CN221251521U - AGV trolley and differential driving wheel set thereof - Google Patents

Abstract

The utility model provides an AGV trolley and a differential driving wheel set thereof, which comprise a mounting seat, a connecting seat, a slewing bearing arranged on the connecting seat, travelling wheels respectively arranged on two opposite sides of the mounting seat in a first direction, and buffer assemblies and swinging assemblies respectively arranged on two opposite sides of the mounting seat in a second direction. The second direction and the first direction are perpendicular to each other. The upper portion of buffer module is connected fixedly with the connecting seat, and buffer module's bottom is connected with the mount pad, and buffer module has elasticity and can follow vertical flexible. The upper part of the swinging component is fixedly connected with the connecting seat, the swinging component is rotatably connected with the mounting seat, and the opposite ends of the swinging component in the first direction swing relative to the middle part of the swinging component. The buffer assembly can stretch out and draw back vertically, the installation seat can be lifted relative to the connection, the swinging assembly can swing, two opposite ends of the installation seat in the first direction can swing, and one end of the installation seat in the first direction can move vertically relative to the other end of the installation seat.

Description

AGV trolley and differential driving wheel set thereof

Technical Field

The utility model relates to the technical field of vehicle drivers, in particular to an AGV trolley and a differential driving wheel set thereof.

Background

AGV dolly, automatic guided vehicle (Automated Guided Vehicle), refers to and is equipped with automatic navigation device such as electromagnetism or optics, can follow prescribed navigation route and travel, has the transport vechicle of safety protection and various transfer functions, and it is used in industrial application widely, like storage commodity circulation trade, and it has small, light in weight, and the advantage that the bearing effect is good.

At present, the structural design of AGV dolly has a little defect, and differential drive wheelset like the dolly does not possess buffer function, in the in-service use, when the AGV dolly passes the uneven road surface, jolt appears easily, and walking stability is not enough, when serious, can lead to the automobile body to appear out of control even.

Disclosure of utility model

The utility model aims to provide an AGV trolley with strong adaptability and high stability and a differential driving wheel set thereof.

In order to solve the technical problems, the utility model adopts the following technical scheme:

According to one aspect of the present application, there is provided a differential drive wheel set comprising:

A mounting base;

The connecting seat is arranged at the top of the mounting seat; the connecting seat is provided with a slewing bearing; the top of the slewing bearing is connected with the vehicle body;

Road wheels arranged on two opposite sides of the mounting seat in the first direction; and

The buffer assemblies and the swinging assemblies are respectively arranged at two opposite sides of the second direction of the mounting seat, and the second direction and the first direction are mutually perpendicular;

The upper part of the buffer component is fixedly connected with the connecting seat, the bottom of the buffer component is connected with the mounting seat, and the buffer component has elasticity and can vertically stretch out and draw back;

The upper part of the swinging assembly is fixedly connected with the connecting seat, the swinging assembly is rotatably connected with the mounting seat, and the opposite ends of the swinging assembly in the first direction swing relative to the middle part of the swinging assembly;

The buffer assembly can stretch out and draw back vertically, the mounting seat can be lifted relative to the connecting seat, the swinging assembly can swing, opposite ends of the mounting seat in the first direction can swing, and one end of the mounting seat in the first direction can move vertically relative to the other end of the mounting seat.

In some embodiments, the cushioning assembly includes a spring extending vertically;

Each buffer assembly comprises a guide piece and a sliding piece which are in sliding fit with each other, the bottom end of one of the guide piece and the sliding piece is fixedly connected with the mounting seat, and the top end of the guide piece and the top end of one of the sliding pieces extends into the elastic piece upwards; the other top end of the guide piece and the other top end of the sliding piece are fixedly connected with the connecting seat, and the bottom end of the guide piece and the other top end of the sliding piece downwards extend into the elastic piece;

And when the elastic piece is in a natural telescopic state, the sliding piece stretches into the guide piece.

In some embodiments, the guide member includes a sleeve and a limiting portion disposed at one end of the sleeve, and a guide channel is formed at an opening at the other end of the sleeve; the limiting part protrudes outwards along the circumferential direction and extends out of the periphery of the sleeve;

The sliding piece comprises a rod body and a positioning part arranged at one end part of the rod body, and the other end of the rod body stretches into the guide channel and is in sliding connection with the sleeve; the positioning part protrudes outwards along the circumferential direction and extends out of the periphery of the rod body;

Wherein, spacing portion with the location portion cooperation is used for spacing the elastic component.

In some embodiments, the buffer assembly further comprises two connecting pieces, wherein one connecting piece is connected with the guide piece, the other connecting piece is connected with the sliding piece, and a first end of each connecting piece is provided with a connecting hole extending horizontally along the axial direction;

The second end of one connecting piece is penetrated at one end of the guide piece, which is far away from the sliding piece, and one fastening piece is penetrated at the lower part of the outer side of the connecting hole and the mounting seat so as to realize the connection and fixation of the guide piece and the mounting seat;

the second end of the other connecting piece is penetrated at one end of the sliding piece far away from the guide piece, and a fastener is penetrated at the connecting hole and the connecting seat so as to realize the connection and fixation of the sliding piece and the connecting seat.

In some embodiments, the number of the buffer assemblies is two, and the two buffer assemblies are arranged at intervals on the outer side of the mounting seat along the first direction;

The differential driving wheel set further comprises a supporting component, wherein the supporting component is arranged between the two buffer components and comprises a supporting seat, a supporting shaft and a supporting bearing; the upper portion of supporting seat with the connecting seat is connected fixedly, the lower part of supporting seat is through back shaft and support bearing with the mount pad movable connection, and make the mount pad can be along with the flexible of elastic component is with the vertical removal of supporting seat.

In some embodiments, a through hole penetrating along two ends perpendicular to the axial direction of the travelling wheel is formed in the lower part of the supporting seat, and the supporting shaft penetrates through the through hole and the mounting seat at the same time;

The support bearing is sleeved on the support shaft, the support bearing is located in the through hole in a lifting mode, and the top wall or the bottom wall of the through hole can be abutted to the support bearing to limit.

In some embodiments, the swing assembly comprises a swing seat, a hinge shaft and a hinge bearing sleeved on the hinge shaft, wherein the upper part of the swing seat is fixedly connected with the connecting seat, and the lower part of the swing seat is rotatably connected with the mounting seat through the hinge shaft and the hinge bearing;

The axis of the hinge shaft extends along the second direction, and the center point of the mounting seat is positioned on the straight line where the axis of the hinge shaft is positioned.

In some embodiments, the swing assembly further includes two fixing seats and a connecting shaft, the two fixing seats are connected and fixed on the outer side of the mounting seat at intervals along the first direction, and the connecting shaft is hinged between the two fixing seats;

The hinge shaft is hinged with the middle part of the connecting shaft through the hinge bearing.

In some embodiments, the swing seat is provided with an opening with an axis extending along a first direction, and the connecting shaft is penetrated in the opening;

The swing seat is provided with a hinge hole with an axis extending along a second direction, the hinge hole is communicated with the open hole, the connecting shaft is provided with a through hole communicated with the open hole, the hinge bearing is arranged in the through hole, and the hinge shaft is simultaneously arranged in the hinge hole and the hinge bearing in a penetrating mode.

In some embodiments, opposite ends of the hinge shaft respectively protrude outwards from the swing seat;

Two ends of the hinge shaft are respectively provided with a limiting piece in a surrounding mode, and the two limiting pieces are respectively arranged at the outer sides of two ends of the swing seat in the second direction;

The periphery at the both ends of articulated shaft is formed with a draw-in groove along circumference respectively, the locating part is annular, just the locating part has an opening, the locating part card is arranged in the draw-in groove, just the inside wall of locating part with the circumference lateral wall of draw-in groove is laminated mutually, the external diameter of locating part is greater than the external diameter of articulated shaft, just the external diameter of locating part is greater than the internal diameter of hinge hole.

In some embodiments, the differential drive wheel set further comprises two drive assemblies, the two drive assemblies being centrosymmetric about a center point of the mount;

each driving assembly comprises a driving piece and a traveling gear in driving connection with an output shaft of the driving piece, the driving piece is arranged in the mounting seat, the output shaft of the driving piece extends out of the mounting seat, the traveling gear is positioned at the outer side of the mounting seat, and the traveling gear is rotatably connected with the traveling wheel and the mounting seat through a rotating shaft;

The driving assembly further comprises a driving gear, and the driving gear is sleeved on an output shaft of the driving piece and is meshed with the walking gear.

In some embodiments, the slewing bearing comprises an annular part and a tooth-shaped part which is arranged on the periphery of the annular part in a surrounding way, and the annular part and the tooth-shaped part can rotate relatively; the annular part is fixedly connected with the connecting seat, and the top of the tooth-shaped part is fixedly connected with the bottom of the vehicle body;

The differential driving wheel set comprises an angle encoder for feeding back the steering angle; the angle encoder is meshed with the slewing bearing;

The top of the angle encoder is connected with a pinion, and the pinion is meshed with the tooth-shaped part.

In some embodiments, a stop block is arranged at the bottom of the vehicle body, and a limit switch is arranged on the connecting seat and is matched with the stop block to limit the rotation angle of the slewing bearing.

According to another aspect of the application, the application further provides an AGV trolley, which comprises a trolley body and the differential driving wheel set, wherein the top of the slewing bearing of the differential driving wheel set is connected with the bottom of the trolley body.

According to the technical scheme, the utility model has at least the following advantages and positive effects:

In the utility model, the differential driving wheel set comprises a mounting seat, a connecting seat, a rotary bearing arranged on the connecting seat, travelling wheels respectively arranged on two opposite sides of the mounting seat in a first direction, and buffer assemblies and swinging assemblies respectively arranged on two opposite sides of the mounting seat in a second direction. The second direction and the first direction are perpendicular to each other. The upper portion of buffer module is connected fixedly with the connecting seat, and buffer module's bottom is connected with the mount pad, and buffer module has elasticity and can follow vertical flexible. The upper part of the swinging component is fixedly connected with the connecting seat, the swinging component is rotatably connected with the mounting seat, and the opposite ends of the swinging component in the first direction swing relative to the middle part of the swinging component. The buffer assembly can stretch out and draw back vertically, the installation seat can be lifted relative to the connection, the swinging assembly can swing, two opposite ends of the installation seat in the first direction can swing, and one end of the installation seat in the first direction can move vertically relative to the other end of the installation seat.

According to the application, the buffer assembly and the swinging assembly are matched, so that the mounting seat has a certain capability of floating up and down, when the AGV trolley walks on uneven ground, the arrangement can keep a certain adhesive force between the travelling wheel and the ground all the time, the slipping phenomenon is avoided, the effects of vibration reduction, noise reduction and impact force reduction are achieved, and the service life, reliability and stability of the AGV trolley are improved; in addition, in the above-mentioned setting, buffer unit is difficult for compressing in order to produce deformation because of automobile body bears weight, and can effectively reduce the design height of AGV dolly.

Drawings

Fig. 1 is a schematic perspective view of a differential driving wheel set in this embodiment.

Fig. 2 is an exploded view of the differential drive wheel set in this embodiment.

Fig. 3 is a top view of the differential drive wheel set in this embodiment.

Fig. 4 is a schematic structural diagram of the driving assembly in the present embodiment.

Fig. 5 is a schematic perspective view of a buffer assembly in this embodiment.

Fig. 6 is an exploded view of the buffer assembly in this embodiment.

Fig. 7 is a cross-sectional view of the cushion assembly in this embodiment.

Fig. 8 is a schematic perspective view of the swing assembly in this embodiment.

Fig. 9 is an exploded view of the wobble assembly in this embodiment.

The reference numerals are explained as follows:

1. a mounting base; 11. a side plate; 12. an end plate;

2. A connecting seat;

3. A walking wheel;

4. A buffer assembly; 41. an elastic member; 42. a guide member; 421. a sleeve; 422. a limit part; 43. a slider; 431. a rod body; 432. a positioning part; 44. a connecting piece; 441. a connection hole;

5. A swing assembly; 51. a swinging seat; 511. a hinge hole; 512. opening holes; 52. a hinge shaft; 53. a hinge bearing; 54. a limiting piece; 55. a fixing seat; 56. a connecting shaft; 561. a main body portion; 562. a connection part; 563. a through hole; 57. connecting a bearing;

6. A slewing bearing; 61. a tooth-shaped portion; 62. an annular portion;

7. A drive assembly; 71. a rotating shaft; 72. a driving member; 73. a traveling gear; 74. a drive gear; 75. a second bearing; 76. a third bearing; 77. a fourth bearing; 78. a fifth bearing;

8. A gear box; 81. a nipple;

91. A support base; 911. perforating; 92. a support shaft; 93. a support bearing; 94. a positioning piece;

10. An angle encoder; 20. a limit switch; 30. and a stop block.

Detailed Description

Exemplary embodiments that embody features and advantages of the present utility model will be described in detail in the following description. It will be understood that the utility model is capable of various modifications in various embodiments, all without departing from the scope of the utility model, and that the description and illustrations herein are intended to be by way of illustration only and not to be construed as limiting the utility model.

In the description of the present application, it should be understood that in the embodiments shown in the drawings, indications of directions or positional relationships (such as up, down, left, right, front, rear, etc.) are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the position of these elements changes, the indication of these directions changes accordingly.

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

The application provides an AGV trolley which is used for carrying materials.

AGV dolly includes automobile body and differential drive wheelset. Wherein, the top of the car body extends horizontally to form a supporting surface for supporting materials. The differential driving wheel group is connected to the bottom of the vehicle body and used for driving the movement of the vehicle body. The number of the differential driving wheel sets can be multiple, and the multiple differential driving wheel sets are connected to the bottom of the vehicle body at intervals along the width direction of the vehicle body.

Specific embodiments of the differential drive wheel set of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic perspective view of a differential driving wheel set in the present embodiment, fig. 2 is a schematic exploded view of the differential driving wheel set in the present embodiment, and fig. 3 is a top view of the differential driving wheel set in the present embodiment.

Referring to fig. 1 to 3, the differential drive wheel set includes a mounting base 1, a connection base 2, traveling wheels 3 respectively arranged at opposite sides of the mounting base 1 in a first direction, a buffer assembly 4 and a swing assembly 5 respectively arranged at opposite sides of the mounting base 1 in a second direction, and a swivel bearing 6. The upper portion and the connecting seat 2 of buffering subassembly 4 are connected fixedly, and the bottom and the mount pad 1 of buffering subassembly 4 are connected, and buffering subassembly 4 has elasticity and can follow vertical flexible. The upper part of the swinging component 5 is fixedly connected with the connecting seat 2, the swinging component 5 is rotatably connected with the mounting seat 1, and the opposite ends of the swinging component 5 in the first direction swing relative to the middle part of the swinging component. The buffer assembly 4 can extend and retract vertically, the mounting seat 1 can be lifted and lowered relative to the connection, the swinging assembly 5 can swing, opposite ends of the mounting seat 1 in the first direction can swing, and one end of the mounting seat 1 in the first direction can move vertically relative to the other end of the mounting seat 1.

In the embodiment, the buffer assembly 4 is matched with the swing assembly 5, so that the mounting seat 1 has certain up-and-down floating capacity, and when the AGV trolley walks on uneven ground, the arrangement can keep the walking wheel 3 always in certain adhesive force with the ground, so that the phenomenon of slipping is avoided, the effects of vibration reduction, noise reduction and impact force reduction are achieved, and the service life, reliability and stability of the AGV trolley are improved; in addition, in the above arrangement, the buffer assembly 4 is not easy to compress to deform due to the weight carried by the vehicle body, so that the design height of the AGV can be effectively reduced.

The mounting seat 1 has a first direction and a second direction, and the first direction is perpendicular to the second direction.

For convenience of description, it is now prescribed that the first direction is the left-right direction and the second direction is the front-rear direction with reference to the traveling direction of the differential drive wheel group. And is directed inward toward the center of the mount 1, and is directed outward.

In this embodiment, the mounting base 1 has a central symmetrical structure, so that the stability thereof is enhanced. That is, in the plane, the mounting base 1 can be overlapped with the original structure after rotating 180 degrees around the geometric center thereof.

The mounting base 1 includes two side plates 11 and two end plates 12. The two side plates 11 are arranged in parallel at intervals along the second direction, and each side plate 11 extends along the first direction. The two end plates 12 are arranged in parallel at intervals along the first direction, and each end plate 12 extends along the second direction. The two side plates 11 and the two end plates 12 are connected end to end in sequence to form a containing space. Specifically, the side plate 11 and the end plate 12 are fixed by fastening.

The two side plates 11 are provided with mounting holes with axes extending along the second direction, and each mounting hole is communicated with the accommodating space. Specifically, the mounting hole is located in the middle of the side plate 11 in the first direction.

The two end plates 12 are respectively provided with a first hole with an axis extending along a first direction.

In this embodiment, the differential drive wheel set comprises two road wheels 3. The two travelling wheels 3 are arranged on two opposite sides of the base along the first direction. Specifically, the two travelling wheels 3 are arranged in one-to-one correspondence with the two end plates 12, and the travelling wheels 3 are positioned outside the corresponding end plates 12.

The travelling wheel 3 is rotatably connected with the mounting seat 1 through a rotating shaft 71. Specifically, the travelling wheel 3 comprises a wheel hub and a wheel rim sleeved on the periphery of the wheel hub, wherein a hole is formed in the middle of the wheel hub. The rotating shaft 71 is simultaneously arranged in the first hole and the hole in the middle of the hub in a penetrating way, the rotating shaft 71 is rotatably connected with the end plate 12, and the rotating shaft 71 is rotatably connected with the hub, so that the travelling wheel 3 can rotate relative to the rotating shaft 71 to realize travelling.

Further, a first bearing is fixedly connected in a hole in the middle of the hub, a second bearing 75 is fixedly connected in each first hole, and the rotating shaft 71 is simultaneously arranged in the middle of the first bearing and the middle of the second bearing 75 in a penetrating mode. Specifically, the first and second bearings 75 each include an outer ring provided along the outer circumference of the inner ring, a spacer ring, and a plurality of balls provided between the inner ring and the outer ring, the plurality of balls enabling the inner ring and the outer ring to rotate relative to each other. At this time, the rotating shaft 71 is inserted through the middle part of the inner ring and is fixedly connected with the inner ring, the outer ring of the first bearing is fixedly connected with the travelling wheel 3, and the outer ring of the second bearing 75 is fixedly connected with the end plate 12, so that the outer ring can rotate relative to the inner ring, thereby driving the travelling wheel 3 to rotate relative to the mounting seat 1.

Fig. 4 is a schematic structural diagram of the driving assembly 7 in this embodiment.

Referring to fig. 4, the differential driving wheel set further includes two driving assemblies 7, the two driving assemblies 7 are centrally symmetrical about the center point of the mounting seat 1, and the two driving assemblies 7 are in one-to-one driving connection with the two traveling wheels 3, and are used for driving the traveling wheels 3 to rotate, so that the differential driving wheel set can drive the vehicle body to move.

Each drive assembly 7 comprises a drive member 72 and a travelling gear 73 drivingly connected to the output shaft of the drive member 72.

The driving member 72 is disposed inside the mounting base 1, an output shaft of the driving member 72 extends along the first direction, and the output shaft of the driving member 72 extends out of the mounting base 1. In this embodiment, the driving member 72 is a motor.

Further, the output shaft of the driving member 72 is rotatably connected to the mount 1 through a third bearing 76.

The traveling gear 73 is located outside the mounting seat 1, and the traveling gear 73 is rotatably connected with the traveling wheel 3 and the mounting seat 1 through the rotating shaft 71. Specifically, the running gear 73 is disposed on the outer side of the end plate 12, and its axis extends along the first direction, and is sleeved on the rotating shaft 71 and fixedly connected to the rotating shaft 71.

The driving assembly 7 further comprises a driving gear 74, and the driving gear 74 is sleeved on the output shaft of the driving piece 72 and is in meshed connection with the walking gear 73.

When the driving member 72 is started, the output shaft drives the driving gear 74 to rotate, and at this time, the traveling gear 73 drives the rotating shaft 71 to rotate along with the rotation of the driving gear 74, so as to further realize the rotation of the traveling wheel 3 relative to the mounting seat 1.

In other embodiments, the driving member 72 may include a motor and a speed reducer, where the motor and the speed reducer are disposed in the accommodating space, and an output shaft of the motor is drivingly connected to an input end of the speed reducer, and an output shaft of the speed reducer passes through the end plate 12 from inside to outside and is drivingly connected to the driving gear 74 to drive the driving gear 74 to rotate.

Further, a gear case 8 is provided on each of the two sides of the mounting base 1 in the first direction, and a mounting space is formed in the gear case 8, through which both ends of the first direction pass, for accommodating the driving gear 74 and the traveling gear 73. At this time, the road wheel 3 is located outside the gear case 8 in the first direction. The rotating shaft 71 is disposed through the gear box 8, and is rotatably connected with the gear box 8 through a fourth bearing 77. The output shaft of the drive member 72 extends through the gear box 8 and is rotatably connected to the gear box 8 by a fifth bearing 78.

The gear case 8 is provided with a nipple 81 communicating with the installation space thereof so as to facilitate the injection of lubricating oil into the installation space.

With continued reference to fig. 1 and 2, the connecting seat 2 is disposed at the top of the mounting seat 1, the connecting seat 2 is disposed in the middle of the mounting seat 1 along the first direction, and two ends of the connecting seat 2 along the second direction respectively protrude outwards from the mounting seat 1.

Referring to fig. 1 and 2, in the present embodiment, the buffer assembly 4 and the swing assembly 5 are separated on two opposite sides of the mounting base 1 in the second direction. The buffer assembly 4 has elasticity and can stretch out and draw back along the vertical direction, so that the mounting seat 1 can lift relative to the connecting seat 2, the swinging assembly 5 can swing, opposite ends of the mounting seat 1 in the first direction can swing, and one end of the mounting seat 1 in the first direction can vertically and relatively move relative to the other end. This embodiment adopts buffer assembly 4 and sways subassembly 5 matched with form for mount pad 1 has certain ability that floats from top to bottom, when the AGV dolly walks on uneven ground, two walking wheels 3 are because of the atress is uneven when the slope takes place in first direction, mount pad 1 is along with walking wheel 3 slope along first direction, because buffer assembly 4 makes mount pad 1 can be for connecting seat 2 lift, sways the opposite ends of mount pad 1 first direction can swing by seat 51, at this moment, connecting seat 2 can keep the horizontality, and then make the automobile body keep the level, and buffer assembly 4's elasticity can play the effect of damping noise reduction, reduction impact force in this process, in order to improve the stability of AGV dolly walking.

Specifically, the swing assembly 5 is disposed corresponding to one of the side plates 11, the buffer assembly 4 is disposed corresponding to the other side plate 11, and the buffer assembly 4 is located at the front side of the swing assembly 5.

Fig. 5 is a schematic perspective view of the buffer assembly 4 in the present embodiment, fig. 6 is an exploded view of the buffer assembly 4 in the present embodiment, and fig. 7 is a sectional view of the buffer assembly 4 in the present embodiment.

Referring to fig. 1, 2 and 5-7, the buffer assembly 4 extends vertically, the upper portion of the buffer assembly 4 is fixedly connected with the connecting seat 2, and the bottom of the buffer assembly 4 is connected with the mounting seat 1. The cushion assembly 4 is elastic and can expand and contract in the vertical direction, so that the mount 1 can be lifted and lowered relative to the connection base 2.

In the present embodiment, the number of the buffer assemblies 4 is two, and the two buffer assemblies 4 are disposed at intervals along the first direction outside the mounting seat 1. Specifically, the two cushioning components 4 are disposed at intervals along the first direction outside one of the side plates 11, and the two cushioning components 4 are respectively disposed on two opposite sides of the connecting seat 2 along the first direction.

In the present embodiment, the cushion assembly 4 includes an elastic member 41, and the elastic member 41 extends in the vertical direction. In the present embodiment, the elastic member 41 is a spring.

The buffer assembly 4 comprises a guide 42 and a slider 43, which are slidably fitted to each other. Wherein, the bottom end of one of the guiding element 42 and the sliding element 43 is fixedly connected with the mounting seat 1, and the top end extends upwards into the elastic element 41. The other top end of the guide member 42 and the sliding member 43 is fixedly connected with the connecting seat 2, and the bottom end extends downwards into the elastic member 41. And, when the elastic member 41 is in the natural telescopic state, the slider 43 is extended into the guide member 42.

In this embodiment, the bottom end of the guide member 42 is fixedly connected to the mounting base 1, and the top end thereof extends upward into the elastic member 41. The top end of the sliding member 43 is fixedly connected with the connection base 2, the bottom end thereof downwardly extends into the elastic member 41, and when the elastic member 41 is in a natural telescopic state, the sliding member 43 downwardly extends into the guide member 42. Wherein the elastic member 41 is capable of expanding and contracting while the guide member 42 and the slider 43 are slid.

In this embodiment, the buffer assembly 4 further includes two connecting members 44, wherein one connecting member 44 is connected to the guiding member 42, and the other connecting member 44 is connected to the sliding member 43. The first end of each connecting piece 44 is provided with a connecting hole 441 extending horizontally along the axial direction, wherein the second end of one connecting piece 44 is penetrated at one end of the guiding piece 42 far away from the sliding piece 43, and a fastening piece is penetrated at the connecting hole 441 and the lower part of the outer side of the mounting seat 1, so that the guiding piece 42 and the mounting seat 1 are connected and fixed. The second end of the other connecting piece 44 is penetrated at one end of the sliding piece 43 far away from the guiding piece 42, and a fastening piece is penetrated at the connecting hole 441 and the connecting seat 2, so as to realize the connection and fixation of the sliding piece 43 and the connecting seat 2.

In this embodiment, the connection 44 is a knuckle bearing.

The guide member 42 includes a sleeve 421 and a limiting portion 422 disposed at one end of the sleeve 421, and a guide channel is formed at the other end of the sleeve 421. The stopper 422 protrudes outward in the circumferential direction from the outer periphery of the sleeve 421. Specifically, the top of the sleeve 421 is open, and the limiting portion 422 is located at the bottom of the sleeve 421.

The sliding member 43 includes a rod 431 and a positioning portion 432 disposed at one end of the rod 431, wherein the other end of the rod 431 extends into the guiding channel and is slidably connected to the sleeve 421. The positioning portion 432 protrudes outward in the circumferential direction from the outer periphery of the rod 431. Specifically, the positioning portion 432 is located at the top of the rod 431, and the lower end of the rod 431 extends into the guide channel and is slidably connected to the sleeve 421.

In the present embodiment, the stopper 422 and the positioning portion 432 cooperate to limit the elastic member 41. Specifically, the limiting portion 422 and the positioning portion 432 are respectively arranged at two opposite ends of the elastic member 41, and the two opposite ends of the elastic member 41 are respectively abutted against the top of the limiting portion 422 and the bottom of the positioning portion 432, so as to ensure that the elastic member 41 can be compressed or stretched along the axial directions of the guiding member 42 and the sliding member 43.

Further, the differential driving wheel set further comprises a supporting component, and the supporting component is arranged between the two buffer components 4. The support assembly includes a support seat 91, a support shaft 92, and a support bearing 93.

The upper part of the supporting seat 91 is fixedly connected with the connecting seat 2. Specifically, the top of the supporting seat 91 abuts against the bottom of the connection seat 2, and is fixedly connected by a fastener.

The lower portion of the support seat 91 is movably connected to the mount 1 via a support shaft 92 and a support bearing 93, so that the mount 1 can move vertically with respect to the support seat 91 as the elastic member 41 expands and contracts.

The lower part of the supporting seat 91 is provided with a through hole 911 penetrating along two ends perpendicular to the axial direction of the travelling wheel 3, and the supporting shaft 92 is simultaneously penetrated through the through hole 911 and the mounting seat 1. The support bearing 93 is sleeved on the support shaft 92, the support bearing 93 is located in the through hole 911 in a lifting manner, and the top wall or the bottom wall of the through hole 911 can be abutted against the support bearing 93 to limit the vertical movement range of the support bearing 93, so as to limit the expansion deformation amount of the elastic piece 41 and limit the lifting range of the mounting seat 1 relative to the connecting seat 2.

Specifically, the aperture of the through hole 911 is larger than the outer diameter of the support bearing 93, so that the support seat 91 can move vertically within the through hole 911 as the elastic member 41 expands and contracts. In this embodiment, the top wall of the through hole 911 has an arc shape, the concave surface of the arc is downward, and the radius of the arc is consistent with the outer radius of the support bearing 93, when the elastic member 41 is compressed, the top wall of the through hole 911 can be abutted with the support bearing 93 in a matching manner, so as to limit the compression amount of the elastic member 41. The bottom wall of the perforation 911 extends in a horizontal direction, and when the elastic member 41 is stretched, the bottom wall of the perforation 911 can be tangent to the bottom of the support bearing 93 to limit the amount of stretching of the elastic member 41.

In other embodiments, the top wall of the perforation 911 may extend horizontally and the bottom wall of the perforation 911 may extend horizontally or be curved with the concavity facing upward.

Further, the support assembly further includes two positioning members 94, and the two positioning members 94 are respectively disposed around two ends of the support shaft 92. Specifically, one end of the support shaft 92 is inserted into the side plate 11 of the mounting seat 1 and extends into the accommodating space, and the other end of the support shaft 92 is inserted into the support bearing 93 and extends out of the support bearing 93. The outer circumferences of the two ends of the supporting shaft 92 are respectively provided with a positioning groove along the circumferential direction, the positioning piece 94 is annular, and the positioning piece 94 is provided with an opening, so that the inner diameter of the positioning piece 94 is conveniently enlarged, and the positioning piece 94 is conveniently clamped in the positioning grooves. The inner side wall of the positioning piece 94 is attached to the peripheral side wall of the positioning groove, and the outer diameter of the positioning piece 94 is larger than the outer diameter of the support shaft. One of the positioning members 94 is located at the inner side of the side plate 11, and at this time, the positioning member 94 abuts against the inner side of the side plate 11. The other positioning member 94 is located outside the support bearing 93, and at this time, the outer diameter of the positioning member 94 is larger than the inner diameter of the support bearing 93, and the positioning member 94 can abut against the outside of the support bearing 93.

Fig. 8 is a schematic perspective view of the swing assembly 5 according to the present embodiment, and fig. 9 is an exploded view of the swing assembly 5 according to the present embodiment.

Referring to fig. 1, 2, 8 and 9, the upper portion of the swing assembly 5 is fixedly connected with the connection base 2, the swing assembly 5 is rotatably connected with the mounting base 1, and opposite ends of the swing assembly 5 in the first direction swing with respect to the middle portion thereof.

The swing assembly 5 comprises a swing seat 51, a hinge shaft 52 and a hinge bearing 53 sleeved on the hinge shaft 52.

The swing seat 51 is provided with a hinge hole 511, the swing seat 51 is provided with an opening 512, and the hinge hole 511 is communicated with the opening 512. Specifically, the hinge hole 511 is located at the middle of the swing seat 51.

In the present embodiment, the swing seat 51 is connected to the connection seat 2 and the mount 1 in a state where the axis of the hinge hole 511 extends in the second direction and the axis of the opening 512 extends in the first direction.

In the present embodiment, the upper portion of the rocking base 51 is fixedly connected to the connection base 2. Specifically, the swing seat 51 is located at the outer side of the side plate 11, and the top thereof abuts against the bottom of the connection seat 2 and is fixedly connected by a fastener.

The lower part of the swinging seat 51 is rotatably connected with the mounting seat 1 through a hinge shaft 52 and a hinge bearing 53.

The hinge shaft 52 is inserted into the hinge hole 511 and rotatably connected to the swing seat 51. At this time, the axis thereof extends in the second direction, and the center point of the mount 1 is located on a straight line where the axis of the hinge shaft 52 is located, so that both ends of the swing seat 51 in the first direction can swing with respect to the hinge shaft 52.

Further, opposite ends of the hinge shaft 52 protrude outward from the rocking seats 51, respectively. Two ends of the hinge shaft 52 are respectively provided with a limiting piece 54 in a surrounding manner, and the two limiting pieces 54 are respectively arranged outside two ends of the swinging seat 51 in the second direction. Specifically, the outer circumferences of the two ends of the hinge shaft 52 are respectively formed with a clamping groove along the circumferential direction, the limiting member 54 is annular, and the limiting member 54 has an opening so as to expand the inner diameter of the limiting member 54 and facilitate the clamping of the limiting member 54 in the clamping groove. And, the inside wall of the stopper 54 is attached to the peripheral side wall of the clamping groove, the outside diameter of the stopper 54 is larger than the outside diameter of the hinge shaft 52, and the outside diameter of the stopper 54 is larger than the inside diameter of the hinge hole 511, so that the stopper 54 is prevented from penetrating through the hinge hole 511 and can perform a limiting function.

The hinge shaft 52 is rotatably connected to the mount 1.

In this embodiment, the swing assembly 5 further includes two fixing bases 55 and a connecting shaft 56 for realizing the hinge of the hinge shaft 52 and the mounting base 1.

The two fixing bases 55 are connected and fixed to the outer side of the mounting base 1 along the first direction at intervals. The two fixing seats 55 are respectively provided with a rotary hole, and the axis of the rotary hole extends along the first direction.

The connecting shaft 56 is hinged between the two fixing bases 55. Specifically, opposite ends of the connecting shaft 56 are correspondingly inserted into the two rotating holes, and are hinged with the two fixing seats 55 respectively.

The connecting shaft 56 includes a main body 561 and two connecting portions 562 arranged at opposite ends of the main body 561, wherein the two connecting portions 562 are correspondingly arranged in the two rotating holes. Wherein the outer diameter of the connecting portion 562 is smaller than the outer diameter of the main body portion 561. One end of the connecting portion 562 far away from the main body portion 561 is provided with a stop member in a ring, and when the connecting portion 562 is inserted into the rotation hole, the stop member is located at the outer side of the corresponding fixing seat 55 in the first direction. The outer diameter of the stopper is larger than the outer diameter of the connection portion 562, and the outer diameter of the stopper is larger than the inner diameter of the rotation hole. At this time, the stopper cooperates with the end of the main body 561 in the first direction to limit the connection shaft 56 on the fixing base 55.

Further, both ends of the connection shaft 56 are hinged to the corresponding fixing seats 55 through connection bearings 57, respectively. Specifically, the connection bearing 57 is disposed in the rotation hole, and an end portion of the connection shaft 56 is disposed through a middle portion of the connection bearing 57.

In the present embodiment, the connection shaft 56 is inserted into the opening 512 of the rocking base 51 and hinged to the hinge shaft 52 through the hinge bearing 53, so as to realize rotatable connection of the rocking base 51 and the mounting base 1. Specifically, a through hole 563 having an axis extending in the second direction is provided in the middle of the connection shaft 56, the through hole 563 communicates with the opening 512, the hinge bearing 53 is provided in the through hole 563, and the hinge shaft 52 is simultaneously provided in the middle of the hinge hole 511 and the hinge bearing 53.

Referring to fig. 1 and 2, a swivel bearing 6 is disposed on the connection base 2, and the top of the swivel bearing is connected to the vehicle body for realizing steering of the differential driving wheel set.

The slewing bearing 6 includes an annular portion 62 and a tooth-shaped portion 61 provided around the outer periphery of the annular portion 62, and the annular portion 62 and the tooth-shaped portion 61 are rotatable relative to each other. The annular part 62 is fixedly connected with the connecting seat 2, and the top of the tooth-shaped part 61 is fixedly connected with the bottom of the vehicle body. When the annular part 62 rotates relative to the tooth-shaped part 61, the annular part 62 drives the connecting seat 2 to rotate in the same direction, and meanwhile, the mounting seat 1 rotates, so that steering can be realized. Specifically, the annular portion 62 is fixedly connected to the top wall of the connection seat 2 by a fastener, and the tooth-shaped portion 61 is fixedly connected to the bottom of the vehicle body by a fastener.

In the present embodiment, the center point of the slewing bearing 6 and the center point of the mounting seat 1 are located on the same vertical line, so that stable steering of the whole differential driving wheel set can be ensured.

The differential drive wheel set includes an angle encoder 10 for feeding back the steering angle.

The angle encoder 10 is provided on the top of the connection base 2. Specifically, the angle encoder 10 is disposed in the middle of the connecting seat 2 along the first direction, and is located at the front end of the slewing bearing 6, and a line where the center point of the angle encoder 10 and the center point of the slewing bearing 6 are located extends along the second direction. In this embodiment, the angle encoder 10 and the slewing bearing 6 are juxtaposed in the second direction, so that the structure is compact.

The angle encoder 10 is engaged with the slewing bearing 6. Specifically, a pinion is attached to the top of the angle encoder 10, and the pinion is engaged with the tooth 61. When the differential drive wheel set turns, the pinion rotates with respect to the tooth 61, and the steering angle signal can be transmitted to the angle encoder 10.

Referring to fig. 1 to 3, further, a limit switch 20 is provided on the connection base 2, a stop block 30 is provided at the bottom of the vehicle body, and the limit switch 20 cooperates with the stop block 30 to limit the rotation angle of the slewing bearing 6. Specifically, the limit switch 20 is provided on the top of the front end of the connection base 2. When the differential drive wheel set is mounted at the bottom of the vehicle body, the stopper 30 is located right behind the slewing bearing 6.

In the present embodiment, the number of the limit switches 20 is two, and the two limit switches 20 are respectively arranged at two ends of the connecting seat 2 in the first direction. When the connecting seat 2 rotates along with the slewing bearing 6 to the point that one of the limit switches 20 is contacted with the stop block on the car body, the limit switch 20 is triggered, two convex positions are welded on the connecting seat 2 and coincide with the rotation position of the stop block on the car body, and the rotation amount of the slewing bearing 6 can be prevented from exceeding 360 degrees.

According to the technical scheme, the utility model has at least the following advantages and positive effects:

According to the application, the buffer assembly and the swinging assembly are matched, so that the mounting seat has a certain capability of floating up and down, when the AGV trolley walks on uneven ground, the arrangement can keep a certain adhesive force between the travelling wheel and the ground all the time, the slipping phenomenon is avoided, the effects of vibration reduction, noise reduction and impact force reduction are achieved, and the service life, reliability and stability of the AGV trolley are improved; in addition, in the above-mentioned setting, buffer unit is difficult for compressing in order to produce deformation because of automobile body bears weight, and can effectively reduce the design height of AGV dolly.

While the utility model has been described with reference to several exemplary embodiments, it is to be understood that the terminology used is intended to be in the nature of words of description and of limitation. As the present utility model may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims (14)

1. A differential drive wheel set, comprising:

A mounting base;

The connecting seat is arranged at the top of the mounting seat; the connecting seat is provided with a slewing bearing; the top of the slewing bearing is connected with the vehicle body;

Road wheels arranged on two opposite sides of the mounting seat in the first direction; and

The buffer assemblies and the swinging assemblies are respectively arranged at two opposite sides of the second direction of the mounting seat, and the second direction and the first direction are mutually perpendicular;

The upper part of the buffer component is fixedly connected with the connecting seat, the bottom of the buffer component is connected with the mounting seat, and the buffer component has elasticity and can vertically stretch out and draw back;

The upper part of the swinging assembly is fixedly connected with the connecting seat, the swinging assembly is rotatably connected with the mounting seat, and the opposite ends of the swinging assembly in the first direction swing relative to the middle part of the swinging assembly;

The buffer assembly can stretch out and draw back vertically, the mounting seat can be lifted relative to the connecting seat, the swinging assembly can swing, opposite ends of the mounting seat in the first direction can swing, and one end of the mounting seat in the first direction can move vertically relative to the other end of the mounting seat.

2. The differential drive wheel set of claim 1, wherein the cushioning assembly includes a resilient member extending vertically;

Each buffer assembly comprises a guide piece and a sliding piece which are in sliding fit with each other, the bottom end of one of the guide piece and the sliding piece is fixedly connected with the mounting seat, and the top end of the guide piece and the top end of one of the sliding pieces extends into the elastic piece upwards; the other top end of the guide piece and the other top end of the sliding piece are fixedly connected with the connecting seat, and the bottom end of the guide piece and the other top end of the sliding piece downwards extend into the elastic piece;

And when the elastic piece is in a natural telescopic state, the sliding piece stretches into the guide piece.

3. The differential drive wheel set according to claim 2, wherein the guide member comprises a sleeve and a limiting part arranged at one end part of the sleeve, and a guide channel is formed at the other end opening of the sleeve; the limiting part protrudes outwards along the circumferential direction and extends out of the periphery of the sleeve;

The sliding piece comprises a rod body and a positioning part arranged at one end part of the rod body, and the other end of the rod body stretches into the guide channel and is in sliding connection with the sleeve; the positioning part protrudes outwards along the circumferential direction and extends out of the periphery of the rod body;

Wherein, spacing portion with the location portion cooperation is used for spacing the elastic component.

4. The differential drive wheel set of claim 2, wherein the buffer assembly further comprises two connecting members, one of the connecting members being connected to the guide member and the other connecting member being connected to the slide member, the first end of each connecting member being provided with a connecting hole extending horizontally in the axial direction;

The second end of one connecting piece is penetrated at one end of the guide piece, which is far away from the sliding piece, and one fastening piece is penetrated at the lower part of the outer side of the connecting hole and the mounting seat so as to realize the connection and fixation of the guide piece and the mounting seat;

the second end of the other connecting piece is penetrated at one end of the sliding piece far away from the guide piece, and a fastener is penetrated at the connecting hole and the connecting seat so as to realize the connection and fixation of the sliding piece and the connecting seat.

5. The differential drive wheel set of claim 2, wherein the number of the buffer assemblies is two, and the two buffer assemblies are arranged at intervals along the first direction outside the mounting seat;

The differential driving wheel set further comprises a supporting component, wherein the supporting component is arranged between the two buffer components and comprises a supporting seat, a supporting shaft and a supporting bearing; the upper portion of supporting seat with the connecting seat is connected fixedly, the lower part of supporting seat is through back shaft and support bearing with the mount pad movable connection, and make the mount pad can be along with the flexible of elastic component is with the vertical removal of supporting seat.

6. The differential drive wheel set according to claim 5, wherein the lower part of the supporting seat is provided with a through hole penetrating along two ends perpendicular to the axial direction of the travelling wheel, and the supporting shaft is simultaneously penetrated through the through hole and the mounting seat;

The support bearing is sleeved on the support shaft, the support bearing is located in the through hole in a lifting mode, and the top wall or the bottom wall of the through hole can be abutted to the support bearing to limit.

7. The differential drive wheel set according to claim 1, wherein the swing assembly comprises a swing seat, a hinge shaft and a hinge bearing sleeved on the hinge shaft, the upper part of the swing seat is fixedly connected with the connecting seat, and the lower part of the swing seat is rotatably connected with the mounting seat through the hinge shaft and the hinge bearing;

The axis of the hinge shaft extends along the second direction, and the center point of the mounting seat is positioned on the straight line where the axis of the hinge shaft is positioned.

8. The differential drive wheel set according to claim 7, wherein the swing assembly further comprises two fixing seats and a connecting shaft, the two fixing seats are connected and fixed on the outer side of the mounting seat at intervals along the first direction, and the connecting shaft is hinged between the two fixing seats;

The hinge shaft is hinged with the middle part of the connecting shaft through the hinge bearing.

9. The differential drive wheel set according to claim 8, wherein the swing seat is provided with an opening with an axis extending along a first direction, and the connecting shaft is inserted into the opening;

The swing seat is provided with a hinge hole with an axis extending along a second direction, the hinge hole is communicated with the open hole, the connecting shaft is provided with a through hole communicated with the open hole, the hinge bearing is arranged in the through hole, and the hinge shaft is simultaneously arranged in the hinge hole and the hinge bearing in a penetrating mode.

10. The differential drive wheel set according to claim 9, wherein opposite ends of the hinge shaft protrude outwardly from the wobble seat, respectively;

Two ends of the hinge shaft are respectively provided with a limiting piece in a surrounding mode, and the two limiting pieces are respectively arranged at the outer sides of two ends of the swing seat in the second direction;

The periphery at the both ends of articulated shaft is formed with a draw-in groove along circumference respectively, the locating part is annular, just the locating part has an opening, the locating part card is arranged in the draw-in groove, just the inside wall of locating part with the circumference lateral wall of draw-in groove is laminated mutually, the external diameter of locating part is greater than the external diameter of articulated shaft, just the external diameter of locating part is greater than the internal diameter of hinge hole.

11. The differential drive wheelset of claim 1 further comprising two drive assemblies, the two drive assemblies being centrosymmetric about a center point of the mount;

each driving assembly comprises a driving piece and a traveling gear in driving connection with an output shaft of the driving piece, the driving piece is arranged in the mounting seat, the output shaft of the driving piece extends out of the mounting seat, the traveling gear is positioned at the outer side of the mounting seat, and the traveling gear is rotatably connected with the traveling wheel and the mounting seat through a rotating shaft;

The driving assembly further comprises a driving gear, and the driving gear is sleeved on an output shaft of the driving piece and is meshed with the walking gear.

12. The differential drive wheel set according to claim 1, wherein the slewing bearing comprises an annular portion and a tooth-shaped portion annularly arranged on the periphery of the annular portion, and the annular portion and the tooth-shaped portion can rotate relatively; the annular part is fixedly connected with the connecting seat, and the top of the tooth-shaped part is fixedly connected with the bottom of the vehicle body;

The differential driving wheel set comprises an angle encoder for feeding back the steering angle; the angle encoder is meshed with the slewing bearing;

The top of the angle encoder is connected with a pinion, and the pinion is meshed with the tooth-shaped part.

13. The differential drive wheel set according to claim 1, wherein a stop block is arranged at the bottom of the vehicle body, and a limit switch is arranged on the connecting seat and is matched with the stop block to limit the rotation angle of the slewing bearing.

14. An AGV trolley comprising a vehicle body and a differential drive wheel set according to any one of claims 1 to 13, wherein the top of the slewing bearing of the differential drive wheel set is connected to the bottom of the vehicle body.