is fixedly arranged at the center of the top end surface of the traveling frame, a central shaft is arranged in the central bearing, the upper end of the central shaft is fixedly connected with a rotary support of a bogie, a pressure plate is connected on the central bearing, a double-wheel differential driving device mounting plate is arranged on an AGV chassis frame, and a left pressure spring and a right pressure spring are respectively arranged between the double-wheel differential driving device mounting plate and the pressure plate; on a horizontal road surface, the left motor and the right motor are controlled to synchronously rotate at the same speed, so that the double-wheel differential driving device can advance or retreat along a straight line; if the left motor and the right motor are controlled to synchronously rotate at different speeds, the turning of the double-wheel differential driving device can be realized; when the walking road surface is not flat, namely when the left walking wheel and the right walking wheel are not on the same horizontal plane, the contact between the left driving wheel and the ground and the realization of keeping the ground gripping force of the left driving wheel and the right driving wheel of the double-wheel differential driving device can be realized through the different compression amounts of the left compression spring and the right compression spring; the existing double-wheel differential driving device with the structure has the following defects: (1) when the walking ground of a left wheel and a right wheel of a double-wheel differential driving device is not on the same horizontal plane, the existing mechanism realizes the attachment of the walking wheels and the ground by adjusting a left pressure spring and a right pressure spring on the double-wheel differential driving device, has the defect that the prepressing elasticity of the two pressure springs is difficult to set in advance, and can generate the phenomenon of skidding of the walking wheels if the elasticity of the pressure springs is too small, and can lift a vehicle body if the elasticity of the pressure springs is too large, so that a certain supporting wheel on a chassis frame is suspended in the air, and the phenomenon of vehicle body inclination is generated; (2) the double-wheel differential driving device is in the straight line, if meet the walking bottom surface of left and right walking wheel not on a horizontal plane, can lead to the walking route length of two walking wheels of left and right sides inconsistent, prior art is to transmit the controller to the signal of gathering through means such as speed sensor, the controller is through the rotational speed regulation to two motors of left and right sides, reach the purpose that makes the device keep the straight line, because the sensing signal of gathering is insensitive, directly lead to the electric controller control to adjust untimely, take place the phenomenon that the automobile body snakelike gos forward, the automobile body rocks seriously.
The structure of the existing AGV chassis frame is as follows: the middle part of the rectangular chassis frame is only provided with a double-wheel differential driving device which is used for driving a vehicle body in a power mode, a bogie is arranged in the double-wheel differential driving device, the double-wheel differential driving device is connected with the vehicle body through the bogie, and four corners of the rectangular chassis frame are provided with supporting wheels; along with the expansion of the application range of the AGV trolley, the trolley needs to realize flexible walking of various routes such as straight lines, arc lines and the like according to the requirement of goods conveying, and the position of a chassis frame sometimes needs to be accurately adjusted and aligned in the process of goods conveying so as to adapt to the transshipment of different goods; the driving wheel and the universal supporting wheel on the existing chassis frame are respectively arranged, when the walking direction is changed, the passive universal supporting wheel often cannot turn along with the turning of the driving wheel in time, and the lagging turning of the supporting wheel can cause the serious shaking of a vehicle body and easily cause serious collision accidents; in addition, the bogie of the structure also has the problem that the vehicle body cannot be accurately aligned.
Disclosure of Invention
The invention provides an AGV chassis frame with supporting wheels adopting a double-wheel differential driving device, which solves the technical problems that the existing AGV is inflexible in running and cannot realize accurate alignment of a vehicle body.
The invention solves the technical problems by the following technical scheme:
the general concept of the invention is: the structure of the traditional AGV chassis frame is changed, a double-wheel differential driving device arranged in the center of the chassis frame is eliminated, the front side of the chassis frame is arranged into a front walking driving frame body in a large seesaw mode, supporting wheels on four corners of the traditional chassis frame are respectively replaced by the double-wheel differential driving device, and the accurate steering and alignment of the whole chassis frame are realized by accurately controlling the rotating speeds of eight driving motors in four groups of double-wheel differential driving devices; the front walking drive frame body in the form of the large seesaw arranged on the front side of the chassis frame improves the ground grabbing force of four groups of double-wheel differential drive devices on the chassis frame and ensures the accurate steering control of the chassis frame.
An AGV chassis frame with supporting wheels adopting a double-wheel differential driving device comprises a chassis frame longitudinal beam frame, wherein a rear driving frame body connecting beam is arranged at the rear end of the chassis frame longitudinal beam frame, a front driving frame body connecting beam is arranged at the front end of the chassis frame longitudinal beam frame, two parallel supporting longitudinal beams are fixedly connected on the front side surface of the front driving frame body connecting beam, front driving frame body swing shaft supporting front side plates are fixedly connected at the front ends of the two parallel supporting longitudinal beams, a front driving frame body swing shaft supporting rear side plate is fixedly connected on the front driving frame body connecting beam between the two parallel supporting longitudinal beams, a front driving frame body swing shaft rear connecting hole is arranged on the front driving frame body swing shaft supporting rear side plate, a front driving frame body swing shaft front connecting hole is arranged on the front driving frame body swing shaft supporting front side plate, a front driving frame body swing shaft is arranged between the front driving frame body swing shaft rear connecting hole and the front driving frame body swing shaft front connecting hole, a front walking driving frame body is movably connected on the swing shaft of the front driving frame body in a penetrating way, and the front walking driving frame body is a seesaw which can swing left and right by taking the swing shaft of the front driving frame body as a fulcrum; the rear walking driving frame body is fixedly connected to the connecting beam of the rear driving frame body, a rear left double-wheel differential driving device and a rear right double-wheel differential driving device are respectively arranged on the rear walking driving frame body, a front left double-wheel differential driving device and a front right double-wheel differential driving device are respectively arranged on the front walking driving frame body, and the structure of the rear left double-wheel differential driving device, the structure of the rear right double-wheel differential driving device, the structure of the front left double-wheel differential driving device and the structure of the front right double-wheel differential driving device are completely the same; and a main electric control box is arranged on the chassis frame longitudinal beam frame.
A square swinging frame is arranged in the middle of the front walking driving frame body, a front side end through hole of a front walking swinging frame through connecting shaft is arranged on a front side frame of the square swinging frame, a rear side end through hole of the front walking swinging frame through connecting shaft is arranged on a rear side frame of the square swinging frame, the front end of the front driving frame swinging shaft is sequentially connected in the front side end through hole and the front connecting hole of the front driving frame swinging shaft in a penetrating manner, and the rear end of the front driving frame swinging shaft is sequentially connected in the rear side end through hole and the rear connecting hole of the front driving frame swinging shaft in a penetrating manner; a front left disc-shaped bogie connecting plate is fixedly connected to the left side of the square-shaped swinging frame, a front right disc-shaped bogie connecting plate is fixedly connected to the right side of the square-shaped swinging frame, a front left double-wheel differential driving device is connected to the front left disc-shaped bogie connecting plate, and a front right double-wheel differential driving device is connected to the front right disc-shaped bogie connecting plate; the left side of the rear walking driving frame body is connected with a rear left disc-shaped bogie connecting plate, the right side of the rear walking driving frame body is connected with a rear right disc-shaped bogie connecting plate, the rear left disc-shaped bogie connecting plate is connected with a rear left double-wheel differential driving device, and the rear right disc-shaped bogie connecting plate is connected with a rear right double-wheel differential driving device.
A front side frame plate, a rear side frame plate, a left side frame plate and a right side frame plate on the front left double-wheel differential driving device form a square walking frame, a swing shaft is fixedly arranged between the front side frame plate and the rear side frame plate, a shaft sleeve block is movably sleeved on the swing shaft, an outer ring of a rotary support is fixedly connected to the top end face of the shaft sleeve block, and a disc-shaped bogie is connected to the top surface of the inner ring of the rotary support; a left speed reducer is fixedly arranged on the left side surface of the left side frame plate, a left driving wheel is connected to an output shaft of the left speed reducer, a left driving motor is arranged on the front side surface of the front side frame plate, an output shaft of the left driving motor is connected with an input shaft of the left speed reducer, a right speed reducer is fixedly arranged on the right side surface of the right side frame plate, a right driving wheel is connected to an output shaft of the right speed reducer, a right driving motor is arranged on the rear side surface of the rear side frame plate, and an output shaft of the right driving motor is connected with an input shaft of the right speed reducer; the left driving motor and the right driving motor are respectively and electrically connected with the main electric cabinet.
A gear is sleeved on the outer side surface of the outer ring of the rotary support, an encoder is arranged on the disc-shaped bogie, an output shaft of the encoder is connected with an encoder rotation angle acquisition gear, and the encoder rotation angle acquisition gear is meshed with the gear; the encoder is electrically connected with the electric controller; the front frame plate is provided with a front swing shaft through hole, the rear frame plate is provided with a rear swing shaft through hole, the front end of the swing shaft is connected in the front swing shaft through hole in a penetrating mode, and the rear end of the swing shaft is connected in the rear swing shaft through hole in a penetrating mode.
The invention has simple structure, convenient maintenance, low cost and convenient operation, overcomes the defect that the AGV easily goes forwards in a snake shape due to the uneven ground, increases the ground gripping force of the two travelling wheels, avoids the occurrence of the slipping phenomenon of the driving wheels and realizes the flexible turning and accurate alignment of the vehicle body.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the front walk driving frame body 21 of the present invention;
fig. 3 is a schematic structural view of the fixed support frame of the front drive frame swing shaft 36 in the front walk drive frame 21 of the present invention;
fig. 4 is a schematic structural view of the square-shaped swing frame 37 in the front walk driving frame body 21 of the present invention;
FIG. 5 is a schematic structural view of the rear travel drive carrier body 22 of the present invention;
FIG. 6 is a schematic structural view of the two-wheel differential drive of the present invention;
FIG. 7 is a schematic structural view of a square traveling frame of the two-wheel differential drive apparatus of the present invention;
fig. 8 is a diagram showing the fitting relationship between the boss block 14, the slewing bearing 17 and the disc bogie 16 and the swing shaft 13 in the two-wheel differential drive apparatus of the present invention.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings:
an AGV chassis frame with supporting wheels adopting a double-wheel differential driving device comprises a chassis frame longitudinal beam frame 23, a rear driving frame body connecting beam 30 is arranged at the rear end of the chassis frame longitudinal beam frame 23, a front driving frame body connecting beam 29 is arranged at the front end of the chassis frame longitudinal beam frame 23, two parallel supporting longitudinal beams 35 are fixedly connected to the front side surface of the front driving frame body connecting beam 29, a front driving frame body swing shaft supporting front side plate 33 is fixedly connected to the front ends of the two parallel supporting longitudinal beams 35, a front driving frame body swing shaft supporting rear side plate 31 is fixedly connected to the front driving frame body connecting beam 29 between the two parallel supporting longitudinal beams 35, a front driving frame body swing shaft rear connecting hole 32 is arranged on the front driving frame body swing shaft supporting rear side plate 31, a front driving frame body swing shaft front connecting hole 34 is arranged on the front driving frame body swing shaft supporting front side plate 33, and a front driving frame body swing shaft connecting hole 32 and a front driving frame body swing shaft connecting hole 34 are arranged between the front driving frame The front walking driving frame body 21 is movably connected on the front driving frame body swinging shaft 36 in a penetrating way, and the front walking driving frame body 21 is a seesaw which can swing left and right by taking the front driving frame body swinging shaft 36 as a fulcrum; the rear walking driving frame body 22 is fixedly connected to the rear driving frame body connecting beam 30, a rear left double-wheel differential driving device 26 and a rear right double-wheel differential driving device 27 are respectively arranged on the rear walking driving frame body 22, a front left double-wheel differential driving device 24 and a front right double-wheel differential driving device 25 are respectively arranged on the front walking driving frame body 21, and the structure of the rear left double-wheel differential driving device 26, the structure of the rear right double-wheel differential driving device 27, the structure of the front left double-wheel differential driving device 24 and the structure of the front right double-wheel differential driving device 25 are completely the same; a general electric control box 28 is provided on the chassis frame rail frame 23.
A square swinging frame 37 is arranged in the middle of the front walking driving frame body 21, a front side end through hole of a front walking swinging frame through shaft is arranged on a front side frame of the square swinging frame 37, a rear side end through hole 38 of the front walking swinging frame through shaft is arranged on a rear side frame of the square swinging frame 37, the front end of a front driving frame swinging shaft 36 is sequentially connected in the front side end through hole and a front driving frame swinging shaft connecting hole 34 in a penetrating manner, and the rear end of the front driving frame swinging shaft 36 is sequentially connected in the rear side end through hole 38 and a front driving frame swinging shaft connecting hole 32 in a penetrating manner; a front left disk-shaped bogie connecting plate 40 is fixedly connected to the left side of the square swinging frame 37, a front right disk-shaped bogie connecting plate 39 is fixedly connected to the right side of the square swinging frame 37, a front left double-wheel differential driving device 24 is connected to the front left disk-shaped bogie connecting plate 40, and a front right double-wheel differential driving device 25 is connected to the front right disk-shaped bogie connecting plate 39; a rear left disk-shaped bogie connecting plate 41 is connected to the left side of the rear walking drive frame body 22, a rear right disk-shaped bogie connecting plate 42 is connected to the right side of the rear walking drive frame body 22, a rear left double-wheel differential drive device 26 is connected to the rear left disk-shaped bogie connecting plate 41, and a rear right double-wheel differential drive device 27 is connected to the rear right disk-shaped bogie connecting plate 42.
A front frame plate 7, a rear frame plate 8, a left frame plate 11 and a right frame plate 12 on a front left double-wheel differential driving device 24 form a square walking frame, a swinging shaft 13 is fixedly arranged between the front frame plate 7 and the rear frame plate 8, a shaft sleeve block 14 is movably sleeved on the swinging shaft 13, the top end surface of the shaft sleeve block 14 is fixedly connected with an outer ring of a rotary support 17, and the top surface of the inner ring of the rotary support 17 is connected with a disc-shaped bogie 16; a left speed reducer 2 is fixedly arranged on the left side surface of the left side frame plate 11, a left driving wheel 3 is connected to an output shaft of the left speed reducer 2, a left driving motor 1 is arranged on the front side surface of the front side frame plate 7, the output shaft of the left driving motor 1 is connected with an input shaft of the left speed reducer 2, a right speed reducer 5 is fixedly arranged on the right side surface of the right side frame plate 12, a right driving wheel 6 is connected to an output shaft of the right speed reducer 5, a right driving motor 4 is arranged on the rear side surface of the rear side frame plate 8, and the output shaft of the right driving motor 4 is connected with the input shaft of the right speed reducer 5; the left driving motor 1 and the right driving motor 4 are respectively and electrically connected with a general electric control box 28.
A gear 15 is sleeved on the outer side surface of the outer ring of the rotary support 17, an encoder 20 is arranged on the disc-shaped bogie 16, an output shaft 19 of the encoder 20 is connected with an encoder rotation angle acquisition gear 18, and the encoder rotation angle acquisition gear 18 is meshed with the gear 15; the encoder 20 is electrically connected with the electric controller; a swing shaft front through hole 9 is provided in the front frame plate 7, a swing shaft rear through hole 10 is provided in the rear frame plate 8, a front end of the swing shaft 13 is inserted into the swing shaft front through hole 9, and a rear end of the swing shaft 13 is inserted into the swing shaft rear through hole 10.
The front walking drive frame body 21 arranged at the front part of the chassis frame is a large seesaw, can freely swing in the left and right directions, can automatically swing and adjust along with the ground when the ground on the left and right sides is uneven, and enhances the ground grabbing force of the whole chassis frame; through the programming control of eight motors in the four groups of double-wheel differential driving devices in advance, the chassis frame can be accurately turned, the weight of the whole vehicle body is supported on the traveling wheels in the four groups of double-wheel differential driving devices, the ground gripping force of the driving traveling wheels is improved, and the slipping of the driving traveling wheels is effectively prevented; in the double-wheel differential driving device, the left driving wheel 3, the right driving wheel 6, the swinging shaft 13 and the square-shaped traveling frame are integrated, the whole body takes the shaft sleeve block 14 as a supporting point, and can swing left and right like a seesaw, when the road surface is uneven, the whole square-shaped traveling frame can automatically swing along with the road surface, so that the two traveling wheels are always in reliable contact with the ground, the ground gripping force of the two driving wheels to the ground is improved, and the two driving wheels cannot slip; when the vehicle body turns due to uneven road surface or other factors during walking, the outer ring of the rotary support 17 fixed with the square walking frame can turn simultaneously, the gear 15 fixed on the outer ring of the rotary support 17 is driven to synchronously rotate, the encoder rotation angle acquisition gear 18 meshed with the gear 15 passively rotates, since the transformation ratio of the gear 15 to the encoder rotation angle collection gear 18 is large, a small rotation angle of the gear 15 will cause a large rotation angle of the encoder rotation angle collection gear 18, this sensitive rotation angle acquisition signal of enlargiing transmits for automatically controlled ware through encoder 20, for the timely control to driving motor of automatically controlled ware provides convenient condition, has realized sensitive regulation and control, has overcome the snakelike defect of advancing of square shape walking frame greatly.
Claims (4)
1. An AGV chassis frame with supporting wheels adopting a double-wheel differential driving device comprises a chassis frame longitudinal beam frame (23), wherein a rear driving frame body connecting beam (30) is arranged at the rear end of the chassis frame longitudinal beam frame (23), a front driving frame body connecting beam (29) is arranged at the front end of the chassis frame longitudinal beam frame (23), the AGV chassis frame is characterized in that two parallel supporting longitudinal beams (35) are fixedly connected to the front side surface of the front driving frame body connecting beam (29), a front driving frame body swinging shaft supporting front side plate (33) is fixedly connected to the front ends of the two parallel supporting longitudinal beams (35), a front driving frame body swinging shaft supporting rear side plate (31) is fixedly connected to the front driving frame body connecting beam (29) between the two parallel supporting longitudinal beams (35), a front driving frame body swinging shaft supporting rear connecting hole (32) is arranged on the front driving frame body swinging shaft supporting rear side plate (31), a front connecting hole (34) of a front driving frame body swing shaft is arranged on a front side plate (33) supported by a front driving frame body swing shaft, a front driving frame body swing shaft (36) is arranged between a front driving frame body swing shaft rear connecting hole (32) and the front connecting hole (34) of the front driving frame body swing shaft, a front walking driving frame body (21) is movably connected on the front driving frame body swing shaft (36) in a penetrating way, and the front walking driving frame body (21) is a seesaw which can swing left and right by taking the front driving frame body swing shaft (36) as a fulcrum; a rear walking driving frame body (22) is fixedly connected to a rear driving frame body connecting beam (30), a rear left double-wheel differential driving device (26) and a rear right double-wheel differential driving device (27) are respectively arranged on the rear walking driving frame body (22), a front left double-wheel differential driving device (24) and a front right double-wheel differential driving device (25) are respectively arranged on the front walking driving frame body (21), and the structure of the rear left double-wheel differential driving device (26), the structure of the rear right double-wheel differential driving device (27), the structure of the front left double-wheel differential driving device (24) and the structure of the front right double-wheel differential driving device (25) are completely the same; a main electric control box (28) is arranged on the chassis frame longitudinal beam frame (23).
2. The AGV chassis frame using a two-wheel differential driving apparatus for supporting wheels according to claim 1, wherein a square swing frame (37) is provided in the middle of the front traveling driving frame body (21), a front side end through hole of the front traveling swing frame through shaft is provided on a front side frame of the square swing frame (37), a rear side end through hole (38) of the front traveling swing frame through shaft is provided on a rear side frame of the square swing frame (37), a front end of the front driving frame swing shaft (36) is sequentially through connected between the front side end through hole and the front driving frame swing shaft connecting hole (34), and a rear end of the front driving frame swing shaft (36) is sequentially through connected between the rear side end through hole (38) and the front driving frame swing shaft connecting hole (32); a front left disc-shaped bogie connecting plate (40) is fixedly connected to the left side of the square-shaped swinging frame (37), a front right disc-shaped bogie connecting plate (39) is fixedly connected to the right side of the square-shaped swinging frame (37), a front left double-wheel differential driving device (24) is connected to the front left disc-shaped bogie connecting plate (40), and a front right double-wheel differential driving device (25) is connected to the front right disc-shaped bogie connecting plate (39); the left side of the rear walking driving frame body (22) is connected with a rear left disc-shaped bogie connecting plate (41), the right side of the rear walking driving frame body (22) is connected with a rear right disc-shaped bogie connecting plate (42), the rear left disc-shaped bogie connecting plate (41) is connected with a rear left double-wheel differential driving device (26), and the rear right double-wheel differential driving device (27) is connected to the rear right disc-shaped bogie connecting plate (42).
3. The AGV chassis frame with the support wheels adopting the double-wheel differential driving device according to claim 1 or 2, characterized in that a front frame plate (7), a rear frame plate (8), a left frame plate (11) and a right frame plate (12) on a front left double-wheel differential driving device (24) form a square walking frame, a swing shaft (13) is fixedly arranged between the front frame plate (7) and the rear frame plate (8), a shaft sleeve block (14) is movably sleeved on the swing shaft (13), an outer ring of a rotary support (17) is fixedly connected to the top end surface of the shaft sleeve block (14), and a disc-shaped bogie (16) is connected to the top surface of the inner ring of the rotary support (17); a left speed reducer (2) is fixedly arranged on the left side surface of the left side frame plate (11), a left driving wheel (3) is connected to an output shaft of the left speed reducer (2), a left driving motor (1) is arranged on the front side surface of the front side frame plate (7), an output shaft of the left driving motor (1) is connected with an input shaft of the left speed reducer (2), a right speed reducer (5) is fixedly arranged on the right side surface of the right side frame plate (12), a right driving wheel (6) is connected to an output shaft of the right speed reducer (5), a right driving motor (4) is arranged on the rear side surface of the rear side frame plate (8), and an output shaft of the right driving motor (4) is connected with an input shaft of the right speed reducer (5); the left driving motor (1) and the right driving motor (4) are respectively and electrically connected with the main electric cabinet (28).
4. The AGV chassis frame with the support wheels adopting the double-wheel differential driving device according to claim 3 is characterized in that a gear (15) is sleeved on the outer side surface of the outer ring of the rotary support (17), an encoder (20) is arranged on the disc-shaped bogie (16), an encoder rotation angle acquisition gear (18) is connected to an output shaft (19) of the encoder (20), and the encoder rotation angle acquisition gear (18) is meshed with the gear (15); the encoder (20) is electrically connected with the electric controller; a swing shaft front through hole (9) is formed in the front frame plate (7), a swing shaft rear through hole (10) is formed in the rear frame plate (8), the front end of a swing shaft (13) penetrates through the swing shaft front through hole (9), and the rear end of the swing shaft (13) penetrates through the swing shaft rear through hole (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011076697.2A CN112061236A (en) | 2020-10-10 | 2020-10-10 | AGV chassis frame with supporting wheels adopting double-wheel differential driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011076697.2A CN112061236A (en) | 2020-10-10 | 2020-10-10 | AGV chassis frame with supporting wheels adopting double-wheel differential driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112061236A true CN112061236A (en) | 2020-12-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011076697.2A Pending CN112061236A (en) | 2020-10-10 | 2020-10-10 | AGV chassis frame with supporting wheels adopting double-wheel differential driving device |
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| CN (1) | CN112061236A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114228821A (en) * | 2021-12-31 | 2022-03-25 | 华晓精密工业(苏州)有限公司 | Long distance chassis mechanism and AGV |
-
2020
- 2020-10-10 CN CN202011076697.2A patent/CN112061236A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114228821A (en) * | 2021-12-31 | 2022-03-25 | 华晓精密工业(苏州)有限公司 | Long distance chassis mechanism and AGV |
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