CN215944733U

CN215944733U - AGV chassis assembly capable of traveling in all directions and AGV

Info

Publication number: CN215944733U
Application number: CN202121415174.6U
Authority: CN
Inventors: 张洪健; 李�浩
Original assignee: Qingdao Ant Robot Co ltd
Current assignee: Qingdao Ant Robot Co ltd
Priority date: 2021-06-24
Filing date: 2021-06-24
Publication date: 2022-03-04
Anticipated expiration: 2031-06-24

Abstract

The utility model discloses an omnidirectional-traveling AGV chassis assembly and an AGV. The chassis assembly can realize the omnidirectional running of the AGV, has compact structure and small volume, is convenient for the chassis assembly to pass in a narrow space, and improves the motion flexibility of the AGV.

Description

AGV chassis assembly capable of traveling in all directions and AGV

Technical Field

The utility model relates to the technical field of logistics automation, in particular to an omnidirectional traveling AGV chassis assembly and an AGV.

Background

An AGV (Automated Guided Vehicle) is an industrial Vehicle equipped with an automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and loading and unloading goods in an automatic or manual manner.

The AGV that traveles of qxcomm technology belongs to one kind in the AGV equipment, and this kind of AGV can follow arbitrary direction and advance because turning radius is little, therefore has higher flexibility, can improve the handling efficiency of goods by a wide margin.

The AGV structure of traveling of present qxcomm technology is various, it is mainly many rounds of qxcomm technology AGV equipment that have mecanum wheel, use the qxcomm technology AGV equipment of two kinds or more fork truck steering wheel, but these two kinds of qxcomm technology AGV chassis form shortcomings are obvious, many rounds of qxcomm technology AGV equipment of mecanum wheel is higher to the requirement of production material and machining precision, manufacturing cost is expensive relatively, be unfavorable for the volume production of qxcomm technology AGV equipment, the qxcomm technology AGV equipment of using fork truck steering wheel requires highly to the installation height size, make automobile body size high, can't get in low application scene and put the goods.

The above information disclosed in this background section is only for enhancement of understanding of the background of the application and therefore it may comprise prior art that does not constitute known to a person of ordinary skill in the art.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems pointed out in the background technology, the utility model provides an AGV chassis assembly capable of traveling omnidirectionally and an AGV.

In order to realize the purpose of the utility model, the utility model adopts the following technical scheme to realize:

the utility model provides an omnidirectional traveling AGV chassis assembly, which comprises:

a chassis;

differential drive turns to unit, its first mounting bracket and second mounting bracket that sets up relatively from top to bottom, first mounting bracket with the chassis rotates to be connected, be equipped with two differential drive wheels on the second mounting bracket, every the differential drive wheel all is by independent motor drive, the motor is located first mounting bracket with in the space that the second mounting bracket encloses, the one end of first mounting bracket with the one end of second mounting bracket is rotated and is connected, the other end of first mounting bracket with be equipped with the spring between the other end of second mounting bracket.

In some embodiments of the present application, the first mount includes a first mount body and a first connecting portion disposed on the first mount body, and the first mount body is rotatably connected to the chassis;

the second mounting bracket includes two relative first connecting plates that set up and locates two second connecting plate between the first connecting plate, the side of first connecting plate is equipped with the differential drive wheel, be equipped with second connecting portion on the second connecting plate, first connecting portion with second connecting portion rotate through the pivot and are connected, the both sides of first mounting bracket body with correspond the side be equipped with between the first connecting plate the spring.

In some embodiments of this application, first mounting bracket body with be equipped with the strengthening rib between the first connecting portion, be equipped with on the second connecting plate and do the breach that the strengthening rib abdicates.

In some embodiments of this application, be equipped with first gear and second gear on the first mounting bracket body, first gear is along with first mounting bracket synchronous motion, first gear with the meshing of second gear, be equipped with the encoder in the pivot of second gear.

In some embodiments of the present application, a third connecting plate is further disposed between the two first connecting plates, and the second connecting plate and the third connecting plate are disposed opposite to each other.

In some embodiments of the present application, the differential drive steering unit has two.

In some embodiments of this application, still include supporting component, it includes first mounting panel and second mounting panel, first mounting panel with be equipped with the portion of going up and down between the second mounting panel, the drive of portion of going up and down first mounting panel with the second mounting panel is kept away from or is close to each other along vertical direction, first mounting panel with the chassis is connected, be equipped with the universal wheel on the second mounting panel.

In some embodiments of this application, lift portion includes the first lifter plate of two relative settings and the second lifter plate of two relative settings, and is relative from top to bottom the first lifter plate with the second lifter plate passes through the connecting block and rotates the connection, the other end of first lifter plate with first mounting panel rotates the connection, the other end of second lifter plate with the second mounting panel rotates the connection, two be equipped with the screw hole on the connecting block respectively, two wear to establish the lead screw between the screw hole.

The utility model also provides an AGV comprising the omnidirectional traveling AGV chassis assembly.

Compared with the prior art, the utility model has the advantages and positive effects that:

in the AGV chassis subassembly that this application discloses, relative setting from top to bottom of first mounting bracket and second mounting bracket, the side of second mounting bracket is located to the differential drive wheel, and the motor is located the space that first mounting bracket and second mounting bracket enclose, helps reducing the holistic high dimension of differential drive steering unit, and overall structure is more compact, small, and the current of chassis subassembly in narrow space of being convenient for improves the motion flexibility of AGV dolly.

The one end of first mounting bracket and second mounting bracket is connected for rotating, and the other end passes through the spring and is flexonics, guarantees that the differential drive wheel can contact with ground all the time at the operation in-process, avoids jolting because of the ground is uneven or the motion for the differential drive wheel is liftoff, causes the wheel phenomenon of skidding.

Other features and advantages of the present invention will become more apparent from the following detailed description of the utility model when taken in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic diagram of an AGV chassis assembly according to an embodiment;

FIG. 2 is a schematic structural diagram of a support assembly according to an embodiment;

FIG. 3 is a schematic structural view of a support assembly with a rocking handle mounted thereon according to an embodiment;

FIG. 4 is a schematic diagram of a raised chassis according to an embodiment;

FIG. 5 is a schematic structural diagram of a connection block according to an embodiment;

fig. 6 is a schematic configuration diagram of a differential drive steering unit according to the embodiment;

fig. 7 is a schematic structural view of the differential drive steering unit according to the embodiment, as seen from another perspective.

Reference numerals:

100-a chassis;

200-differential drive steering unit, 210-first mount, 211-first mount body, 212-first connection, 213-stiffener, 220-second mount, 221-first connection plate, 222-second connection plate, 223-third connection plate, 224-notch, 225-second connection, 230-spring, 240-differential drive wheel, 250-shaft, 261-first gear, 262-second gear, 270-encoder, 280-motor;

300-a support component, 310-a first mounting plate, 311-a first connecting rib, 320-a second mounting plate, 321-a second connecting rib, 330-a lifting part, 331-a first lifting plate, 332-a second lifting plate, 333-a connecting block, 3331-a first threaded hole, 3332-a second threaded hole, 340-a universal wheel, 350-a lead screw, 351-an extending end, 352-a jack, 360-a rocking handle, 370-a screw and 380-a locknut.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the utility model. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

Example one

The present embodiment discloses an omni-directional travel AGV chassis assembly, referring to FIG. 1, including a chassis 100 and a differential drive steering unit 200.

The chassis 100 is used for connecting an AGV body and plays a role in positioning and supporting.

Referring to fig. 6 and 7, the differential drive steering unit 200 includes a first mounting frame 210 and a second mounting frame 220 which are arranged up and down oppositely, the first mounting frame 210 is rotatably connected to the chassis 100, two differential driving wheels 240 are arranged on the second mounting frame 220, each differential driving wheel 240 is driven by an independent motor 280, the motors 280 are located in a space enclosed by the first mounting frame 210 and the second mounting frame 220, one end of the first mounting frame 210 is rotatably connected to one end of the second mounting frame 220, and a spring 230 is arranged between the other end of the first mounting frame 210 and the other end of the second mounting frame 220.

When the rotation directions of the two differential driving wheels 240 are the same, the chassis 100 is advanced or retreated when the rotation speeds of the two differential driving wheels 240 are the same; when the two differential drive wheels 240 have different rotation speeds, the chassis 100 turns to the side of the differential drive wheel 240 with the smaller rotation speed, so that the steering movement of the AGV trolley is realized.

When the rotation directions of the two differential drive wheels 240 are different, the AGV may rotate in situ when the rotation speeds of the two differential drive wheels 240 are the same.

When the AGV trolley needs to move transversely, the two differential driving wheels 240 drive the first mounting frame 210 to rotate 90 degrees relative to the chassis under the driving of the motors of the two differential driving wheels 240, and then the two differential driving wheels 240 rotate at the same speed, so that the transverse movement of the AGV trolley is realized.

The relative structure that sets up from top to bottom of first mounting bracket 210 and second mounting bracket 220, the side of second mounting bracket 220 is located to differential drive wheel 240, and motor 280 is located the space that first mounting bracket 210 and second mounting bracket 220 enclose, helps reducing the holistic high dimension of differential drive steering unit 200, and overall structure is more compact, small, and the chassis subassembly of being convenient for is current in narrow space, improves the motion flexibility of AGV dolly.

One end of the first mounting frame 210 and one end of the second mounting frame 220 are rotatably connected, and the other end of the first mounting frame is flexibly connected through the spring 230, so that the differential driving wheel 240 can be always in contact with the ground in the operation process, and the phenomenon of wheel slip caused by the fact that the differential driving wheel is off the ground due to uneven ground or bumpy motion is avoided.

In some embodiments of the present application, the first mounting bracket 210 includes a first mounting bracket body 211 and a first connecting portion 212 disposed on the first mounting bracket body 211, and the first mounting bracket body 211 is rotatably connected to the chassis 100 through a pivoting support or the like.

The second mounting bracket 220 includes two first connecting plates 221 that set up relatively and locates the second connecting plate 222 between two first connecting plates 221, and the side of first connecting plate 221 is equipped with differential drive wheel 240, is equipped with second connecting portion 225 on the second connecting plate 222, and first connecting portion 212 rotates through pivot 250 with second connecting portion 225 to be connected, is equipped with spring 230 between the both sides of first mounting bracket body 211 and the first connecting plate 221 who corresponds the side.

The structure formed by the first mounting frame 210 and the second mounting frame 220 is a structure similar to a rectangular frame, and the whole structure is stable.

The springs 230 have two, improving the cushioning performance.

Be equipped with strengthening rib 213 between first mounting bracket body 211 and the first connecting portion 212, improve structural strength, be equipped with the breach 224 of stepping down for strengthening rib 213 on the second connecting plate 222, be convenient for the installation.

Be equipped with first gear 261 and second gear 262 on first mounting bracket body 211, first gear 261 and first mounting bracket 210 fixed connection, first gear 261 is along with first mounting bracket 210 synchronous motion, first gear 261 and the meshing of second gear 262, and first mounting bracket body 211 is passed in the pivot of second gear 262, is equipped with encoder 270 in the pivot of second gear 262.

The degree of rotation of the chassis 100 is measured by the encoder 270 to facilitate control of the travel of the AGV.

A third connecting plate 223 is further arranged between the two first connecting plates 221, and the second connecting plate 222 and the third connecting plate 223 are oppositely arranged, so that the overall structural strength and reliability of the second mounting frame 220 are further improved.

In some embodiments of the present application, the differential drive steering unit 200 has two, improves the load bearing capacity of the chassis assembly,

in some embodiments of the present application, the AGV chassis assembly further comprises a support assembly 300, and referring to fig. 1-4, the support assembly 300 comprises a first mounting plate 310 and a second mounting plate 320, and a lift 330 is disposed between the first mounting plate 310 and the second mounting plate 320. The elevating part 330 drives the first mounting plate 310 and the second mounting plate 320 to move away from or close to each other in a vertical direction. The first mounting plate 310 is fixedly connected with the chassis 100 through bolts, and the second mounting plate 320 is provided with universal wheels 340.

When the AGV trolley runs normally, the lifting part 330 is not moved, the distance between the first mounting plate 310 and the second mounting plate 320 is not changed, the universal wheels 340 and the differential drive steering unit 200 land simultaneously, the supporting assembly 300 further supports the chassis 100, and the running stability of the AGV trolley is improved.

When the AGV needs to move under the condition of failure, the lifting part 330 acts to make the first mounting plate 310 and the second mounting plate 320 far away from each other, the distance between the two is increased to drive the chassis 100 to rise, so that the differential drive steering unit 200 leaves the ground, only the universal wheels 340 land at the moment, referring to fig. 4, the AGV is pushed lightly, and the movement of the AGV can be realized.

When the AGV trolley using the supporting assembly 300 moves the trolley body, the operation method is simple, the differential driving steering unit 200 can be separated from the ground only by the action of the lifting part 330, and the movement can be realized only by the contact of the universal wheels 340 with the ground and the easy pushing of the trolley body.

The support assembly 300 is integrally connected to the chassis 100 to allow for the lifting and lowering action to be operated at any position where an AGV car is in operation, regardless of space.

The structure has compact and reasonable design and low cost, and special moving tools such as a forklift are not required to be equipped in the implementation process, so that the production cost can be greatly reduced.

In some embodiments of the present application, referring to fig. 2 and 3, the lifting part 330 includes two first lifting plates 331 disposed opposite to each other and two second lifting plates 332 disposed opposite to each other. One end of the two first lifting plates 331 is rotatably connected to the first mounting plate 310, and the two first lifting plates 331 are symmetrically disposed with respect to the first mounting plate 310. One end of the two second lifting plates 332 is rotatably connected to the second mounting plate 320, and the two second lifting plates 332 are symmetrically arranged relative to the second mounting plate 320.

The first lifting plate 331 and the second lifting plate 332 which are located on the same side and are opposite up and down are rotatably connected through a connecting block 333, specifically, the connecting block 333 is arranged at the intersection of the first lifting plate 331 and the second lifting plate 332, referring to fig. 5, threaded holes (marked as first threaded holes 3331) are respectively arranged at two ends of the connecting block 333, and the first threaded holes 3331 are coaxial with the central axis of the connecting block 333. The screw 370 is inserted between the first lifting plate 331 and the second lifting plate 332, and the screw 370 penetrates into the first threaded hole 3331 to realize the rotational connection between the first lifting plate 331 and the second lifting plate 332.

The two connecting blocks 333 are oppositely arranged, one of the two connecting blocks 333 is provided with a threaded hole (marked as a second threaded hole 3332), the other connecting block 333 is provided with a through hole (not marked), the second threaded hole 3332 is just opposite to the through hole, and a lead screw 350 is arranged between the second threaded hole 3332 and the through hole in a penetrating manner.

Fig. 5 shows a schematic view of the structure of one of the connection blocks 333, in which the threads in the first and second threaded

holes

3331 and 3332 are not shown.

When the chassis 100 needs to be lifted, the screw rod 350 is rotated, the screw rod 350 rotates in the second threaded hole 3332 and the through hole, the two connecting blocks 333 are close to each other through the rotation of the first lifting plate 331 and the second lifting plate 332, the first mounting plate 310 is driven to ascend, and the differential drive steering unit 200 is lifted up to be separated from the ground, so that the state shown in fig. 4 is achieved.

When the chassis 100 needs to be lowered, the lead screw 350 is rotated reversely.

The lead screw 350 has a protruding end 351 protruding from the through hole, and the protruding end 351 is provided with an insertion hole 352 into which the rocking handle 360 is inserted. During operation, the rocking handle 360 is inserted, so that manual operation is facilitated to realize the movement of the lead screw 350.

The other end of the screw 350 extends out of the second threaded hole 3332 and is provided with a locknut 380 to prevent the screw 350 from falling out of the second threaded hole 3332.

In some embodiments of the present application, referring to fig. 2, the first mounting plate 310 is provided with a first connecting rib 311 extending downward, and one end of the first lifting plate 331 is rotatably connected to the first connecting rib 311 through a pin, so that the first lifting plate 331 and the first mounting plate 310 are rotatably connected to each other. The first connection ribs 311 also serve to improve the structural strength of the first mounting plate 310.

Be equipped with the second splice bar 321 that upwards extends on the second mounting panel 320, the both ends of second mounting panel 320 are equipped with universal wheel 340 respectively, and the one end of second lifter plate 332 is passed through the round pin axle and is connected with second splice bar 321 rotation, realizes that the rotation between second lifter plate 332 and the second mounting panel 320 is connected. The second coupling ribs 321 also serve to improve the structural strength of the second mounting plate 320.

In some embodiments of the present application, there are two supporting assemblies 300, two supporting assemblies 300 are respectively disposed on two sides of the differential drive steering unit 200, and four universal wheels 340 are disposed at four corners of the chassis 100, so as to further improve the supporting function and the running stability of the AGV.

Example two

The present embodiments disclose an AGV including the first disclosed omni-directional travel AGV chassis assembly.

In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An omnidirectional travel AGV chassis assembly, comprising:

a chassis;

2. An omnidirectional travel AGV chassis assembly according to claim 1,

the first mounting frame comprises a first mounting frame body and a first connecting part arranged on the first mounting frame body, and the first mounting frame body is rotatably connected with the chassis;

3. An omnidirectional travel AGV chassis assembly according to claim 2,

the first mounting bracket body with be equipped with the strengthening rib between the first connecting portion, be equipped with on the second connecting plate and do the breach that the strengthening rib abdicates.

4. An omnidirectional travel AGV chassis assembly according to claim 2,

the first mounting frame body is provided with a first gear and a second gear, the first gear moves along with the first mounting frame in a synchronous mode, the first gear is meshed with the second gear, and an encoder is arranged on a rotating shaft of the second gear.

5. An omnidirectional travel AGV chassis assembly according to claim 2,

and a third connecting plate is further arranged between the two first connecting plates, and the second connecting plate and the third connecting plate are oppositely arranged.

6. An omnidirectional travel AGV chassis assembly according to any one of claims 1 through 5,

the differential drive steering unit has two.

7. An omnidirectional travel AGV chassis assembly according to claim 6,

still include supporting component, it includes first mounting panel and second mounting panel, first mounting panel with be equipped with the portion of going up and down between the second mounting panel, the drive of portion of going up and down first mounting panel with the second mounting panel is kept away from or is close to each other along vertical direction, first mounting panel with the chassis is connected, be equipped with the universal wheel on the second mounting panel.

8. An omnidirectional travel AGV chassis assembly according to claim 7,

the lifting part comprises two first lifting plates and two second lifting plates, the first lifting plates and the second lifting plates are oppositely arranged, the first lifting plates and the second lifting plates are connected in a rotating mode through connecting blocks, the other ends of the first lifting plates and the first mounting plates are connected in a rotating mode, the other ends of the second lifting plates and the second mounting plates are connected in a rotating mode, threaded holes are formed in the connecting blocks respectively, and a lead screw is arranged between the threaded holes in a penetrating mode.

9. An AGV cart comprising an omni-directional travel AGV chassis assembly according to any one of claims 1 to 8.