CN219948328U - Double-wheel differential omni-directional mobile AGV chassis structure - Google Patents

Abstract

The utility model discloses a double-wheel differential omni-directional mobile AGV chassis structure, which comprises: an upper chassis and a lower chassis; drive components for realizing differential steering are arranged on two sides of the lower chassis; the drive assembly includes: a driving wheel, a speed reducer and a driving motor; the driving wheel is rotatably connected to one end of the speed reducer; the driving motor is fixed to the other end of the speed reducer; the driving motor is fixed to the lower chassis; a slewing bearing is arranged between the lower chassis and the upper chassis; the slewing bearing includes: an inner ring and an outer ring rotatably coupled to an outer periphery of the inner ring; the inner ring is fixed to the upper side of the lower chassis; the outer ring is fixed on the upper chassis; a plurality of auxiliary wheels for rotatably supporting the upper chassis are also arranged below the upper chassis. The double-wheel differential omni-directional movement AGV chassis structure can realize turning and forward and backward travelling and omni-directional movement through double-wheel differential control.

Description

Double-wheel differential omni-directional mobile AGV chassis structure

Technical Field

The utility model relates to a double-wheel differential omni-directional mobile AGV chassis structure.

Background

At present, the motion control of an AGV (mobile robot) is mostly performed by steering and forward and backward running through a double-wheel differential drive control, and the double-wheel differential drive control can only realize forward and backward running and turning. For the AGV with omni-directional movement, steering wheel control is adopted to realize omni-directional movement, but steering wheel control is more complex than control of double-wheel differential speed, and the problem of inaccurate control is easy to occur.

Disclosure of Invention

The utility model provides a double-wheel differential omni-directional mobile AGV chassis structure which solves the technical problems, and specifically adopts the following technical scheme:

a dual-wheel differential omni-directional mobile AGV chassis structure comprising: an upper chassis and a lower chassis; drive components for realizing differential steering are arranged on two sides of the lower chassis; the drive assembly includes: a driving wheel, a speed reducer and a driving motor; the driving wheel is rotatably connected to one end of the speed reducer; the driving motor is fixed to the other end of the speed reducer; the driving motor is fixed to the lower chassis; a slewing bearing is arranged between the lower chassis and the upper chassis; the slewing bearing includes: an inner ring and an outer ring rotatably coupled to an outer periphery of the inner ring; the inner ring is fixed to the upper side of the lower chassis; the outer ring is fixed on the upper chassis; a plurality of auxiliary wheels for rotatably supporting the upper chassis are also arranged below the upper chassis.

Further, slots for inserting driving components are formed on two sides of the lower chassis; fixing lugs are formed on two sides of the driving motor; the driving motor is inserted into the slot and is fixed to two sides of the slot through the fixing lugs.

Further, first threaded holes are formed in two sides of the slot; the fixed lug is provided with a first through hole; the driving motor is fixed to the lower chassis through the first through hole by a screw and screwed into the first threaded hole.

Further, a mounting circular groove for accommodating the slewing bearing is formed on the lower side of the upper chassis; the outer ring is fixed to the bottom of the mounting circular groove through screws.

Further, a mounting round table is formed above the lower chassis; the inner ring is fixed to the mounting round table through screws.

Further, the whole body formed by the lower chassis and the slewing bearing is arranged in the installation circular groove; the lower side surface of the lower chassis and the lower side surface of the upper chassis are positioned in the same plane.

Further, the upper chassis is square; four corners of the upper chassis are respectively provided with a square concave part; the auxiliary wheel is secured into the square recess by a square connector that fits into the square recess.

Further, a jack for inserting a battery is formed on the side surface of the upper chassis; the battery inserted in the jack is electrically connected to the driving assembly.

Further, two jacks are formed on the side face of the upper chassis; the batteries in the two jacks are respectively and electrically connected to the two driving assemblies.

The double-wheel differential omni-directional movement AGV chassis structure has the advantages that the provided double-wheel differential omni-directional movement AGV chassis structure can realize turning and forward and backward movement in a double-wheel differential control mode, omni-directional movement can be realized, and meanwhile, the accuracy of double-wheel differential control can be ensured.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a schematic diagram of a dual-wheel differential omni-directional mobile AGV chassis structure in accordance with the present utility model;

the double-wheel differential omnidirectional moving AGV chassis structure 10 comprises an upper chassis 11, a circular mounting groove 111, a square concave part 112, an inserting hole 113, a lower chassis 12, an inserting groove 121, a first threaded hole 122, a circular mounting platform 123, a driving wheel 13, a speed reducer 14, a driving motor 15, a fixed lug 151, a first through hole 152, a slewing bearing 16, an inner ring 161, an outer ring 162, an auxiliary wheel 17 and a square connecting piece 18.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

As shown in fig. 1, a dual-wheel differential omni-directional mobile AGV chassis structure 10 according to the present utility model includes: the upper chassis 11 and the lower chassis 12, the two sides of the lower chassis 12 are provided with driving components, and the two driving components can realize differential steering and forward and backward movement through differential control. The driving assembly includes: the driving wheel 13, the speed reducer 14 and the driving motor 15 are installed, the driving wheel 13 is rotatably connected to one end of the speed reducer 14, the driving motor 15 is fixed to the other end of the speed reducer 14, and then the driving motor 15 is fixed to the lower chassis 12, so that the lower chassis 12 forms an installation whole by the driving motor 15, and the lower chassis 12 is driven to rotate when the driving motor 15 differentially controls the driving wheel 13. A slewing bearing 16 is provided between the lower chassis 12 and the upper chassis 11, and the slewing bearing 16 includes: an inner race 161 and an outer race 162 rotatably coupled to an outer periphery of the inner race 161. When mounted, the inner race 161 is fixed to the upper side of the lower chassis 12, and the outer race 162 is fixed to the upper chassis 11. Like this when drive assembly drives chassis 12 and rotates, through the rotation relation between inner circle 161 and the outer lane 162, lower chassis 12 just can rotate for last chassis 11 qxcomm technology, like this, through drive assembly's differential cooperation and slewing bearing 16's structural performance, can realize the qxcomm technology of lower chassis 12 to realize mobile robot's turn, back-and-forth movement and qxcomm technology removal function, it is more convenient to use, differential control's precision is also more accurate, be difficult for appearing the condition of control error.

Further, a plurality of auxiliary wheels 17 are mounted under the upper chassis 11 to rotatably support the upper chassis 11, thereby ensuring the stability of the chassis movement.

The above-mentioned differential qxcomm technology of double round removes AGV chassis structure 10 can realize turning and back-and-forth movement promptly through the mode of the differential control of double round, has can realize the omnidirectional movement, can guarantee the accuracy of the differential control of double round simultaneously.

As a specific embodiment, the two sides of the lower chassis 12 are formed with the slots 121 for inserting the driving assembly, the two sides of the driving motor 15 are formed with the fixing lugs 151, the driving motor 15 is inserted in the slots 121 and fixed to the two sides of the slots 121 through the fixing lugs 151, the mounting space is contracted towards the center of the chassis by the mounting structure, the mounting occupied space of the chassis is reduced, and meanwhile, the consistency of the rotation of the driving assembly and the lower chassis 12 is improved, so that the rotation structure is more stable. Specifically, the first screw holes 122 are formed at both sides of the slot 121, the fixing lugs 151 are formed with first through holes 152, and the driving motor 15 is fixed to the lower chassis 12 by screws passing through the first through holes 152 and screwing into the first screw holes 122.

As a specific embodiment, the lower side of the upper chassis 11 is formed with a mounting circular groove 111 for accommodating the slewing bearing 16, and the outer ring 162 is fixed to the bottom of the mounting circular groove 111 by a screw. A mounting boss 123 is formed above the lower chassis 12, and an inner ring 161 is fixed to the mounting boss 123 by screws. In this way, the whole of the lower chassis 12 and the slewing bearing 16 is mounted in the mounting circular groove 111, so that the space required for mounting the whole is reduced, the center of gravity of the chassis is lowered, and the movement stability is ensured. When the installation is completed, the lower side surface of the lower chassis 12 and the lower side surface of the upper chassis 11 are positioned in the same plane, so that the appearance is more attractive.

As a specific embodiment, the upper chassis 11 is square, four corners of the upper chassis 11 are each formed with a square recess 112, and the auxiliary wheel 17 is fixed into the square recess 112 by the square connector 18. The square connector 18 conforms to the square recess 112 so that the rate of installation can be increased by the spacing of the corners of the square.

As a specific embodiment, the side of the upper chassis 11 is formed with a receptacle 113 for inserting a battery, and the battery inserted in the receptacle 113 is electrically connected to the driving assembly to supply power to the driving assembly. The power supply battery of the driving assembly is independently inserted into the upper chassis 11, so that the replacement is convenient.

Specifically, two insertion holes 113 are formed in the side of the upper chassis 11, and batteries in the two insertion holes 113 are electrically connected to the two driving components, respectively.

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be appreciated by persons skilled in the art that the above embodiments are not intended to limit the utility model in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the utility model.

Claims (9)

1. Two-wheeled differential qxcomm technology remove AGV chassis structure, a serial communication port, include: an upper chassis and a lower chassis;

drive components for realizing differential steering are arranged on two sides of the lower chassis;

the drive assembly includes: a driving wheel, a speed reducer and a driving motor;

the driving wheel is rotatably connected to one end of the speed reducer;

the driving motor is fixed to the other end of the speed reducer;

the drive motor is fixed to the lower chassis;

a slewing bearing is arranged between the lower chassis and the upper chassis;

the slewing bearing includes: an inner ring and an outer ring rotatably connected to an outer periphery of the inner ring;

the inner ring is fixed to the upper side of the lower chassis;

the outer ring is fixed to the upper chassis;

and a plurality of auxiliary wheels for rotatably supporting the upper chassis are also arranged below the upper chassis.

2. The dual wheel differential, all direction mobile AGV chassis structure of claim 1 wherein,

slots for inserting the driving components are formed on two sides of the lower chassis;

fixing lugs are formed on two sides of the driving motor;

the driving motor is inserted into the slot and is fixed to two sides of the slot through the fixing lugs.

3. The dual wheel differential, all direction mobile AGV chassis structure of claim 2 wherein,

first threaded holes are formed in two sides of the slot;

the fixed lugs are provided with first through holes;

the driving motor is fixed to the lower chassis through the first through hole by a screw and screwed into the first threaded hole.

4. The dual wheel differential, all direction mobile AGV chassis structure of claim 1 wherein,

the lower side of the upper chassis is provided with a mounting circular groove for accommodating the slewing bearing;

the outer ring is fixed to the bottom of the mounting circular groove through a screw.

5. The dual wheel differential, all direction mobile AGV chassis structure of claim 4 wherein,

a mounting round table is formed above the lower chassis;

the inner ring is fixed to the mounting round table through screws.

6. The dual wheel differential, all direction mobile AGV chassis structure of claim 5 wherein,

the whole formed by the lower chassis and the slewing bearing is arranged in the circular mounting groove;

the lower side surface of the lower chassis and the lower side surface of the upper chassis are positioned in the same plane.

7. The dual wheel differential, all direction mobile AGV chassis structure of claim 1 wherein,

the upper chassis is square;

four corners of the upper chassis are respectively provided with a square concave part;

the auxiliary wheel is fixed into the square recess by a square connector fitting into the square recess.

8. The dual wheel differential, all direction mobile AGV chassis structure of claim 1 wherein,

the side surface of the upper chassis is provided with a jack for inserting a battery;

the battery inserted in the jack is electrically connected to the driving assembly.

9. The dual wheel differential, all direction mobile AGV chassis structure of claim 8 wherein,

two jacks are formed on the side face of the upper chassis;

the batteries in the two jacks are respectively and electrically connected to the two driving assemblies.