CN112623021A - A bearing wheel for AGV is automatic to turn to - Google Patents

Abstract

The invention provides a bearing wheel for automatic steering of an AGV, which is low in manufacturing cost, large in bearing capacity, compact in space and capable of realizing autonomous steering; specifically, this bearing wheel includes: a slewing bearing for installing the bearing wheel on AGV fixes the slewing bearing in the mounting panel bottom, sets up the wheel train at slewing bearing inner circle middle part, is provided with the external tooth on slewing bearing's the outer lane, is provided with the motor on the mounting panel, and the output of motor is provided with first gear, first gear with the external tooth meshes mutually for the power of motor can be through first gear transmission slewing bearing on, thereby drive the bearing wheel and rotate, and the bearing capacity can be improved in the design of a plurality of wheel trains simultaneously.

Description

A bearing wheel for AGV is automatic to turn to

Technical Field

The invention relates to the technical field of guiding and transporting equipment, in particular to a bearing wheel for automatic steering of an AGV.

Background

At present, the AGV mostly adopts a differential driving device, a steering wheel and a driven universal wheel, a steering wheel full-driving scheme and Mecanum wheels or omni wheels to realize turning or in-situ 90-degree transverse driving. The differential driving device realizes turning by using the difference of the rotating speeds of the two driving wheels, but cannot realize in-situ 90-degree transverse running; although the steering wheel and the driven universal wheel can realize turning or in-situ 90-degree transverse driving by utilizing different layouts of the steering wheel, the bearing capacity of the universal wheel is not high, the size of the universal wheel is inevitably overlarge under a heavy load condition, so that the overall size and the height of a conveying surface are influenced, and the universal wheel does not have an automatic steering function, so that certain throwing amount and moment resistance can be generated during steering, and the control precision of the AGV trolley is reduced; the steering wheel full-drive scheme can realize turning or in-situ 90-degree transverse driving, but the cost is high, and the control difficulty of the vehicle and the capacity of a vehicle-mounted power supply can be increased; mecanum wheels or omni wheels can realize turning or 90-degree transverse driving on site through a vehicle-mounted control system by utilizing different steering directions and different rotating speeds of driving motors of the wheels, but can also be influenced by the bearing size and the space installation height of the wheels with different wheel diameters. Therefore, a load-bearing wheel is needed to solve the above problems.

Disclosure of Invention

To the above problem, the inventor provides a bearing wheel that cost is low, bears greatly, and the space is compact, can realize independently turning to, and this bearing wheel height is low, and the contact surface is great, and it is stable to go, is particularly useful for the large-scale AGV that needs the straight line and sideslip side direction to get goods.

Specifically, the present invention is realized by:

a load-bearing wheel for automatic AGV steering, the load-bearing wheel comprising: be used for inciting somebody to action the mounting panel of bearing wheel installation on the AGV is fixed the slewing bearing of mounting panel bottom sets up the wheel train at slewing bearing inner circle middle part, be provided with the external tooth on slewing bearing's the outer lane, be provided with the motor on the mounting panel, the output of motor is provided with first gear, first gear with the external tooth meshes mutually.

Further, be provided with the encoder on the mounting panel, be provided with the second gear in the pivot of encoder, the second gear with the external tooth meshes mutually.

Further, the external teeth are arranged on the upper surface of the outer ring of the slewing bearing, and the motor and the encoder are transversely arranged on the same side face of the mounting plate.

Further, the teeth are helical teeth, and the first gear and the second gear are bevel gears.

Further, the roller group is provided with a plurality of, and every roller group includes two gyro wheels at least.

The working principle of the invention is introduced:

when the AGV runs straight, the operation is stable; when needing transversely to get goods or turn to, on-vehicle control system passes through servo controller control drive helm motor and the motor of this bearing wheel, drives drive wheel and bearing wheel and turns to, and the bearing wheel passes through the encoder control corner size of taking certainly, makes it match with helm encoder numerical value, makes bearing wheel and helm direction remain unanimous all the time, and because the bearing wheel is from taking power, can 360 degrees rotations in situ, does not have the whipping during the rotation, so the vehicle direction is stable, operates steadily and relative universal wheel pair ground not damaged.

The beneficial effects of the invention are introduced as follows:

(1) adopt the roller train to bear, promoted bearing capacity, transversely put the motor simultaneously, reduced the height of this bearing wheel, the structure is more compact, has saved a large amount of bottom spaces.

(2) The bearing wheel can be matched with a driving wheel for use, can realize pivot steering, and has no whipping and no resistance moment when the pivot travels transversely at 90 degrees.

Drawings

FIG. 1 is a schematic illustration of a load bearing wheel for automatic AGV steering according to the present application;

FIG. 2 is a schematic diagram of an internal structure of a load bearing wheel for automatic AGV steering according to the present application;

fig. 3 is a partially enlarged view of a portion a in fig. 2.

Reference numerals:

1-mounting a plate; 2-a slewing bearing; 21-inner ring; 22-an outer ring; 221-outer teeth; 3-roller group; 4-a motor; 41-a first gear; 5-an encoder; 51-second gear.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).

Example 1:

1-3, the present invention provides a load-bearing wheel for automatic steering of an AGV, the load-bearing wheel comprising: the AGV bearing device comprises a mounting plate 1 for mounting the bearing wheels on the AGV, a slewing bearing 2 fixed at the bottom of the mounting plate 1, and roller groups 3 arranged in the middle of an inner ring 21 of the slewing bearing 2, wherein preferably, the number of the roller groups 3 is 4, and each roller group 3 comprises two rollers, so that the bearing capacity can be improved. The upper surface of the outer ring 22 of the slewing bearing 2 is provided with external teeth 221. Be provided with motor 4 and encoder 5 on the mounting panel 1, motor 4 and 5 transverse arrangement of encoder can reduce the height of this bearing wheel, and the structure is more compact, has saved a large amount of bottom spaces. The output end of the motor 4 is provided with a first gear 41, the rotating shaft of the encoder 5 is provided with a second gear 51, and the first gear 41 and the second gear 42 are respectively meshed with the external teeth 221, so that the power of the motor 4 can be transmitted to the slewing bearing 2, and the rotation of the bearing wheel is realized. Preferably, the external teeth 221 are helical teeth, and the first gear 41 and the second gear 42 are bevel gears, so that the bearing wheel rotates more smoothly, has lower noise, and has good bearing capacity and stability. Specifically, when the AGV turns to, the motor 4 works, and transmits power to the slewing bearing 2, so that the slewing bearing 2 rotates, and the roller set 3 is driven to rotate, thereby achieving the purpose of turning. While the slewing bearing 2 rotates, the external teeth 221 are driven to rotate, so that the second gear 51 rotates, and the rotation action is transmitted to the encoder 5, so that the encoder 5 can record and feed back the rotation angle of the bearing wheel.

The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.

Claims (5)

1. A bearing wheel for AGV automatic steering, comprising: be used for inciting somebody to action the mounting panel of bearing wheel installation on the AGV is fixed the slewing bearing of mounting panel bottom sets up the wheel train at slewing bearing inner circle middle part, be provided with the external tooth on slewing bearing's the outer lane, be provided with the motor on the mounting panel, the output of motor is provided with first gear, first gear with the external tooth meshes mutually.

2. The load-bearing wheel for AGV automatic steering of claim 1 wherein an encoder is provided on said mounting plate, a second gear is provided on a shaft of said encoder, said second gear being engaged with said outer teeth.

3. The load-bearing wheel for AGV automatic steering of claim 2 wherein said outer teeth are provided on the upper surface of said outer race of said slewing bearing, said motor and encoder being laterally disposed on the same side of said mounting plate.

4. The load bearing wheel for automatic AGV steering of claim 3 wherein said teeth are helical teeth and said first and second gears are bevel gears.

5. The load bearing wheel for automatic steering of an AGV according to claim 1, wherein said roller sets are provided in plurality, each roller set including at least two rollers.

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