WO2020233018A1 - 全向叉车agv中基于舵轮与主动万向轮组合的底盘 - Google Patents

全向叉车agv中基于舵轮与主动万向轮组合的底盘 Download PDF

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Publication number
WO2020233018A1
WO2020233018A1 PCT/CN2019/118210 CN2019118210W WO2020233018A1 WO 2020233018 A1 WO2020233018 A1 WO 2020233018A1 CN 2019118210 W CN2019118210 W CN 2019118210W WO 2020233018 A1 WO2020233018 A1 WO 2020233018A1
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WO
WIPO (PCT)
Prior art keywords
gear
wheel
steering wheel
combination
chassis
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PCT/CN2019/118210
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English (en)
French (fr)
Inventor
张贻弓
沈长鹏
刘鹏
吴耀华
张小艺
蒋霞
Original Assignee
兰剑智能科技股份有限公司
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Application filed by 兰剑智能科技股份有限公司 filed Critical 兰剑智能科技股份有限公司
Publication of WO2020233018A1 publication Critical patent/WO2020233018A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07513—Details concerning the chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • This application relates to the field of AGV technology, and specifically to a chassis based on a combination of a steering wheel and an active universal wheel in an omnidirectional forklift AGV.
  • AGV Automatic Guided Vehicle
  • Existing forklifts generally include two steering wheels and two driven universal wheels.
  • the two steering wheels work together to actively steer and travel.
  • the driving of the two steering wheels is independent of each other, that is, two motors are used to complete the steering wheel. Travel function.
  • the forklift cannot run stably, which affects the handling efficiency of the forklift.
  • the purpose of this application includes providing a chassis based on the combination of steering wheels and active universal wheels in an omnidirectional forklift AGV, so as to alleviate that the forklifts in the prior art are prone to be unable to perform stable operations due to the fact that the walking speeds of the two steering wheels cannot be completely consistent.
  • Technical problem of walking in a straight line includes providing a chassis based on the combination of steering wheels and active universal wheels in an omnidirectional forklift AGV, so as to alleviate that the forklifts in the prior art are prone to be unable to perform stable operations due to the fact that the walking speeds of the two steering wheels cannot be completely consistent.
  • the embodiment of the application provides a chassis based on a combination of a steering wheel and an active universal wheel in an omnidirectional forklift AGV, which includes a chassis structure, a steering wheel and two active universal wheels;
  • the steering wheel is installed at the front end of the chassis structure, the two driving universal wheels are installed at the rear end of the chassis structure, and the steering wheel and the two driving universal wheels are distributed in an isosceles triangle.
  • the chassis further includes two driven universal wheels, and the two driven universal wheels are installed at the front end of the chassis structure and separately arranged on both sides of the steering wheel.
  • the chassis further includes a buffer assembly, and the buffer assembly includes a fixed plate and a same number of springs, mounting brackets and guide rods;
  • the driven universal wheel is mounted on the fixed plate, the mounting frame is fixedly connected to the chassis structure, the fixing plate is provided with the same number of first through holes as the mounting frame, and the mounting frame There is a second through hole, the spring is located between the fixing plate and the mounting frame, the guide rod sequentially passes through the first through hole, the spring and the second through hole, and the guide Nuts are screwed on both ends of the rod.
  • the steering wheel includes a first mounting seat, a first motor, a first gear, a first outer ring gear, and a moving wheel assembly;
  • the first mounting seat is provided with a first accommodating cavity open at both ends, the first outer ring gear is pivotally connected in the first accommodating cavity of the first mounting seat, and the first motor is installed in the The first mounting seat is in driving connection with the first gear, the first gear meshes with the first outer gear ring, and the movable wheel assembly is fixedly connected with the first outer gear ring.
  • the first motor is a servo motor and is vertically installed on the upper end surface of the first mounting seat.
  • the moving wheel assembly includes a bracket, a second motor, a second gear, a third gear, a first bevel gear, a second bevel gear, and a first moving wheel;
  • the bracket and the first outer ring gear are fixedly connected, the second motor is vertically mounted on the first mounting seat and drivingly connected with the second gear, and the third gear is pivotally connected to the On the bracket and meshed with the second gear, the first bevel gear and the third gear are coaxially fixed, the first moving wheel is pivotally connected to the bracket, the second bevel gear and the The first moving wheel is coaxially fixed and meshes with the first bevel gear.
  • the second motor is a servo motor and is vertically installed on the upper end surface of the first mounting base, and the central axis of the second motor coincides with the central axis of the first mounting base.
  • the driving universal wheel includes a second mounting seat, a third motor, a fourth gear, a second outer ring gear, and a second moving wheel pivotally connected to the second mounting seat;
  • the second mounting base is pivotally connected to the chassis structure, the second outer gear ring is fixed to the second mounting base, the third motor is mounted on the chassis structure, and the fourth gear It is installed on the drive shaft of the third motor and meshes with the second outer ring gear.
  • FIG. 1 is a schematic structural diagram of a chassis based on a combination of a steering wheel and an active universal wheel in an omnidirectional forklift AGV provided by an embodiment of the application;
  • Figure 2 is an enlarged view of A in Figure 1;
  • FIG. 3 is a schematic sectional view of the steering wheel in the chassis based on the combination of the steering wheel and the active universal wheel in the omnidirectional forklift AGV provided by an embodiment of the application;
  • FIG. 4 is a schematic diagram of the structure of the steering wheel in the chassis based on the combination of the steering wheel and the active universal wheel in the omnidirectional forklift AGV provided by the embodiment of the application.
  • Icon 100-chassis; 200-steering wheel; 300-active universal wheel; 400-driven universal wheel; 500-spring; 600-guide rod;
  • an embodiment of the present application provides a chassis based on a combination of steering wheels and active universal wheels in an omnidirectional forklift AGV, including a chassis structure 100, a steering wheel 200, and two active universal wheels 300; wherein the steering wheel 200 Installed at the front end of the chassis structure 100, two active universal wheels 300 are installed at the rear end of the chassis structure 100, and the steering wheel 200 and the two active universal wheels 300 are distributed in an isosceles triangle.
  • the chassis is based on the combination of the steering wheel and the active universal wheel.
  • the steering wheel 200 and the two active universal wheels 300 jointly complete the support of the chassis structure 100 and the entire forklift, and the forklift center when it is empty Near the front end of the chassis structure 100.
  • the steering wheel 200 by installing the steering wheel 200 at the front end of the chassis structure 100, it is ensured that there is sufficient friction between the steering wheel 200 and the ground to prevent the steering wheel from slipping.
  • the movable wheels on each active universal wheel 300 and the movable wheels on the steering wheel 200 can both be actively steered.
  • the steering operation at this time includes the in-situ 360° steering of the forklift, so that the forklift can complete the handling operation in a narrower space with high flexibility.
  • the steering wheel 200 and the two active universal wheels 300 are rotated when the chassis based on the combination of the steering wheel and the active universal wheel needs to be driven in the omnidirectional forklift AGV.
  • the angles of the two are the same, which facilitates the adjustment of the two active universal wheels 300.
  • the straight-line walking function of the forklift can be stably completed, which ensures the handling efficiency of the forklift.
  • this embodiment also introduces the following detailed description of the structure of the chassis based on the combination of the steering wheel and the active universal wheel in the omnidirectional forklift AGV.
  • this embodiment further includes two driven universal wheels 400, the two driven universal wheels 400 are installed at the front end of the chassis structure 100 and are separately arranged on both sides of the steering wheel 200.
  • the driven universal wheel 400 can play an auxiliary support role for the chassis structure 100 to prevent the connection between the rear side of the chassis structure 100 and the steering wheel 200 from being subjected to a large lateral load and affecting the normal operation of the steering wheel 200 walk.
  • the present embodiment further includes a buffer assembly, the buffer assembly includes a fixed plate and a spring 500, a mounting frame 110 and a guide rod 600, and the number of the spring 500, the mounting frame 110 and the guide rod 600 is the same;
  • the driven universal wheel 400 is mounted on a fixed plate, the mounting frame 110 is fixedly connected to the chassis structure 100, the fixing plate is provided with the same number of first through holes as the mounting frame 110, the mounting frame 110 is provided with second through holes, and the spring 500 Located between the fixing plate and the mounting frame 110, the guide rod 600 passes through the first through hole, the spring 500 and the second through hole in sequence, and two ends of the guide rod 600 are screwed with nuts.
  • both the steering wheel 200 and the two driving universal wheels 300 in this embodiment are rigidly connected to the base by bolts.
  • the spring 500 can be compressed To enable the driven universal wheel 400 to have a greater supporting force on the base, so as to further complete the balanced support for the rear end of the base.
  • the spring 500, the mounting frame 110 and the guide rod 600 are provided in four groups, and the four first through holes are arranged in a square distribution.
  • the steering wheel 200 in this embodiment may also include a first mounting base 210, a first motor 250, a first gear, a first outer ring gear 230, and a moving wheel assembly 240;
  • the first mounting base 210 has two ends Open the first accommodating cavity, the first outer ring gear 230 is pivotally connected in the first accommodating cavity of the first mounting seat 210, and the first motor 250 is mounted on the first mounting seat 210 and drivingly connected with the first gear,
  • the first gear meshes with the first outer ring gear 230, and the moving wheel assembly 240 is fixedly connected to the first outer ring gear 230.
  • the steering wheel 200 is installed on the base through the first mounting base 210 and the base.
  • the first gear is also located in the first accommodating cavity and meshes with the first outer ring gear 230.
  • 230 is fixedly connected to the moving wheel assembly 240 below, and the moving wheel assembly 240 closes the lower end opening of the first mounting seat 210, that is, the first outer ring gear 230 and the first gear are both hidden in the first accommodating cavity of the first mounting seat 210 Therefore, foreign matter such as dust particles will not enter the first accommodating cavity of the first mounting seat 210, so that the relative rotation between the first outer ring gear 230 and the first gear is more accurate and stable.
  • the lubricating oil on the first outer ring gear 230 and the first gear will also be used for a longer time in a closed environment, and the noise generated when the two are relatively rotated is lower.
  • the moving wheel assembly 240 includes a bracket 241, a second motor 220, a second gear 242, a third gear 243, a first bevel gear 244, and a second bevel gear.
  • the gear 245 and the first moving wheel 246 wherein the bracket 241 and the first outer ring gear 230 are fixedly connected, the second motor 220 is vertically mounted on the first mounting seat 210 and drivingly connected with the second gear 242, and the third gear 243 is pivoted Connected to the bracket 241 and meshed with the second gear 242, the first bevel gear 244 and the third gear 243 are coaxially fixed, the first moving wheel 246 is pivotally connected to the bracket 241, the second bevel gear 245 and the first moving wheel 246 It is coaxially fixed and meshes with the first bevel gear 244.
  • the upper part of the bracket 241 is provided with a second accommodating cavity for accommodating the second gear 242, the third gear 243 and the first bevel gear 244, and the first moving wheel 246 and the second bevel gear 245 are pivotally connected to the bracket as a whole
  • the second motor 220 drives the first moving wheel 246 through the meshing of the second gear 242 and the third gear 243 and the meshing of the first bevel gear 244 and the second bevel gear 245.
  • first motor 250 and the second motor 220 are both installed on the upper end surface of the first mounting base 210, and both the first motor 250 and the second motor 220 are servo motors, so that the first moving wheel 246 can walk and turn. It is more precise and sensitive to further ensure the accurate handling of goods by forklifts.
  • the driving universal wheel 300 includes a second mounting seat, a third motor, a fourth gear, a second outer ring gear, and a second moving wheel pivotally connected to the second mounting seat;
  • the base is pivotally connected to the chassis structure 100, the second outer gear ring is fixed on the second mounting base, the third motor is mounted on the second mounting base on the chassis structure 100, and the fourth gear is mounted on the drive shaft of the third motor And meshes with the second outer ring gear.
  • the third motor drives the second moving wheel to realize the steering action.
  • the second outer gear ring is fixed above the second mounting seat, the second mounting seat is provided with a through hole communicating with the central hole of the second outer gear ring, and an interference fit is provided in the through hole of the second mounting seat
  • the bearing inner ring has a connecting shaft with interference fit, and the connecting shaft is vertically fixed on the base. At this time, the rotation of the third motor can complete the steering operation of the second mounting base and the second movable wheel on the second mounting base.
  • the beneficial effects of the chassis based on the combination of the steering wheel and the active universal wheel in the omnidirectional forklift AGV include, for example:
  • the steering wheel on the rear end of the chassis, it is ensured that the movable wheel on the steering wheel and the ground can always be in a rolling friction state, and relative sliding will not occur to affect the movement of the forklift.
  • the present application provides two active universal wheels at the front end of the chassis, and both the movable wheels on the active universal wheels and the movable wheels on the steering wheel can actively steer to complete the steering operation of the forklift, and the steering operation at this time Including the in-situ 360° steering of the forklift, enabling the forklift to complete handling operations in a narrower space with high flexibility.
  • the steering wheel and the two active universal wheels in an isosceles triangle distribution, when the chassis based on the combination of the steering wheel and the active universal wheel needs to be driven in the omnidirectional forklift AGV, the angle of rotation of the two active universal wheels is the same That is, it is convenient to adjust the two active universal wheels.
  • the straight-line walking function of the forklift can be stably completed, which ensures the handling efficiency of the forklift.
  • the present application provides a chassis based on the combination of steering wheels and active universal wheels in an omnidirectional forklift AGV, which relieves the forklift in the prior art from being prone to be unable to perform stable straight-line walking because the walking speeds of the two steering wheels cannot be guaranteed to be completely consistent.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Power Steering Mechanism (AREA)

Abstract

一种全向叉车AGV中基于舵轮（200）与主动万向轮（300）组合的底盘(100)，涉及AGV技术领域，全向叉车AGV中基于舵轮（200）与主动万向轮（300）组合的底盘包括底盘（100）、一个舵轮（200）以及两个主动万向轮（300），舵轮（200）安装在底盘（100）的前端，两个主动万向轮（300）安装在底盘（100）的后端，舵轮（200）和两个主动万向轮（300）呈等腰三角形分布。缓解了现有技术中的叉车容易因两个舵轮的行走速度无法保证完全一致而导致无法进行稳定的直线行走的技术问题。

Description

全向叉车AGV中基于舵轮与主动万向轮组合的底盘
相关申请交叉引用
本申请要求于2019年05月20日提交中国专利局的申请号为201910427775.X、名称为“全向叉车AGV中基于舵轮与主动万向轮组合的底盘”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及AGV技术领域，具体而言，涉及一种全向叉车AGV中基于舵轮与主动万向轮组合的底盘。
背景技术
随着AGV(Automated Guided Vehicle，自动导引运输车)的快速兴起，人们需要AGV车完成无人驾驶的搬运功能。
现有的叉车一般包括两个舵轮和两个从动万向轮，两个舵轮共同起到主动转向和行走的功能，但是，两个舵轮的驱动相互独立，即分别由两个电机完成舵轮的行走功能，此时，在需要移动过程中，一旦因为舵轮的驱动电机或内部传动机构出现问题而导致两舵轮行走速度不完全一致时，会导致叉车不能稳定地运行，进而影响叉车的搬运效率。
发明内容
本申请的目的包括提供一种全向叉车AGV中基于舵轮与主动万向轮组合的底盘，以缓解现有技术中的叉车容易因两个舵轮的行走速度无法保证完全一致而导致无法进行稳定的直线行走的技术问题。
本申请实施例提供了一种全向叉车AGV中基于舵轮与主动万向轮组合的底盘，包括底盘结构、一个舵轮以及两个主动万向轮；
所述舵轮安装在所述底盘结构的前端，两个所述主动万向轮安装在所述底盘结构的后端，所述舵轮和两个所述主动万向轮呈等腰三角形分布。
可选地，所述底盘还包括两个从动万向轮，两个所述从动万向轮安装在所述底盘结构的前端并分设在所述舵轮的两侧。
可选地，所述底盘还包括缓冲组件，所述缓冲组件包括固定板以及数量相同的弹簧、安装架和导杆；
所述从动万向轮安装在所述固定板上，所述安装架与所述底盘结构固定连接，所述固定板设有与所述安装架数量相同的第一通孔，所述安装架设有第二通孔，所述弹簧位于所述固定板和所述安装架之间，所述导杆依次穿过所述第一通孔、所述弹簧和所述第二通孔，所述导杆两端螺纹连接有螺母。
可选地，所述舵轮包括第一安装座、第一电机、第一齿轮、第一外齿圈以及移动轮组件；
所述第一安装座设有两端开口的第一容置腔，所述第一外齿圈枢接在所述第一安装座的第一容置腔内，所述第一电机安装在所述第一安装座上并与所述第一齿轮驱动连接，所述第一齿轮与所述第一外齿圈啮合，所述移动轮组件与所述第一外齿圈固定连接。
可选地，所述第一电机为伺服电机并竖直安装在所述第一安装座的上端面。
可选地，所述移动轮组件包括支架、第二电机、第二齿轮、第三齿轮、第一锥齿轮、第二锥齿轮和第一移动轮；
所述支架和所述第一外齿圈固定连接，所述第二电机竖直安装在所述第一安装座上并与所述第二齿轮驱动连接，所述第三齿轮枢接在所述支架上并与所述第二齿轮啮合，所述第一锥齿轮与所述第三齿轮同轴固定，所述第一移动轮枢接在所述支架上，所述第二锥齿轮与所述第一移动轮同轴固定并与所述第一锥齿轮啮合。
可选地，所述第二电机为伺服电机并竖直安装在所述第一安装座的上端面，且所述第二电机的中轴线与所述第一安装座的中轴线重合。
可选地，所述主动万向轮包括第二安装座、第三电机、第四齿轮、第二外齿圈以及枢接在第二安装座上的第二移动轮；
所述第二安装座枢接在所述底盘结构上，所述第二外齿圈固定在所述第二安装座上，所述第三电机安装在所述底盘结构上，所述第四齿轮安装在所述第三电机的驱动轴上并与所述第二外齿圈啮合。
附图说明
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的全向叉车AGV中基于舵轮与主动万向轮组合的底盘的结构示意图；
图2为图1中A处的放大图；
图3为本申请实施例提供的全向叉车AGV中基于舵轮与主动万向轮组合的底盘中舵轮的剖视结构示意图；
图4为本申请实施例提供的全向叉车AGV中基于舵轮与主动万向轮组合的底盘中舵轮的结构示意图。
图标：100－底盘；200－舵轮；300－主动万向轮；400－从动万向轮；500－弹簧；600－导杆；
110－安装架；
210－第一安装座；220－第二电机；230－第一外齿圈；240－移动轮组件；250－第一电机；
241－支架；242－第二齿轮；243－第三齿轮；244－第一锥齿轮；245－第二锥齿轮；246－第一移动轮。
具体实施方式
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
参照图1－图4，本申请实施例提供一种全向叉车AGV中基于舵轮与主动万向轮组合的底盘，包括底盘结构100、一个舵轮200以及两个主动万向轮300；其中舵轮200安装在底盘结构100的前端， 两个主动万向轮300安装在底盘结构100的后端，舵轮200和两个主动万向轮300呈等腰三角形分布。
本申请实施例提供的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，舵轮200和两个主动万向轮300共同完成对底盘结构100及叉车整体的支撑，空载时的叉车中心靠近底盘结构100的前端。此时，通过将舵轮200安装在底盘结构100前端，保证了舵轮200与地面之间有足够的摩擦力，以防止出现舵轮打滑的现象。
此外，在本实施例中，通过在底盘结构100的后端设有两个主动万向轮300，每个主动万向轮300上的移动轮和舵轮200上的移动轮能够均能够主动转向，以完成叉车的转向操作，且此时的转向操作包括叉车的原地360°转向，使叉车能够在更狭小的空间完成搬运作业，灵活性高。此外，通过设置舵轮200和两个主动万向轮300呈等腰三角形分布，在需要驱动全向叉车AGV中基于舵轮与主动万向轮组合的底盘转向时，将两个主动万向轮300转动的角度一致即可，方便了对两个主动万向轮300的调整。最后，通过只设置一个能够主动行走的舵轮200，在舵轮200和两个主动万向轮300不主动转向时，能够稳定完成叉车的直线行走功能，保证了叉车的搬运效率。
此外，本实施例还对全向叉车AGV中基于舵轮与主动万向轮组合的底盘的结构做以下详细介绍。
首先，参照图1，本实施例还包括两个从动万向轮400，两个所述从动万向轮400安装在所述底盘结构100的前端并分设在所述舵 轮200的两侧。
当叉车向左右两侧倾斜时，从动万向轮400可以对底盘结构100起到辅助支撑的作用，防止底盘结构100后侧与舵轮200连接处受到较大的横向载荷而影响舵轮200的正常行走。
参照图2和图3，本实施例还包括缓冲组件，缓冲组件包括固定板以及弹簧500、安装架110和导杆600，所述弹簧500、安装架110和导杆600的数量是相同的；从动万向轮400安装在固定板上，安装架110与底盘结构100固定连接，固定板设有与安装架110数量相同的第一通孔，安装架110设有第二通孔，弹簧500位于固定板和安装架110之间，导杆600依次穿过第一通孔、弹簧500和第二通孔，导杆600两端螺纹连接有螺母。
可选地，本实施例中的舵轮200和两个主动万向轮300都是通过螺栓与底座刚性连接，此时，通过设置从动万向轮400与底座弹性连接，可以通过弹簧500的压缩来使从动万向轮400对底座有更大的支撑力，以进一步完成对底座后端的平衡支撑。
可选地，本实施例中，弹簧500、安装架110和所述导杆600共设有四组，四个第一通孔呈正方形分布设置。
参照图3，本实施例中的舵轮200也可以包括第一安装座210、第一电机250、第一齿轮、第一外齿圈230以及移动轮组件240；第一安装座210设有两端开口的第一容置腔，第一外齿圈230枢接在第一安装座210的第一容置腔内，第一电机250安装在第一安装座210上并与第一齿轮驱动连接，第一齿轮与第一外齿圈230啮合， 移动轮组件240与第一外齿圈230固定连接。
可选地，舵轮200是通过第一安装座210与底座固定连接来完成在底座的安装，第一齿轮同样位于第一容置腔内并与第一外齿圈230啮合，第一外齿圈230与下方的移动轮组件240固定连接，移动轮组件240封闭第一安装座210的下端开口，即第一外齿圈230和第一齿轮均隐藏在第一安装座210的第一容置腔内，因此外界的灰尘颗粒等杂质不会进入第一安装座210的第一容置腔内，使得第一外齿圈230和第一齿轮之间的相对转动更加准确平稳。同时，第一外齿圈230和第一齿轮上的润滑油在封闭环境下也会使用更长的时间，两者发生相对转动时发出的噪声更低。
此时，请继续参照图3和图4，在本实施例中，移动轮组件240包括支架241、第二电机220、第二齿轮242、第三齿轮243、第一锥齿轮244、第二锥齿轮245和第一移动轮246；其中支架241和第一外齿圈230固定连接，第二电机220竖直安装在第一安装座210上并与第二齿轮242驱动连接，第三齿轮243枢接在支架241上并与第二齿轮242啮合，第一锥齿轮244与第三齿轮243同轴固定，第一移动轮246枢接在支架241上，第二锥齿轮245与第一移动轮246同轴固定并与第一锥齿轮244啮合。
可选地，支架241上半部分设有容纳第二齿轮242、第三齿轮243和第一锥齿轮244的第二容置腔，第一移动轮246和第二锥齿轮245整体枢接在支架241的下半部分，通过第二齿轮242和第三齿轮243的相互啮合以及第一锥齿轮244和第二锥齿轮245的相互 啮合，完成第二电机220对第一移动轮246的驱动。
本实施例设置第一电机250和第二电机220均安装在第一安装座210的上端面上，第一电机250和第二电机220均为伺服电机，以使得第一移动轮246行走和转向更加精准和灵敏，以进一步保证叉车对货物的准确搬运。
最后，在本实施例中，主动万向轮300包括第二安装座、第三电机、第四齿轮、第二外齿圈以及枢接在第二安装座上的第二移动轮；第二安装座枢接在底盘结构100上，第二外齿圈固定在第二安装座上，第三电机安装在底盘结构100上的第二安装座上，第四齿轮安装在第三电机的驱动轴上并与第二外齿圈啮合。通过第四齿轮与第二外齿圈啮合，第三电机带动第二移动轮实现转向动作。
可选地，第二外齿圈固定在第二安装座的上方，第二安装座设有与第二外齿圈中心孔连通的通孔，在第二安装座的通孔内过盈配合有轴承，同时，轴承内圈过盈配合有连接轴，连接轴竖直固定在底座上。此时，第三电机转动即可完成第二安装座以及第二安装座上的第二移动轮的转向操作。
相对于现有技术，本申请提供的全向叉车AGV中基于舵轮与主动万向轮组合的底盘的有益效果例如包括：
本申请提供的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，舵轮和两个主动万向轮共同完成对底盘及叉车整体的支撑，空载时的叉车中心靠近底盘的前端。此时，通过将舵轮安装在底盘后端，保证了舵轮上的移动轮与地面能够时刻处于滚动摩擦状态，不会发生相对滑动而影响叉车的移动。
此外，本申请通过在底盘的前端设有两个主动万向轮，主动万向轮上的移动轮和舵轮上的移动轮均能够主动转向，以完成叉车的转向操作，且此时的转向操作包括叉车的原地360°转向，使叉车能够在更狭小的空间完成搬运作业，灵活性高。此外，通过设置舵轮和两个主动万向轮呈等腰三角形分布，在需要驱动全向叉车AGV中基于舵轮与主动万向轮组合的底盘转向时，将两个主动万向轮转动的角度一致即可，方便了对两个主动万向轮的调整。最后，通过只设置一个能够主动行走的舵轮，在舵轮和两个主动万向轮不主动转向时，能够稳定完成叉车的直线行走功能，保证了叉车的搬运效率。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。
工业实用性
本申请提供了一种全向叉车AGV中基于舵轮与主动万向轮组合的底盘，缓解了现有技术中的叉车容易因两个舵轮的行走速度无法保证完全一致而导致无法进行稳定的直线行走的技术问题。

Claims (15)

  1. 一种全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，包括底盘结构(100)、一个舵轮(200)以及两个主动万向轮(300)；
    所述舵轮(200)安装在所述底盘结构(100)的后端，两个所述主动万向轮(300)安装在所述底盘结构(100)的后端，所述舵轮(200)和两个所述主动万向轮(300)呈等腰三角形分布。
  2. 根据权利要求1所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述舵轮(200)和所述两个主动万向轮(300)均通过螺栓与底座刚性连接。
  3. 根据权利要求1或2所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，还包括两个从动万向轮(400)，两个所述从动万向轮(400)安装在所述底盘结构(100)的前端并分设在所述舵轮(200)的两侧。
  4. 根据权利要求1至3中任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述两个从动万向轮舵轮(400)与底座弹性连接。
  5. 根据权利要求1至4中任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，还包括缓冲组件，所述缓冲组件包括固定板以及数量相同的弹簧(500)、安装架(110)和导杆(600)；
    所述从动万向轮(400)安装在所述固定板上，所述安装架(110)与所述底盘结构(100)固定连接，所述固定板设有与所述安装架(110)数量相同的第一通孔，所述安装架(110)设有第二通孔，所述弹簧(500)位于所述固定板和所述安装架(110)之间，所述 导杆(600)依次穿过所述第一通孔、所述弹簧(500)和所述第二通孔，所述导杆(600)两端螺纹连接有螺母。
  6. 根据权利要求5所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述弹簧(500)、所述安装架(110)和所述导杆(600)共设有四组，四个所述第一通孔呈正方形分布设置。
  7. 根据权利要求1至6中任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述舵轮(200)包括第一安装座(210)、第一电机(250)、第一齿轮、第一外齿圈(230)以及移动轮组件(240)；
    所述第一安装座(210)设有两端开口的第一容置腔，所述第一外齿圈(230)枢接在所述第一安装座(210)的第一容置腔内，所述第一电机(220)安装在所述第一安装座(210)上并与所述第一齿轮驱动连接，所述第一齿轮与所述第一外齿圈(230)啮合，所述移动轮组件(240)与所述第一外齿圈(230)固定连接。
  8. 根据权利要求7所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述舵轮(200)是通过所述第一安装座(210)与底座固定连接来完成在底座的安装，所述第一齿轮位于所述第一容置腔内。
  9. 根据权利要求7或8所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述第一外齿圈(230)与下方的所述移动轮组件(240)固定连接，所述移动轮组件(240)封闭所述第一安装座(210)的下端开口。
  10. 根据权利要求7至9中任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述第一电机(250)为伺服电机并竖直安装在所述第一安装座(210)的上端面。
  11. 根据权利要求7至10中任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述移动轮组件(240)包括支架(241)、第二电机(220)、第二齿轮(242)、第三齿轮(243)、第一锥齿轮(244)、第二锥齿轮(245)和第一移动轮(246)；
    所述支架(241)和所述第一外齿圈(230)固定连接，所述第二电机(220)竖直安装在所述第一安装座(210)上并与所述第二齿轮(242)驱动连接，所述第三齿轮(243)枢接在所述支架(241)上并与所述第二齿轮(242)啮合，所述第一锥齿轮(244)与所述第三齿轮(243)同轴固定，所述第一移动轮(246)枢接在所述支架(241)上，所述第二锥齿轮(245)与所述第一移动轮(246)同轴固定并与所述第一锥齿轮(244)啮合。
  12. 根据权利要求11所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述支架(241)上半部分设有容纳所述第二齿轮(242)、所述第三齿轮(243)和所述第一锥齿轮(244)的第二容置腔，所述第一移动轮(246)和所述第二锥齿轮(245)整体枢接在所述支架(241)的下半部分。
  13. 根据权利要求11或12所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述第二电机(220)为伺服电机并竖直安装在所述第一安装座(210)的上端面，且所述第二电机(220)的中轴线与所述第一安装座(210)的中轴线重合。
  14. 根据权利要求1－10任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述主动万向轮(300)包括第二安装座、第三电机、第四齿轮、第二外齿圈以及枢接在第二安装座上的第二移动轮；
    所述第二安装座枢接在所述底盘结构(100)上，所述第二外齿圈固定在所述第二安装座上，所述第三电机安装在所述底盘结构 (100)上的所述第二安装座上，所述第四齿轮安装在所述第三电机的驱动轴上并与所述第二外齿圈啮合，通过所述第四齿轮与所述第二外齿圈啮合，所述第三电机带动所述第二移动轮实现转向动作。。
  15. 根据权利要求14所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘，其特征在于，所述第二外齿圈固定在所述第二安装座的上方，所述第二安装座设有与所述第二外齿圈中心孔连通的通孔，在所述第二安装座的通孔内过盈配合有轴承，所述轴承内圈过盈配合有连接轴，所述连接轴竖直固定在底座上。
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