CN220701227U - AGV structure of area universal supporting wheel based on differential drive - Google Patents

Abstract

The utility model belongs to the technical field of AGV vehicles, and discloses an AGV structure with universal supporting wheels based on differential drive, which comprises the following components: the shell is fixedly provided with four universal wheels which are distributed at four corners of the shell by taking the central axis of the shell in the length direction as the center; the two differential wheelsets are arranged at two ends of the shell along the central axis of the shell, the differential wheelsets comprise a mounting plate, the central axis of the mounting plate is rotationally connected with an integral swinging shaft, the integral swinging shaft is connected with the shell, and wheel assemblies are respectively arranged at two sides of the bottom surface of the mounting plate, which are centered along the integral swinging shaft, so that the shell is more compact in structure, lower in height and more flexible to control, the bearing capacity of the wheel assemblies is reduced, and the service life of the wheel assemblies is prolonged.

Description

AGV structure of area universal supporting wheel based on differential drive

Technical Field

The utility model belongs to the technical field of AGV vehicles, and particularly relates to an AGV structure with universal supporting wheels based on differential driving.

Background

AGV (Automated Guided Vehicle) trolley is a transport vehicle with various transfer functions.

In the vehicle transferring process, the AGV trolley is needed to be submerged in the chassis of the vehicle and the vehicle is jacked up to be transported by means of the lifting mechanism, so that the vehicle transferring process is completed.

However, a conventional AGV car usually adopts steering wheel driving, and steering wheel driving is that one motor provides power for wheels, and the other motor provides power for wheel direction rotation, so that the overall height of the AGV car is higher, the AGV car is inconvenient to submerge in a vehicle chassis, and in the transportation process, the bearing capacity of the conventional AGV car is often concentrated on a driving wheel, so that the service life of the driving wheel is suddenly reduced.

Disclosure of Invention

In order to solve the technical problems, the utility model provides an AGV structure with universal supporting wheels based on differential drive, and aims to solve or improve at least one of the technical problems.

In order to achieve the above object, the present utility model provides an AGV structure with universal supporting wheels based on differential driving, comprising:

the shell is fixedly provided with four universal wheels, and the four universal wheels are distributed at four corners of the shell by taking the central axis of the shell in the length direction as the center;

the two differential wheelsets are arranged at two ends of the shell along the central axis of the shell, the differential wheelsets comprise mounting plates, the central axis of the mounting plates is rotationally connected with an integral swinging shaft, the integral swinging shaft is connected with the shell, and wheel assemblies are respectively arranged at two sides of the bottom surface of the mounting plates, which are centered on the integral swinging shaft.

Optionally, two ends of the top surface of the shell are respectively provided with a jacking mechanism.

Optionally, a battery is fixedly installed on the shell.

Optionally, the wheel subassembly includes the single-wheel oscillating axle, the single-wheel oscillating axle rigid coupling is in the mounting panel bottom surface, the single-wheel oscillating axle with whole oscillating axle sets up perpendicularly, it is connected with the swing supporting seat to rotate on the single-wheel oscillating axle, fixed mounting has driving motor on the swing supporting seat, driving motor's output transmission is connected with the drive wheel.

Optionally, a damper is hinged between one end of the swinging support base far away from the single-wheel swinging shaft and the mounting plate, and the driving wheel is located between the damper and the single-wheel swinging shaft.

Optionally, two single-wheel swinging shafts on the differential gear set are diagonally arranged.

Compared with the prior art, the utility model has the following advantages and technical effects:

through set up a differential wheelset respectively at the both ends of casing, make the mounting panel install in the casing bottom by whole oscillating axle to set up two wheel subassembly in the mounting panel bottom surface, through the action such as the forward of two differential wheelsets is reached respectively to speed and direction of controlling two wheel subassembly, retreating, turn to and rotation in place, make the structure of casing compacter, the height is lower, rolls to the ground and destroys lighter, controls more nimble.

Through setting up respectively by the universal wheel in the four corners position of casing, play auxiliary support effect, make the gross weight of automobile body and load bear by the universal wheel mostly, alleviate the bearing capacity of wheel subassembly, improve its life.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic diagram of a differential gear set according to the present utility model;

fig. 3 is a bottom view of the differential gear set of the present utility model.

In the figure: 1. a housing; 2. a universal wheel; 3. a differential wheel set; 31. a mounting plate; 32. an integral swing shaft; 33. a single-wheel swing shaft; 34. a swing supporting seat; 35. a driving motor; 36. a driving wheel; 37. a damper; 4. a jacking mechanism; 5. and a battery.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description.

Referring to fig. 1-3, this embodiment provides an AGV structure with universal supporting wheels based on differential driving, including:

the device comprises a shell 1, wherein four universal wheels 2 are fixedly arranged on the shell 1, and the four universal wheels 2 are distributed at four corners of the shell 1 by taking a central axis of the shell 1 in the length direction as a center;

the two differential wheelsets 3, the differential wheelsets 3 are at casing 1 both ends along casing 1 axis setting, the differential wheelset includes mounting panel 31, mounting panel 31 axis department rotates and is connected with whole oscillating axle 32, whole oscillating axle 32 is connected with casing 1 (specifically, mounting panel 31 axis department is connected with the area seat bearing, area seat bearing and whole oscillating axle 32 normal running fit are connected with slewing bearing on the whole oscillating axle 32, slewing bearing is connected with casing 1), the both sides that the mounting panel 31 bottom surface is along whole oscillating axle 32 as the center are provided with the wheel subassembly respectively.

Through set up a differential wheelset 3 respectively at the both ends of casing 1, make mounting panel 31 install in casing 1 bottom by whole oscillating axle 32 to set up two wheel subassembly in mounting panel 31 bottom surface, through the action such as advancing, the back of respectively controlling two wheel subassembly's speed and direction and reaching two differential wheelset 3, turn to and rotation in place, make the structure of casing 1 compacter, the height is lower, rolls the destruction lighter to ground, controls more in a flexible way.

Through being provided with universal wheel 2 respectively in the four corners position of casing 1, play auxiliary support effect, make the gross weight of automobile body and load mostly born by universal wheel 2, alleviate wheel assembly's bearing capacity, improve its life.

Further optimizing scheme, the both ends of casing 1 top surface are provided with climbing mechanism 4 respectively.

Lifting measures are conveniently carried out on required transport vehicles by arranging the lifting mechanism 4, and the lifting mechanism 4 is the prior art of AGV trolley for vehicle transportation, and is not repeated here.

Further optimizing scheme, the battery 5 is fixedly arranged on the shell 1.

And electric power is supplied to all electric appliances in the AGV through the battery 5.

In a further optimization scheme, the wheel assembly comprises a single-wheel swinging shaft 33, the single-wheel swinging shaft 33 is fixedly connected to the bottom surface of the mounting plate 31, the single-wheel swinging shaft 33 is perpendicular to the whole swinging shaft 32, a swinging support seat 34 is rotatably connected to the single-wheel swinging shaft 33, a driving motor 35 is fixedly installed on the swinging support seat 34, and the output end of the driving motor 35 is in transmission connection with a driving wheel 36; a shock absorber 37 is hinged between one end of the swinging support seat 34 far away from the single-wheel swinging shaft 33 and the mounting plate 31, and a driving wheel 36 is positioned between the shock absorber 37 and the single-wheel swinging shaft 33.

Under the premise that the mounting plate 31 can rotate along the integral swinging shaft 32, the single-wheel swinging shaft 33 is arranged, so that the swinging support seat 34 can rotate along the single-wheel swinging shaft 33, when the driving wheel 36 runs to the uneven ground, the swinging support seat 34 is driven to rotate around the single-wheel swinging shaft 33 by the elasticity of the shock absorber 37, so that the driving wheel 36 is in closer contact with the ground to generate friction force, the purpose of driving the AGV trolley is achieved, when the unevenness of the ground exceeds the swinging amplitude of the single driving wheel 36, the two driving wheels 36 can rotate around the integral swinging shaft 32, the driving wheels 36 are prevented from being suspended, the two driving wheels 36 are enabled to be in contact with the ground at any time, and the stress is uniform.

Further optimizing scheme, two single-wheel swinging shafts 33 on the differential wheel set 3 are diagonally arranged.

In the description of the present utility model, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

The above embodiments are only illustrative of the preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model, and various modifications and improvements made by those skilled in the art to the technical solutions of the present utility model should fall within the protection scope defined by the claims of the present utility model without departing from the design spirit of the present utility model.

Claims (6)

1. AGV structure of taking universal supporting wheel based on differential drive, its characterized in that includes:

the device comprises a shell (1), wherein four universal wheels (2) are fixedly arranged on the shell (1), and the four universal wheels (2) are distributed at four corners of the shell (1) by taking a central axis of the shell (1) in the length direction as a center;

the two differential wheelsets (3), two differential wheelsets (3) are followed casing (1) axis sets up casing (1) both ends, differential wheelset (3) are including mounting panel (31), mounting panel (31) axis department rotates and is connected with whole oscillating axle (32), whole oscillating axle (32) with casing (1) are connected, mounting panel (31) bottom surface is followed whole oscillating axle (32) are provided with the wheel subassembly respectively for the both sides of center.

2. The differential drive based AGV architecture with universal support wheels of claim 1 wherein: two ends of the top surface of the shell (1) are respectively provided with a jacking mechanism (4).

3. The differential drive based AGV architecture with universal support wheels of claim 1 wherein: a battery (5) is fixedly arranged on the shell (1).

4. The differential drive based AGV architecture with universal support wheels of claim 1 wherein: the wheel assembly comprises a single-wheel swinging shaft (33), the single-wheel swinging shaft (33) is fixedly connected to the bottom surface of the mounting plate (31), the single-wheel swinging shaft (33) is perpendicular to the integral swinging shaft (32), a swinging support seat (34) is rotatably connected to the single-wheel swinging shaft (33), a driving motor (35) is fixedly mounted on the swinging support seat (34), and the output end of the driving motor (35) is in transmission connection with a driving wheel (36).

5. The differential drive based AGV configuration with universal support wheels according to claim 4 wherein: a shock absorber (37) is hinged between one end of the swinging support seat (34) far away from the single-wheel swinging shaft (33) and the mounting plate (31), and the driving wheel (36) is positioned between the shock absorber (37) and the single-wheel swinging shaft (33).

6. The differential drive based AGV configuration with universal support wheels according to claim 4 wherein: two single-wheel swinging shafts (33) on the differential wheel set (3) are diagonally arranged.