CN116062067A - Omnidirectional driving device suitable for narrow tunnel AGV - Google Patents
Omnidirectional driving device suitable for narrow tunnel AGV Download PDFInfo
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- CN116062067A CN116062067A CN202211645778.9A CN202211645778A CN116062067A CN 116062067 A CN116062067 A CN 116062067A CN 202211645778 A CN202211645778 A CN 202211645778A CN 116062067 A CN116062067 A CN 116062067A
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- 238000013461 design Methods 0.000 abstract description 6
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- 230000004323 axial length Effects 0.000 description 2
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- 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
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Abstract
The invention relates to the field of automated logistics, in particular to a mechanical design and a system design of an AGV. The invention is realized by the following technical scheme: omnidirectional traveling device suitable for narrow tunnel AGV contains chassis frame and with the running gear that the chassis frame is connected, running gear contains universal wheel subassembly and drive wheel subassembly, the universal wheel subassembly contain with the connecting plate that the chassis frame is connected still contains interposer and wheel body subassembly, the interposer pass through the upper shaft with the connecting plate rotates to be connected, the wheel body subassembly pass through the lower shaft with the interposer rotates to be connected. The invention aims to provide an omnidirectional running device suitable for an AGV in a narrow roadway, which increases running smoothness in the working process without wheel clamping, thereby reducing vehicle shake and increasing safety, and simultaneously, the omnidirectional running device is not easy to collide with a goods shelf, and increases the applicability and the trafficability of the AGV in the narrow roadway.
Description
Technical Field
The invention relates to the field of automated logistics, in particular to a mechanical design and a system design of an AGV.
Background
An AGV (Automated Guided Vehicle), an automatic guided vehicle, is a vehicle equipped with an automatic guiding device such as electromagnetic or optical, and is capable of traveling along a predetermined guiding path. With the progress of information technology and the maturity of automation level, AGVs are also becoming more common and widely used in various fields of transportation, stacking and logistics.
For example, chinese patent document CN210835727U discloses an AGV trolley, which comprises a vehicle body, on which a battery and a control box are mounted, and an obstacle avoidance sensor is also mounted. A traveling device is arranged on a chassis at the bottom of the vehicle, and the AGV trolley moves and carries objects in a designated area under corresponding control commands.
One of the primary functions of an AGV is to handle items, particularly to place or remove items from a pallet, and to walk in a lane between pallets. However, the existing AGV has a safety defect in the traveling process, that is, the loaded goods may shake or fall due to unsmooth traveling during the operation of the AGV. On the other hand, with the development of logistics technology, the requirement on the space utilization rate of the logistics environment is also higher and higher. The improvement in space utilization is manifested in two aspects. First, the number of layers and height of the shelves may increase and the AGVs may need to acquire higher height loads. In the process of storing and taking high-position cargoes, the gravity center of the whole machine is raised, and if shake occurs, the risk of the AGV tipping is higher; secondly, the distance between the goods shelves is reduced, namely the width value of the roadway is smaller and smaller, so that the chassis of the AGV or the tires of the AGV are easy to collide with the goods shelves in the traveling and steering processes of the AGV trolley.
Disclosure of Invention
The invention aims to provide an omnidirectional running device suitable for an AGV in a narrow roadway, which increases running smoothness in the working process without wheel clamping, thereby reducing vehicle shake and increasing safety, and simultaneously, the omnidirectional running device is not easy to collide with a goods shelf, and increases the applicability and the trafficability of the AGV in the narrow roadway.
The technical aim of the invention is realized by the following technical scheme: omnidirectional traveling device suitable for narrow tunnel AGV contains chassis frame and with the running gear that the chassis frame is connected, running gear contains universal wheel subassembly and drive wheel subassembly, the universal wheel subassembly contain with the connecting plate that the chassis frame is connected still contains interposer and wheel body subassembly, the interposer pass through the upper shaft with the connecting plate rotates to be connected, the wheel body subassembly pass through the lower shaft with the interposer rotates to be connected, the upper shaft with the lower shaft all extends in vertical direction, and both eccentric settings, namely the vertical axis of upper shaft with the vertical axis of lower shaft is non-collineation, the lower shaft with wheel body subassembly eccentric settings, namely the vertical axis of lower shaft with the vertical axis of wheel body subassembly is non-collineation.
Preferably, the interposer includes a vertically sequential upper plate, a vertically sequential lower plate, and a connecting pin for connecting the upper plate and the lower plate, and the upper shaft is connected to the upper plate and the lower shaft is connected to the lower plate.
Preferably, the wheel body assembly comprises a fixed frame and a swinging frame hinged with the fixed frame, and two sides of the swinging frame are respectively connected with one wheel body.
Preferably, the swing frame comprises a connecting wheel shaft for connecting the wheel body, a sleeve joint shaft connected with the connecting wheel shaft and a catch wheel piece arranged on the connecting wheel shaft and used for blocking the outer release of the wheel body, the fixed frame is provided with a retaining opening, and the sleeve joint shaft is sleeved into the retaining opening.
Preferably, the socket shaft and the connecting shaft extend in a horizontal direction and are perpendicular to each other.
Preferably, the fixed frame comprises a laterally inclined frame extending obliquely.
Preferably, the connecting plate comprises a flat plate body and a shaft containing part which is positioned on the upper surface of the flat plate body and is used for containing the upper shaft.
Preferably, the universal wheel assemblies and the driving wheel assemblies are two, and the two universal wheel assemblies are arranged in a diagonal position.
Preferably, one of the drive wheel assemblies is connected to one of the universal wheel assemblies, and the other of the drive wheel assemblies and the other of the universal wheel assemblies are each independently connected to the chassis frame.
In summary, the invention has the following beneficial effects:
1. the upper shaft, the lower shaft and the split shaft made by the wheel body assembly are eccentrically arranged, so that the whole universal wheel assembly is steered in two sections in the steering process, and the smoothness of rotation is greatly improved when the upper part rotates and the lower part rotates. The steering is smooth, so that the steering process is not easy for the universal wheels to be clamped, sudden stall and stagnation are not generated, the AGV does not shake when steering, and the safety of cargo transportation can be greatly improved.
2. The two-section steering enables the universal wheel assembly to be in a 'diameter-reduced' state when rotating, and the upper part or the lower part of the universal wheel assembly rotates at a smaller radius, so that a goods shelf beside a narrow roadway is not easy to touch in the steering process of the universal wheel.
3. The intermediate board is provided with the split boards independently, so that the assembly process is convenient.
4. The connecting plate comprises a containing shaft part, the inner cavity of the connecting plate is used for containing an upper shaft, the axial length of the upper shaft can be increased, the stress is more stable, and the universal wheel is safer when turning.
5. Every universal wheel subassembly all contains two wheels body, provides better bearing effect.
6. The two wheel bodies can obtain an up-and-down swinging effect by means of the sleeving shafts, so that the two wheel bodies can always contact with the ground even on a bumpy road surface, and better ground grabbing force is provided.
7. The running gear contains two universal wheel assemblies and two drive wheel assemblies, and is the diagonal setting of arranging. The four-wheel diagonal arrangement not only can enable the AGV to steer more conveniently and quickly, but also is even in power, and the forward and backward directions are more stable.
8. One universal wheel assembly and one driving wheel assembly are connected together, so that four touchdown points are changed into three touchdown points, and each wheel can be contacted with the ground all the time under the working environment of encountering a pit by the AGV, so that the stability and the grasping force are better.
Drawings
FIG. 1 is a schematic diagram of a first embodiment;
FIG. 2 is a schematic illustration of one of the universal wheel assemblies;
fig. 3 is a side view of fig. 2.
Fig. 4 is a side cross-sectional view of the upper half of fig. 2.
Fig. 5 is a schematic view of fig. 2 after concealing a wheel.
In the figure:
1. running gear, 11, universal wheel subassembly, 111, connecting plate, 1111, flat plate body, 1112, rong Zhoubu, 112, intermediate plate, 1121, upper plate, 1122, lower plate, 1123, connecting nail, 113, wheel body subassembly, 1131, fixed frame, 11311, horizontal frame, 11312, stay, 1132, swing frame, 11321, sleeve joint axle, 11322, connecting axle, 11323, wheel blocking piece, 1133, wheel body, 12, driving wheel subassembly, 21, upper axle, 22, lower axle, 9, automobile body, 91, main frame, 92, chassis frame.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
In embodiment 1, an omni-directional travel device suitable for a narrow tunnel AGV includes a chassis frame 92, as shown in fig. 1, and is often connected to a main frame 91, which together form a main body portion of a vehicle body 9. And the running gear 1 is mounted on the lower surface of the chassis frame 92.
The running gear 1 comprises two universal wheel assemblies 11 and two driving wheel assemblies 12, four wheel assemblies are uniformly distributed at four corners of the chassis frame 92, and the two universal wheel assemblies 11 are diagonally arranged. The four-wheel diagonal arrangement not only can enable the AGV to steer more conveniently and quickly, but also is even in power, and the forward and backward directions are more stable. In the present embodiment, one of the universal wheel assemblies 11 is coupled to one of the drive wheel assemblies 12 via a coupling, such as a common coupling. Thus, the four touchdown points are combined together to form three touchdown points, and each wheel can be contacted with the ground all the time under the working environment of the AGV encountering a pothole, so that the stability and the grasping force are better.
In this case, the specific structure of the driving wheel assembly 12 is not modified, and mature products in the prior art can be selected. The core of the scheme is that the structure of the universal wheel assembly 11 is changed, and specifically, the design concept of double-shaft separation and eccentric design is adopted.
As shown in fig. 2 and 4, the universal wheel assembly 11 can be generally seen as three components, namely, a connecting plate 111, an intermediate plate 112, and a wheel assembly 113 from top to bottom. Wherein the connection plate 111 is used for connecting with the chassis frame 92, the connection plate 111 can be regarded as a stationary part when the universal wheel is to be turned. The intermediate plate 112 is a middle part which is supported up and down, and is rotatably connected with the upper connecting plate 111 by virtue of the upper shaft 21, and is rotatably connected with the lower wheel assembly 113 by virtue of the lower shaft 22. Also, the upper shaft 21 and the lower shaft 22 must be eccentrically disposed. As shown in fig. 2, the central axis of the upper shaft 21 in the vertical direction is L1, the central axis of the lower shaft 22 in the vertical direction is L2, the two shafts cannot be collinear, and a certain interval exists between the two shafts in the horizontal direction, namely, the two shafts are eccentrically arranged. For convenience of description, the rotation occurring at the upper shaft 21 will be hereinafter simply referred to as upper rotation, and the rotation occurring at the lower shaft 22 will be hereinafter simply referred to as lower rotation.
When the universal wheel needs to turn, the wheel body assembly 113 receives friction effect due to the ground contact, besides the friction effect (such as a bearing) of the inner part, the friction effect between the wheel body 1133 and the ground needs to be added. The upper shaft 21 is different from this portion, and is only subjected to friction effects (e.g., bearings) of the internal components, since it does not touch the ground. Therefore, during actual steering, the castor is turned in two stages, and during the first turning path, there is only an upper turn, while the lower is not turned. Along with the steering of the universal wheel to a certain angle, the direction of the steering force and the included angle of the universal wheel are changed, the steering wheel naturally enters into the second section of steering path, at the moment, the upper part does not rotate (due to the relation of the steering force direction), and the lower part starts to rotate until the final steering is completed.
The technical effect of two-stage steering brought by such a double-shaft eccentric arrangement is two aspects, namely, when the upper part rotates and the lower part rotates, the smoothness of rotation is greatly increased. In principle, when the upper part rotates, only the friction coefficient friction effect of the inner part is considered, and the friction coefficient friction effect can be easily solved in an actual product by means of parts such as a bearing and the like, and the rotation is smooth. While the friction coefficient of the ground is still considered when the lower part rotates, the rotation radius of the lower part steering is small, the upper part is not moved, the steering radius of the lower part is small, the force arm is small, and the steering is smooth. The steering is smooth, so that the steering process is not easy for the universal wheels to be clamped, sudden stall and stagnation are not generated, the AGV does not shake when steering, and the safety of cargo transportation can be greatly improved.
On the other hand, the optimization of the steering radius is embodied. In the two-stage steering, the lower part does not rotate in the upper rotating process, so that the whole universal wheel assembly 11 is in a reduced diameter state instead of an extended diameter state. As shown in fig. 3, the central axis of the upper shaft 21 is L1, the central axis of the lower shaft 22 is L2, the central axis of the wheel body assembly 113 is L3, and the "reducing" means that the points projected by the L1, L2 and L3 on the horizontal plane are not on the same straight line, and an included angle exists between the first line connecting the L1 projection point and the L2 projection point and the second line connecting the L2 projection point and the L3 projection point. The included angle is that the whole universal wheel is not stretched in the upper rotating process and is contracted. When the upper part of the universal wheel rotates, the turning radius is the distance between the L1 projection point and the L3 projection point, and when the lower part rotates, the turning radius is the second connecting line, so that the upper part or the lower part rotates and the universal wheel rotates with a smaller radius, and the shelf beside a narrow roadway is not easy to touch in the steering process of the universal wheel.
Further, as shown in fig. 4 and 2, the interposer 112 is provided separately from the upper plate 1121 and the lower plate 1122, and the upper plate 1121 and the lower plate 1122 are connected by connecting nails 1123. Both are also connected to the upper shaft 21 and the lower shaft 22, respectively. Such split plate arrangement facilitates the processing and assembly of the AGV by first connecting the upper plate 1121, upper shaft 21, connecting plate 111, connecting the lower plate 1122, lower shaft 22, and wheel body assembly 113, and then connecting the upper plate 1121 and lower plate 1122, facilitating the assembly process. The connecting plate 111 comprises a flat plate body 1111 fixedly connected with the chassis frame 92, a shaft accommodating part 1112 is arranged above the flat plate body in a protruding manner, and an inner cavity of the flat plate body is used for accommodating the upper shaft 21, so that the axial length of the upper shaft 21 can be increased, the stress is more stable, and the universal wheel is safer during steering.
As shown in fig. 2 and 5, the wheel assembly 113 includes a fixed frame 1131 and a swing frame 1132 that cooperate with each other. The former is connected to the lower shaft 22 and includes a cross frame 11311 and a stay 11312 therein. The swing frame 1132 comprises a sleeve joint shaft 11321 and a connecting shaft 11322, the sleeve joint shaft 11321 is sleeved in the reserved opening 11312, the connecting shaft 11322 is connected with the sleeve joint shaft 11321, and two wheel bodies 1133 are mounted on two sides of the connecting shaft 11322 and are limited and blocked by the blocking wheel pieces 11323. The two wheels 1133 provide better bearing effect, and the sleeving shaft 11321 is relied on to obtain up-and-down swinging effect, so that the two wheels 1133 can always contact with the ground even on a bumpy road surface, and better grip is provided.
Claims (9)
1. Omnidirectional traveling device suitable for narrow tunnel AGV contains chassis frame (92) and with running gear (1) that chassis frame (92) are connected, running gear (1) contain universal wheel subassembly (11) and drive wheel subassembly (12), its characterized in that: the universal wheel assembly (11) comprises a connecting plate (111) connected with the chassis frame (92), and further comprises an intermediate plate (112) and a wheel body assembly (113), wherein the intermediate plate (112) is rotationally connected with the connecting plate (111) through an upper shaft (21), the wheel body assembly (113) is rotationally connected with the intermediate plate (112) through a lower shaft (22), the upper shaft (21) and the lower shaft (22) are both extended in the vertical direction, the upper shaft (21) and the lower shaft (22) are eccentrically arranged, namely, the vertical central axis of the upper shaft (21) and the vertical central axis of the lower shaft (22) are not collinear, and the lower shaft (22) and the wheel body assembly (113) are eccentrically arranged, namely, the vertical central axis of the lower shaft (22) and the vertical central axis of the wheel body assembly (113) are not collinear.
2. The omni-directional travel device for a narrow tunnel AGV according to claim 1 wherein: the interposer (112) includes a connecting pin (1123) for connecting an upper plate (1121), a lower plate (1122), and an upper shaft (21) and the upper plate (1121) in this order in the vertical direction, and the lower shaft (22) and the lower plate (1122) are connected.
3. The omni-directional travel device for a narrow tunnel AGV according to claim 1 wherein: the wheel body assembly (113) comprises a fixed frame (1131) and a swing frame (1132) hinged with the fixed frame (1131), and two sides of the swing frame (1132) are respectively connected with one wheel body (1133).
4. The omni-directional travel device for a narrow tunnel AGV according to claim 3 wherein: the swing frame (1132) comprises a connecting shaft (11322) for connecting the wheel body (1133), a sleeve joint shaft (11321) connected with the connecting shaft (11322) and a baffle wheel sheet (11323) arranged on the connecting shaft (11322) and used for blocking the wheel body (1133) from falling off, the fixed frame (1131) is provided with a reserved opening (11312), and the sleeve joint shaft (11321) is sleeved into the reserved opening (11312).
5. The omni-directional travel device for a narrow tunnel AGV of claim 4 wherein: the sleeve joint shaft (11321) and the connecting shaft (11322) extend in the horizontal direction and are perpendicular to each other.
6. The omni-directional travel device for a narrow tunnel AGV according to claim 3 wherein: the fixed frame (1131) comprises a transversely inclined frame (11311) which extends obliquely.
7. The omni-directional travel device for a narrow tunnel AGV according to claim 1 wherein: the connecting plate (111) comprises a flat plate body (111) and a containing shaft part (1112) which is positioned on the upper surface of the flat plate body (111) and is used for containing the upper shaft (21).
8. The omni-directional travel device for a narrow tunnel AGV according to any one of claims 1-7 wherein: the number of the universal wheel assemblies (11) and the number of the driving wheel assemblies (12) are two, and the two universal wheel assemblies (11) are distributed in a diagonal position.
9. The omni-directional travel device for a narrow tunnel AGV of claim 8 wherein: one of the driving wheel assemblies (12) is connected with one of the universal wheel assemblies (11), and the other driving wheel assembly (12) and the other universal wheel assembly (11) are respectively connected with the chassis frame (92) independently.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211645778.9A CN116062067A (en) | 2022-12-21 | 2022-12-21 | Omnidirectional driving device suitable for narrow tunnel AGV |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211645778.9A CN116062067A (en) | 2022-12-21 | 2022-12-21 | Omnidirectional driving device suitable for narrow tunnel AGV |
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