CN220701228U - Floating AGV wheel group based on differential drive - Google Patents
Floating AGV wheel group based on differential drive Download PDFInfo
- Publication number
- CN220701228U CN220701228U CN202322495907.7U CN202322495907U CN220701228U CN 220701228 U CN220701228 U CN 220701228U CN 202322495907 U CN202322495907 U CN 202322495907U CN 220701228 U CN220701228 U CN 220701228U
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- supporting seat
- shaft
- steel plate
- floating
- swing shaft
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 47
- 239000010959 steel Substances 0.000 claims abstract description 47
- 238000013016 damping Methods 0.000 claims abstract description 16
- 230000035939 shock Effects 0.000 claims description 16
- 239000006096 absorbing agent Substances 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- Motorcycle And Bicycle Frame (AREA)
Abstract
The utility model discloses a differential drive-based floating AGV wheel set, which belongs to the technical field of floating wheel sets and comprises a steel plate, wherein the middle part of the steel plate is rotationally connected with an integral swing shaft, the bottom of the steel plate is provided with two driving wheel sets, the two driving wheel sets are respectively positioned at two sides of the integral swing shaft, a supporting seat is connected to the driving wheel sets, one end of the supporting seat is rotationally connected with the steel plate through a single swing shaft, an elastic damping component is connected between one end of the supporting seat, which is far away from the single swing shaft, and the steel plate, the elastic damping component, the driving wheel sets and the single swing shaft are sequentially arranged along the length direction of the integral swing shaft, and the single swing shaft and the integral swing shaft are horizontally arranged and are mutually perpendicular. The heights of the two driving wheel sets can be independently adjusted, and can be simultaneously adjusted, so that the adaptability to the ground is improved, and the floating capacity of the vehicle body is improved.
Description
Technical Field
The utility model relates to the technical field of floating wheel sets, in particular to a floating AGV wheel set based on differential driving.
Background
There are many driving modes of the AGV, one of which is differential driving, that is, two wheels are driven by two motors respectively, and the actions of advancing, retreating, steering, in-situ rotation and the like of the whole vehicle body are achieved by controlling the speeds and directions of the two motors respectively. When the vehicle body moves forwards, backwards, turns and rotates in place, the wheels are required to be in reliable contact with the ground, but the ground is inevitably uneven, and the two wheels are always at the same height, so that the wheels cannot always keep a reliable contact state with the ground, the running of the vehicle body is easy to deviate from the set direction, and the vehicle body is seriously out of control and tumbles.
For this purpose, a floating AGV wheel set based on differential drive is proposed.
Disclosure of Invention
The utility model aims to provide a floating AGV wheel set based on differential drive, which aims to solve or improve at least one of the technical problems.
In order to achieve the above object, the present utility model provides the following solutions: the utility model provides a floating AGV wheel set based on differential drive, which comprises a steel plate, wherein the middle part of the steel plate is rotationally connected with an integral swing shaft, two driving wheel sets are arranged at the bottom of the steel plate, the two driving wheel sets are respectively positioned at two sides of the integral swing shaft, a supporting seat is connected to the driving wheel sets, one end of the supporting seat is rotationally connected with the steel plate through a single swing shaft, an elastic damping component is connected between one end of the supporting seat, which is far away from the single swing shaft, and the steel plate, the elastic damping component, the driving wheel sets and the single swing shaft are sequentially arranged along the length direction of the integral swing shaft, and the single swing shaft and the integral swing shaft are horizontally arranged and are mutually perpendicular.
Preferably, the integral swing shaft is connected to a bottom plate of the vehicle body, the steel plate is located below the bottom plate, and a gap exists between the bottom plate and the steel plate.
Preferably, the elastic shock absorbing assembly comprises a plurality of spring shock absorbers, two ends of each spring shock absorber are hinged with the steel plate and the supporting seat respectively, and each spring shock absorber is located at one end, far away from the single swinging shaft, of the driving wheel group.
Preferably, the driving wheel group comprises a driving motor fixedly connected to the supporting seat, an output shaft of the driving motor is rotationally connected with the supporting seat, the output shaft of the driving motor penetrates through the supporting seat and is fixedly connected with wheels, the two wheels are symmetrically arranged along the axis of the integral swinging shaft, and the wheels are located between the spring damper and the single swinging shaft.
Preferably, an axle seat is fixedly connected to one end of the supporting seat, which is far away from the spring damper, two first axle holes are formed in the axle seat, the single swinging axle is rotationally connected between the two first axle holes, two supporting blocks are fixedly connected to the bottom of the steel plate, and the supporting blocks are fixedly connected with the single swinging axle.
Preferably, a damping seat is fixedly connected to one end, far away from the single swinging shaft, of the supporting seat, and the top of the damping seat is hinged with the spring damper.
Preferably, a placement hole is formed in the middle of the steel plate, second shaft holes are formed in two opposite side walls of the placement hole respectively, and two ends of the integral swinging shaft are connected with the two second shaft holes in a rotating mode respectively.
Preferably, a support is fixedly connected to the integral swing shaft, the top of the support extends out of the placement hole and is rotationally connected with the bottom plate, and a gap is formed between the side wall of the support and the placement hole.
The utility model discloses the following technical effects: when the vehicle is in normal operation, the weight of the vehicle body and the load acts on the elastic damping component through the steel plate, so that the elastic damping component generates a certain deformation, when the uneven ground exists, the deformation of the elastic damping component changes, a certain pressure is applied to the supporting seat below the supporting seat, the supporting seat is driven to swing around a single swinging shaft, the distance between the driving wheel sets and the bottom plate of the vehicle body is changed, a certain height difference is formed between the two driving wheel sets, the driving wheel sets can be tightly attached to the uneven ground to walk, when the uneven ground is serious, the swinging amplitude of the single swinging shaft is insufficient, the steel plate rotates around the whole swinging shaft, the steel plate is driven to incline, the height difference of the two driving wheel sets is further adjusted, the driving wheel sets can be tightly attached to the ground to walk, and the adaptability of the driving wheel sets to the uneven ground is improved. The heights of the two driving wheel sets can be independently adjusted through a single swinging shaft, and the heights of the two driving wheel sets can also be simultaneously adjusted through an integral swinging shaft, so that the adaptability to the ground is improved, and the floating capacity of the vehicle body is improved.
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 view of the structure of the present utility model with the bottom plate removed;
FIG. 3 is a schematic view of the structure of the placement hole and the second shaft hole in the present utility model;
fig. 4 is a schematic structural view of a supporting seat and a driving wheel set in the present utility model.
In the figure: 1. a steel plate; 2. an integral swing shaft; 3. a bottom plate; 4. a support base; 5. a single swing shaft; 6. a spring damper; 7. a driving motor; 8. a wheel; 9. a shaft seat; 10. a first shaft hole; 11. a shock absorption seat; 12. placing the hole; 13. a second shaft hole; 14. and (5) a support.
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. 1-4, the utility model provides a floating type AGV wheel set based on differential drive, which comprises a steel plate 1, wherein the middle part of the steel plate 1 is rotationally connected with an integral swing shaft 2, two driving wheel sets are arranged at the bottom of the steel plate 1 and symmetrically arranged along the axis of the integral swing shaft 2, a supporting seat 4 is connected to the driving wheel sets, one end of the supporting seat 4 is rotationally connected with the steel plate 1 through a single swing shaft 5, an elastic damping component is connected between one end of the supporting seat 4 far away from the single swing shaft 5 and the steel plate 1, and the elastic damping component, the driving wheel sets and the single swing shaft 5 are sequentially arranged along the length direction of the integral swing shaft 2, and the single swing shaft 5 and the integral swing shaft 2 are horizontally arranged and mutually perpendicular;
when the vehicle is in normal operation, the weight of the vehicle body and the load acts on the elastic damping component through the steel plate, so that the elastic damping component generates a certain deformation, when the uneven ground exists, the deformation of the elastic damping component changes, a certain pressure is applied to the supporting seat 4 below, the supporting seat 4 is driven to swing around the single swinging shaft 5, thereby driving the distance between the driving wheel sets and the bottom plate 3 of the vehicle body to change, a certain height difference is formed between the two driving wheel sets, the driving wheel sets can be tightly attached to the uneven ground to walk, when the uneven ground is serious, the swinging amplitude of the single swinging shaft 5 is insufficient, the steel plate 1 is rotated around the integral swinging shaft 2, the steel plate 1 is driven to incline, so that the height difference of the two driving wheel sets is further adjusted, the driving wheel sets are tightly attached to the ground to walk, and the adaptability of the driving wheel sets to the uneven ground is improved. The heights of the two driving wheel sets can be independently adjusted through a single swinging shaft 5, and can also be simultaneously adjusted through an integral swinging shaft 2, so that the adaptability to the ground is improved, and the floating capacity of the vehicle body is improved.
In a further optimization scheme, the integral swing shaft 2 is connected to a bottom plate 3 of the vehicle body, the steel plate 1 is positioned below the bottom plate 3, and a gap exists between the steel plate 1 and the bottom plate 3; the car body is connected above the bottom plate 3, and when the steel plate 1 rotates around the integral swing shaft 2, the bottom plate 3 does not interfere with the steel plate 1 due to a gap between the steel plate 1 and the bottom plate 3.
In a further optimized scheme, the elastic shock absorption assembly comprises a plurality of spring shock absorbers 6, two ends of each spring shock absorber 6 are respectively hinged with the steel plate 1 and the supporting seat 4, and each spring shock absorber 6 is positioned at one end of the driving wheel group far away from the single swinging shaft 5;
the driving wheel set comprises a driving motor 7 fixedly connected to the supporting seat 4, an output shaft of the driving motor 7 is rotationally connected with the supporting seat 4, the output shaft of the driving motor 7 penetrates through the supporting seat 4 and is fixedly connected with wheels 8, the two wheels 8 are symmetrically arranged along the axis of the integral swinging shaft 2, and the wheels 8 are positioned between the spring damper 6 and the single swinging shaft 5;
in this embodiment, 2 spring dampers 6 are hinged on each supporting seat 4, and during normal operation, the spring dampers 6 compress and have certain deformation, and when the ground is uneven, the spring dampers 6 apply certain pressure to the supporting seats 4, so that the wheels 8 are tightly attached to the ground, the floating capacity of the vehicle body is improved, the two wheels 8 are respectively driven, and the height can be independently adjusted.
In a further optimized scheme, one end of the supporting seat 4, which is far away from the spring damper 6, is fixedly connected with a shaft seat 9, two first shaft holes 10 are formed in the shaft seat 9, a single swinging shaft 5 is rotatably connected between the two first shaft holes 10, two supporting blocks are fixedly connected to the bottom of the steel plate 1, and the supporting blocks are fixedly connected with the single swinging shaft 5.
Further optimizing scheme, the supporting seat 4 is kept away from the one end rigid coupling of single oscillating axle 5 and is had shock attenuation seat 11, and the shock attenuation seat 11 top articulates there is spring damper 6.
In a further optimized scheme, a placement hole 12 is formed in the middle of the steel plate 1, second shaft holes 13 are formed in two opposite side walls of the placement hole 12 respectively, and two ends of the integral swinging shaft 2 are connected with the two second shaft holes 13 in a rotating mode respectively.
In a further optimization scheme, a support 14 is fixedly connected to the integral swing shaft 2, the top of the support 14 extends out of the placement hole 12 and is in rotary connection with the bottom plate 3, and a gap is arranged between the side wall of the support 14 and the placement hole 12;
by providing the gap, when the steel plate 1 rotates on the integral swing shaft 2, the support 14 is not contacted with the placement hole 12, and the swing of the steel plate 1 is not affected.
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 (8)
1. A floating AGV wheelset based on differential drive, its characterized in that: including steel sheet (1), steel sheet (1) middle part rotates and is connected with whole oscillating axle (2), steel sheet (1) bottom is provided with two drive wheelsets, two drive wheelsets are located respectively the both sides of whole oscillating axle (2), be connected with supporting seat (4) on the drive wheelset, supporting seat (4) one end pass through single oscillating axle (5) with steel sheet (1) rotate and are connected, supporting seat (4) keep away from the one end of single oscillating axle (5) with be connected with elastic shock-absorbing assembly between steel sheet (1), elastic shock-absorbing assembly drive wheelset single oscillating axle (5) are followed the length direction of whole oscillating axle (2) sets gradually, single oscillating axle (5) whole oscillating axle (2) all level sets up and both mutually perpendicular.
2. The differential drive based floating AGV wheel set of claim 1 wherein: the integral swing shaft (2) is connected to a bottom plate (3) of the vehicle body, the steel plate (1) is located below the bottom plate (3), and a gap exists between the bottom plate (3) and the steel plate (1).
3. The differential drive based floating AGV wheel set of claim 1 wherein: the elastic shock absorption assembly comprises a plurality of spring shock absorbers (6), two ends of each spring shock absorber (6) are respectively hinged with the steel plate (1) and the supporting seat (4), and each spring shock absorber (6) is located at one end, far away from the single swing shaft (5), of the driving wheel group.
4. The differential drive based floating AGV wheel set as in claim 3 wherein: the driving wheel group comprises a driving motor (7) fixedly connected to the supporting seat (4), an output shaft of the driving motor (7) is rotationally connected with the supporting seat (4), an output shaft of the driving motor (7) penetrates through the supporting seat (4) and is fixedly connected with wheels (8), the wheels (8) are symmetrically arranged along an axis of the integral swinging shaft (2), and the wheels (8) are located between the spring shock absorber (6) and the single swinging shaft (5).
5. The differential drive based floating AGV wheel set as in claim 3 wherein: the one end rigid coupling that supporting seat (4) was kept away from spring damper (6) has axle bed (9), two first shaft hole (10) have been seted up on axle bed (9), two rotate between first shaft hole (10) and be connected with single oscillating axle (5), steel sheet (1) bottom rigid coupling has two piece, piece with single oscillating axle (5) rigid coupling.
6. The differential drive based floating AGV wheel set as in claim 3 wherein: one end of the supporting seat (4) far away from the single swinging shaft (5) is fixedly connected with a damping seat (11), and the top of the damping seat (11) is hinged with the spring damper (6).
7. The differential drive based floating AGV wheel set of claim 2 wherein: the middle part of the steel plate (1) is provided with a placement hole (12), two opposite side walls of the placement hole (12) are respectively provided with a second shaft hole (13), and two ends of the integral swinging shaft (2) are respectively connected with the two second shaft holes (13) in a rotating mode.
8. The differential drive based floating AGV wheel set of claim 7 wherein: the support (14) is fixedly connected to the integral swinging shaft (2), the top of the support (14) extends out of the placement hole (12) and is rotationally connected with the bottom plate (3), and a gap is formed between the side wall of the support (14) and the placement hole (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322495907.7U CN220701228U (en) | 2023-09-14 | 2023-09-14 | Floating AGV wheel group based on differential drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322495907.7U CN220701228U (en) | 2023-09-14 | 2023-09-14 | Floating AGV wheel group based on differential drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220701228U true CN220701228U (en) | 2024-04-02 |
Family
ID=90452765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322495907.7U Active CN220701228U (en) | 2023-09-14 | 2023-09-14 | Floating AGV wheel group based on differential drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220701228U (en) |
-
2023
- 2023-09-14 CN CN202322495907.7U patent/CN220701228U/en active Active
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