CN220640076U - Omnidirectional AGV trolley - Google Patents
Omnidirectional AGV trolley Download PDFInfo
- Publication number
- CN220640076U CN220640076U CN202322341237.3U CN202322341237U CN220640076U CN 220640076 U CN220640076 U CN 220640076U CN 202322341237 U CN202322341237 U CN 202322341237U CN 220640076 U CN220640076 U CN 220640076U
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- driving
- shaft
- frame
- fixing plate
- seat
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- 238000001514 detection method Methods 0.000 claims description 17
- 230000000149 penetrating effect Effects 0.000 claims description 17
- 239000006096 absorbing agent Substances 0.000 claims description 11
- 230000035939 shock Effects 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model discloses an omni-directional AGV trolley, and belongs to the field of carrier vehicles. This AGV dolly includes: the vehicle comprises a vehicle frame, at least two groups of differential driving devices and at least four groups of universal wheels, wherein the differential driving devices are connected with the vehicle frame, the differential driving devices are distributed at preset intervals along the length direction of the vehicle frame, the universal wheels are connected with the vehicle frame, the universal wheels are distributed at four corners of the vehicle frame, and the at least two differential driving devices are matched with and control the steering angle and the steering center of the vehicle frame. According to the utility model, at least two groups of differential driving devices are distributed at intervals along the length direction of the frame, so that the AGV trolley can mutually coordinate and adjust the whole steering center of the frame according to the rotation angles of different differential driving devices, the steering center of the AGV trolley can be adjusted to meet the complex and narrower application scene of the field, and the problem that the existing steering center of the AGV trolley is fixed and cannot meet the complex and narrower application scene of the field is solved.
Description
Technical Field
The utility model belongs to the field of transport vehicles, and particularly relates to an omni-directional AGV.
Background
The current AGV dolly structure mainly sets up the drive wheel that turns to in one end, sets up the tight pulley at the other end, and through turning to drive wheel control AGV dolly rotation, this structure needs to use the midpoint between two tight pulleys as the centre of a circle when turning to turn to around centre of a circle, the AGV dolly also inequality according to its length of difference of usage, uses this kind of one end to set up the drive wheel to some longer AGV dollies of length, when the structure of tight pulley is set up to the other end, has the fixed problem that can not satisfy the complicated narrower application scenario in place of current AGV dolly steering center.
Disclosure of Invention
The utility model aims to: the utility model provides an omnidirectional AGV dolly can solve the fixed problem that can not satisfy the complicated narrower application scenario in place of current AGV dolly steering center.
The technical scheme of the utility model is as follows: an omnidirectional AGV cart comprising: the vehicle comprises a vehicle frame, at least two groups of differential driving devices and at least four groups of universal wheels.
The differential driving device is connected with the frame and is distributed and arranged at intervals along the length direction of the frame.
The universal wheels are connected with the frame and are distributed at four corners of the frame.
The differential drive device includes: the device comprises a driving fixing plate connected with a frame, a shock absorber connected with the driving fixing plate, a supporting fixing plate connected with the shock absorber, a slewing bearing connected with the supporting fixing plate, a supporting plate connected with the slewing bearing, a driving assembly connected with the supporting plate, an angle detection assembly connected with the supporting plate and a driver connected with the driving fixing plate, wherein the driver is electrically connected with the driving assembly.
The driving assembly is used for driving the frame to move, and the angle detection assembly is used for detecting the steering angle of the driving assembly.
At least two differential driving devices are matched with the steering angle and the steering center of the frame.
In a further embodiment, a routing bar is arranged below the support plate.
Each of the drive assemblies includes: the bottom is worn axle, is worn the axle bed, a motor fixing base to and two driving motor, drive shaft, drive fixing base and drive wheel, driving motor, drive shaft, drive fixing base and drive wheel symmetry set up the both ends at the motor fixing base.
The bottom shaft penetrating penetrates through the shaft penetrating seat and the wiring rod, the shaft penetrating seat is in hinged fit with the wiring rod, the motor fixing seat is connected with the shaft penetrating seat, the driving motor is arranged at two ends of the motor fixing seat, the driving shaft is connected with the driving motor, the driving fixing seat is connected with the driving shaft, and the driving wheel is connected with the driving fixing seat.
The driver is electrically connected with the driving motor.
In a further embodiment, the angle detection assembly comprises: the device comprises a first gear connected with a supporting and fixing plate, a bearing seat connected with a supporting plate, a deep groove ball bearing connected with the bearing seat, an encoder, a coupler connected with a rotating shaft of the encoder, a detection shaft connected with the coupler and inserted into the deep groove ball bearing, and a second gear connected with the detection shaft, wherein the first gear is sleeved on a slewing bearing, and the second gear is meshed with the first gear to be matched, so that the trolley is compact in structure and the height of the trolley is reduced.
In a further embodiment, the shock absorber comprises: elastic component, linear bearing and guiding axle.
The elastic piece is connected with the driving fixing plate and the supporting fixing plate, the linear bearing is connected with the supporting fixing plate, the guide shaft is connected with the driving fixing plate, and the guide shaft is matched with the linear bearing.
The linear bearings are distributed at four corners of the supporting and fixing plate.
The at least four elastic pieces are distributed around the circumference of the central shaft of the rotary support in an equal distribution manner, so that the pressure and impact force can be shared, and the frame is stable.
In a further embodiment, the elastic member is a metal spring or a gas spring.
In a further embodiment, the omni-directional AGV further comprises: the hairbrush is arranged at the bottom of the frame and used for sweeping dust and sundries on the ground and protecting the internal structure of the trolley.
The beneficial effects of the utility model are as follows: this application is through setting up two at least differential drive arrangement of interval preset spacing distribution along the length direction of frame for the AGV dolly can make the holistic steering center of different differential drive arrangement's rotation angle mutually support adjustment frame according to the topography, makes the AGV dolly turn to the center adjustable satisfy the complicated narrower application scenario in place, has solved current AGV dolly and has turned to the fixed problem that can not satisfy the complicated narrower application scenario in place in center.
Drawings
FIG. 1 is an isometric schematic drawing of the present utility model.
Fig. 2 is an exploded view of the hidden partial angle detection assembly of the differential drive of the present utility model.
Fig. 3 is an exploded view of the differential drive device of the present utility model showing the entire angle detection assembly.
Fig. 4 is an exploded schematic view showing a drive shaft of the differential drive apparatus of the present utility model.
The reference numerals shown in the figures are: the vehicle frame 1, the differential driving device 2, the universal wheel 3, the brush 4, the driving fixing plate 201, the shock absorber 202, the supporting fixing plate 203, the wiring rod 204, the supporting plate 205, the bottom penetrating shaft 206, the penetrating shaft seat 207, the driving component 208, the angle detecting component 209, the driver 210, the elastic component 2021, the linear bearing 2022, the guiding shaft 2023, the motor fixing seat 2081, the driving motor 2082, the driving fixing seat 2083, the driving wheel 2084, the driving shaft 2085, the first gear 2091, the bearing seat 2092, the encoder 2093, the coupler 2094, the detecting shaft 2095 and the second gear 2096.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present utility model. It will be apparent, however, to one skilled in the art that the utility model may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the utility model.
The application provides an omnidirectional AGV dolly can solve the problem that current AGV dolly turns to the fixed application scenario that can not satisfy the field complicacy is narrower in center.
This qxcomm technology AGV dolly includes: the vehicle comprises a vehicle frame 1, at least two groups of differential driving devices 2 and at least four groups of universal wheels 3.
The vehicle comprises a vehicle frame 1, at least two groups of differential driving devices 2 and at least four groups of universal wheels 3.
The differential driving device 2 is connected with the frame 1, and the differential driving devices 2 are distributed at predetermined intervals along the length direction of the frame 1.
The universal wheels 3 are connected with the frame 1, and the universal wheels 3 are distributed at four corners of the frame 1.
With respect to the differential drive device 2,
the differential drive device 2 includes: the vehicle comprises a driving fixing plate 201 connected with a vehicle frame, a shock absorber 202 connected with the driving fixing plate 201, a supporting fixing plate 203 connected with the shock absorber 202, a slewing bearing connected with the supporting fixing plate 203, a supporting plate 205 connected with the slewing bearing, a driving assembly 208 connected with the supporting plate 205, an angle detecting assembly 209 connected with the supporting plate 205, and a driver 210 connected with the driving fixing plate 201, wherein the driver 210 is electrically connected with the driving assembly 208.
With respect to the drive assembly 208,
a wiring rod 204 is arranged below the supporting plate 205.
Each drive assembly 208 includes: the bottom wears the axle 206, wears the axle bed 207, a motor fixing base 2081 to and two driving motor 2082, drive shaft 2085, drive fixing base 2083 and drive wheel 2084, driving motor 2082, drive shaft 2085, drive fixing base 2083 and drive wheel 2084 symmetry set up at the both ends of motor fixing base 2081.
Two shaft penetrating bases 207 may be disposed on two sides of the wire rod 204, the bottom shaft penetrating base 206 penetrates through the shaft penetrating base 207 and the wire rod 204, so that the shaft penetrating base 207 is in hinged fit with the wire rod 204, the motor fixing base 2081 is connected with the shaft penetrating base 207, the driving motor 2082 is disposed on two ends of the motor fixing base 2081, the driving shaft 2085 is connected with the driving motor 2082, the driving fixing base 2083 is connected with the driving shaft 2085, and the driving wheel 2084 is connected with the driving fixing base 2083.
The driver is electrically connected with the driving motor.
By fitting the first gear 2091 over the slewing bearing, the first gear 2091 can be coaxially engaged with the slewing bearing, and the cart can be compact in structure and reduced in height.
In this embodiment, the slewing bearing may be an external-tooth slewing bearing, and the second gear may be directly engaged with the external teeth of the external-tooth slewing bearing.
With respect to the angle-detecting component 209,
the angle detection assembly 209 includes: the first gear 2091 connected to the support fixing plate 203, the bearing block 2092 connected to the support plate 205, the deep groove ball bearing and encoder 2093 connected to the bearing block 2092, the coupler 2094 connected to the rotation shaft of the encoder 2093, the detection shaft 2095 connected to the coupler 2094 and inserted into the deep groove ball bearing, and the second gear 2096 connected to the detection shaft 2095, wherein the first gear 2091 is sleeved on the slewing bearing, and the second gear 2096 is engaged with the first gear 2091.
With respect to the shock absorber 202,
shock absorber 202 includes: an elastic member 2021, a linear bearing 2022, and a guide shaft 2023.
The elastic member 2021 is connected to the drive fixing plate 201 and the support fixing plate 203, the linear bearing 2022 is connected to the support fixing plate 203, the guide shaft 2023 is connected to the drive fixing plate 201, and the guide shaft 2023 is fitted to the linear bearing 2022.
The linear bearings 2022 are distributed at four corner positions of the support fixing plate 203.
At least four elastic members 2021 are equally distributed around the circumference of the center shaft of the slewing bearing.
In this embodiment, the elastic member 2021 is a metal spring or a gas spring.
The elastic members 2021 which are distributed and distributed uniformly along the circumference are matched with the linear bearings 2022 and the guide shafts 2023, so that the elastic force of the elastic members 2021 and the friction between the linear bearings 2022 and the guide shafts 2023 can be utilized to play a role in damping, and the pressure and impact force can be shared, so that the frame 1 is more stable, namely, when the weight of goods acts on the frame 1, the large pressure can be given to the driving system, the elastic devices can play a role in buffering, or when the ground is uneven, the driving system cannot be impacted greatly because of the elastic devices.
Wherein, the driving component 208 is used for driving the frame 1 to move, and the angle detecting component 209 is used for detecting the steering angle of the driving component 208.
At least two differential driving devices 2 are matched with the steering angle and the steering center of the frame 1.
In a further embodiment, the omni-directional AGV further comprises: and a brush 4 installed at the bottom of the frame 1.
In this embodiment, the brushes 4 are disposed at front and rear ends of the bottom of the frame 1, and four brushes 4 may be disposed, so that the four brushes 4 are distributed around the bottom of the frame 1.
The brush 4 is used for sweeping dust and sundries on the ground and protecting the internal structure of the trolley
The frame 1 is further internally provided with a controller, a laser sensor, a visual sensor, a navigation positioning module, a communication module and a battery, wherein the controller can be control equipment such as a PLC (programmable logic controller), the driver 210, the angle detection assembly 209, the visual sensor, the navigation positioning module and the communication module are electrically connected with the controller, and electric equipment such as a driving motor 2082, the driver 210, the angle detection assembly 209, the controller, the visual sensor, the navigation positioning module and the communication module are connected with the battery, and the battery is used for supplying power to the electric equipment.
Working principle: when the AGV trolley is required to be in a straight line, all differential driving devices 2 adjust the direction of the driving wheels 2084 to the length direction of the frame 1, and then the driving motor 2082 drives the driving wheels 2084 to rotate, so that the AGV trolley is driven to move in the straight line.
When the AGV trolley needs to turn, the two driving wheels 2084 of the at least one differential driving device 2 are rotated at different speeds or directions so as to adjust the direction of the driving wheels 2084, and the adjustment of the integral steering center of the frame 1 is realized according to the steering angles of the driving wheels 2084 of the different differential driving devices 2, and the AGV trolley is driven to turn.
Through setting up two at least differential drive arrangement 2 of group along the length direction interval reservation interval distribution of frame 1 for the AGV dolly can make the holistic steering center of different differential drive arrangement 2's rotation angle mutually support adjustment frame 1 according to the topography, makes the AGV dolly steering center adjustable satisfy the complicated narrower application scenario in place.
As described above, although the present utility model has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the utility model itself. Various changes in form and details may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (6)
1. An omnidirectional AGV cart, comprising: the vehicle comprises a frame, at least two groups of differential driving devices and at least four groups of universal wheels;
the differential driving device is connected with the frame and is distributed at intervals along the length direction of the frame;
the universal wheels are connected with the frame and are distributed at four corners of the frame;
the differential drive device includes: the device comprises a driving fixing plate connected with a frame, a shock absorber connected with the driving fixing plate, a supporting fixing plate connected with the shock absorber, a slewing bearing connected with the supporting fixing plate, a supporting plate connected with the slewing bearing, a driving assembly connected with the supporting plate, an angle detection assembly connected with the supporting plate, and a driver connected with the driving fixing plate, wherein the driver is electrically connected with the driving assembly;
the driving assembly is used for driving the frame to move, and the angle detection assembly is used for detecting the steering angle of the driving assembly;
at least two differential driving devices are matched with the steering angle and the steering center of the frame.
2. The omni-directional AGV cart according to claim 1, wherein a routing bar is disposed under the support plate;
each of the drive assemblies includes: the bottom shaft penetrating, shaft penetrating seat, a motor fixing seat, two driving motors, a driving shaft, a driving fixing seat and driving wheels are symmetrically arranged at two ends of the motor fixing seat;
the bottom penetrating shaft penetrates through the penetrating shaft seat and the wiring rod to enable the penetrating shaft seat to be in hinged fit with the wiring rod, the motor fixing seat is connected with the penetrating shaft seat, the driving motor is arranged at two ends of the motor fixing seat, the driving shaft is connected with the driving motor, the driving fixing seat is connected with the driving shaft, and the driving wheel is connected with the driving fixing seat;
the driver is electrically connected with the driving motor.
3. The omni-directional AGV cart of claim 1, wherein the angle detection assembly comprises: the device comprises a first gear connected with a supporting and fixing plate, a bearing seat connected with a supporting plate, a deep groove ball bearing connected with the bearing seat, an encoder, a coupler connected with a rotating shaft of the encoder, a detection shaft connected with the coupler and inserted into the deep groove ball bearing, and a second gear connected with the detection shaft, wherein the first gear is sleeved on a slewing bearing, and the second gear is meshed and matched with the first gear.
4. The omni-directional AGV cart of claim 1 wherein the shock absorber comprises: the device comprises an elastic piece, a linear bearing and a guide shaft;
the elastic piece is connected with the driving fixing plate and the supporting fixing plate, the linear bearing is connected with the supporting fixing plate, the guide shaft is connected with the driving fixing plate, and the guide shaft is matched with the linear bearing;
the linear bearings are distributed at four corners of the supporting and fixing plate;
at least four elastic members are equally distributed around the circumference of the central shaft of the rotary support.
5. The omni directional AGV cart of claim 4 wherein the resilient member is a metal spring or a gas spring.
6. The omni-directional AGV cart of claim 1, further comprising: and the hairbrush is arranged at the bottom of the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322341237.3U CN220640076U (en) | 2023-08-30 | 2023-08-30 | Omnidirectional AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322341237.3U CN220640076U (en) | 2023-08-30 | 2023-08-30 | Omnidirectional AGV trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220640076U true CN220640076U (en) | 2024-03-22 |
Family
ID=90293903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322341237.3U Active CN220640076U (en) | 2023-08-30 | 2023-08-30 | Omnidirectional AGV trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220640076U (en) |
-
2023
- 2023-08-30 CN CN202322341237.3U patent/CN220640076U/en active Active
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