WO2020233018A1 - 全向叉车agv中基于舵轮与主动万向轮组合的底盘 - Google Patents
全向叉车agv中基于舵轮与主动万向轮组合的底盘 Download PDFInfo
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- WO2020233018A1 WO2020233018A1 PCT/CN2019/118210 CN2019118210W WO2020233018A1 WO 2020233018 A1 WO2020233018 A1 WO 2020233018A1 CN 2019118210 W CN2019118210 W CN 2019118210W WO 2020233018 A1 WO2020233018 A1 WO 2020233018A1
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- gear
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- steering wheel
- combination
- chassis
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Definitions
- This application relates to the field of AGV technology, and specifically to a chassis based on a combination of a steering wheel and an active universal wheel in an omnidirectional forklift AGV.
- AGV Automatic Guided Vehicle
- Existing forklifts generally include two steering wheels and two driven universal wheels.
- the two steering wheels work together to actively steer and travel.
- the driving of the two steering wheels is independent of each other, that is, two motors are used to complete the steering wheel. Travel function.
- the forklift cannot run stably, which affects the handling efficiency of the forklift.
- the purpose of this application includes providing a chassis based on the combination of steering wheels and active universal wheels in an omnidirectional forklift AGV, so as to alleviate that the forklifts in the prior art are prone to be unable to perform stable operations due to the fact that the walking speeds of the two steering wheels cannot be completely consistent.
- Technical problem of walking in a straight line includes providing a chassis based on the combination of steering wheels and active universal wheels in an omnidirectional forklift AGV, so as to alleviate that the forklifts in the prior art are prone to be unable to perform stable operations due to the fact that the walking speeds of the two steering wheels cannot be completely consistent.
- the embodiment of the application provides a chassis based on a combination of a steering wheel and an active universal wheel in an omnidirectional forklift AGV, which includes a chassis structure, a steering wheel and two active universal wheels;
- the steering wheel is installed at the front end of the chassis structure, the two driving universal wheels are installed at the rear end of the chassis structure, and the steering wheel and the two driving universal wheels are distributed in an isosceles triangle.
- the chassis further includes two driven universal wheels, and the two driven universal wheels are installed at the front end of the chassis structure and separately arranged on both sides of the steering wheel.
- the chassis further includes a buffer assembly, and the buffer assembly includes a fixed plate and a same number of springs, mounting brackets and guide rods;
- the driven universal wheel is mounted on the fixed plate, the mounting frame is fixedly connected to the chassis structure, the fixing plate is provided with the same number of first through holes as the mounting frame, and the mounting frame There is a second through hole, the spring is located between the fixing plate and the mounting frame, the guide rod sequentially passes through the first through hole, the spring and the second through hole, and the guide Nuts are screwed on both ends of the rod.
- the steering wheel includes a first mounting seat, a first motor, a first gear, a first outer ring gear, and a moving wheel assembly;
- the first mounting seat is provided with a first accommodating cavity open at both ends, the first outer ring gear is pivotally connected in the first accommodating cavity of the first mounting seat, and the first motor is installed in the The first mounting seat is in driving connection with the first gear, the first gear meshes with the first outer gear ring, and the movable wheel assembly is fixedly connected with the first outer gear ring.
- the first motor is a servo motor and is vertically installed on the upper end surface of the first mounting seat.
- the moving wheel assembly includes a bracket, a second motor, a second gear, a third gear, a first bevel gear, a second bevel gear, and a first moving wheel;
- the bracket and the first outer ring gear are fixedly connected, the second motor is vertically mounted on the first mounting seat and drivingly connected with the second gear, and the third gear is pivotally connected to the On the bracket and meshed with the second gear, the first bevel gear and the third gear are coaxially fixed, the first moving wheel is pivotally connected to the bracket, the second bevel gear and the The first moving wheel is coaxially fixed and meshes with the first bevel gear.
- the second motor is a servo motor and is vertically installed on the upper end surface of the first mounting base, and the central axis of the second motor coincides with the central axis of the first mounting base.
- the driving universal wheel includes a second mounting seat, a third motor, a fourth gear, a second outer ring gear, and a second moving wheel pivotally connected to the second mounting seat;
- the second mounting base is pivotally connected to the chassis structure, the second outer gear ring is fixed to the second mounting base, the third motor is mounted on the chassis structure, and the fourth gear It is installed on the drive shaft of the third motor and meshes with the second outer ring gear.
- FIG. 1 is a schematic structural diagram of a chassis based on a combination of a steering wheel and an active universal wheel in an omnidirectional forklift AGV provided by an embodiment of the application;
- Figure 2 is an enlarged view of A in Figure 1;
- FIG. 3 is a schematic sectional view of the steering wheel in the chassis based on the combination of the steering wheel and the active universal wheel in the omnidirectional forklift AGV provided by an embodiment of the application;
- FIG. 4 is a schematic diagram of the structure of the steering wheel in the chassis based on the combination of the steering wheel and the active universal wheel in the omnidirectional forklift AGV provided by the embodiment of the application.
- Icon 100-chassis; 200-steering wheel; 300-active universal wheel; 400-driven universal wheel; 500-spring; 600-guide rod;
- an embodiment of the present application provides a chassis based on a combination of steering wheels and active universal wheels in an omnidirectional forklift AGV, including a chassis structure 100, a steering wheel 200, and two active universal wheels 300; wherein the steering wheel 200 Installed at the front end of the chassis structure 100, two active universal wheels 300 are installed at the rear end of the chassis structure 100, and the steering wheel 200 and the two active universal wheels 300 are distributed in an isosceles triangle.
- the chassis is based on the combination of the steering wheel and the active universal wheel.
- the steering wheel 200 and the two active universal wheels 300 jointly complete the support of the chassis structure 100 and the entire forklift, and the forklift center when it is empty Near the front end of the chassis structure 100.
- the steering wheel 200 by installing the steering wheel 200 at the front end of the chassis structure 100, it is ensured that there is sufficient friction between the steering wheel 200 and the ground to prevent the steering wheel from slipping.
- the movable wheels on each active universal wheel 300 and the movable wheels on the steering wheel 200 can both be actively steered.
- the steering operation at this time includes the in-situ 360° steering of the forklift, so that the forklift can complete the handling operation in a narrower space with high flexibility.
- the steering wheel 200 and the two active universal wheels 300 are rotated when the chassis based on the combination of the steering wheel and the active universal wheel needs to be driven in the omnidirectional forklift AGV.
- the angles of the two are the same, which facilitates the adjustment of the two active universal wheels 300.
- the straight-line walking function of the forklift can be stably completed, which ensures the handling efficiency of the forklift.
- this embodiment also introduces the following detailed description of the structure of the chassis based on the combination of the steering wheel and the active universal wheel in the omnidirectional forklift AGV.
- this embodiment further includes two driven universal wheels 400, the two driven universal wheels 400 are installed at the front end of the chassis structure 100 and are separately arranged on both sides of the steering wheel 200.
- the driven universal wheel 400 can play an auxiliary support role for the chassis structure 100 to prevent the connection between the rear side of the chassis structure 100 and the steering wheel 200 from being subjected to a large lateral load and affecting the normal operation of the steering wheel 200 walk.
- the present embodiment further includes a buffer assembly, the buffer assembly includes a fixed plate and a spring 500, a mounting frame 110 and a guide rod 600, and the number of the spring 500, the mounting frame 110 and the guide rod 600 is the same;
- the driven universal wheel 400 is mounted on a fixed plate, the mounting frame 110 is fixedly connected to the chassis structure 100, the fixing plate is provided with the same number of first through holes as the mounting frame 110, the mounting frame 110 is provided with second through holes, and the spring 500 Located between the fixing plate and the mounting frame 110, the guide rod 600 passes through the first through hole, the spring 500 and the second through hole in sequence, and two ends of the guide rod 600 are screwed with nuts.
- both the steering wheel 200 and the two driving universal wheels 300 in this embodiment are rigidly connected to the base by bolts.
- the spring 500 can be compressed To enable the driven universal wheel 400 to have a greater supporting force on the base, so as to further complete the balanced support for the rear end of the base.
- the spring 500, the mounting frame 110 and the guide rod 600 are provided in four groups, and the four first through holes are arranged in a square distribution.
- the steering wheel 200 in this embodiment may also include a first mounting base 210, a first motor 250, a first gear, a first outer ring gear 230, and a moving wheel assembly 240;
- the first mounting base 210 has two ends Open the first accommodating cavity, the first outer ring gear 230 is pivotally connected in the first accommodating cavity of the first mounting seat 210, and the first motor 250 is mounted on the first mounting seat 210 and drivingly connected with the first gear,
- the first gear meshes with the first outer ring gear 230, and the moving wheel assembly 240 is fixedly connected to the first outer ring gear 230.
- the steering wheel 200 is installed on the base through the first mounting base 210 and the base.
- the first gear is also located in the first accommodating cavity and meshes with the first outer ring gear 230.
- 230 is fixedly connected to the moving wheel assembly 240 below, and the moving wheel assembly 240 closes the lower end opening of the first mounting seat 210, that is, the first outer ring gear 230 and the first gear are both hidden in the first accommodating cavity of the first mounting seat 210 Therefore, foreign matter such as dust particles will not enter the first accommodating cavity of the first mounting seat 210, so that the relative rotation between the first outer ring gear 230 and the first gear is more accurate and stable.
- the lubricating oil on the first outer ring gear 230 and the first gear will also be used for a longer time in a closed environment, and the noise generated when the two are relatively rotated is lower.
- the moving wheel assembly 240 includes a bracket 241, a second motor 220, a second gear 242, a third gear 243, a first bevel gear 244, and a second bevel gear.
- the gear 245 and the first moving wheel 246 wherein the bracket 241 and the first outer ring gear 230 are fixedly connected, the second motor 220 is vertically mounted on the first mounting seat 210 and drivingly connected with the second gear 242, and the third gear 243 is pivoted Connected to the bracket 241 and meshed with the second gear 242, the first bevel gear 244 and the third gear 243 are coaxially fixed, the first moving wheel 246 is pivotally connected to the bracket 241, the second bevel gear 245 and the first moving wheel 246 It is coaxially fixed and meshes with the first bevel gear 244.
- the upper part of the bracket 241 is provided with a second accommodating cavity for accommodating the second gear 242, the third gear 243 and the first bevel gear 244, and the first moving wheel 246 and the second bevel gear 245 are pivotally connected to the bracket as a whole
- the second motor 220 drives the first moving wheel 246 through the meshing of the second gear 242 and the third gear 243 and the meshing of the first bevel gear 244 and the second bevel gear 245.
- first motor 250 and the second motor 220 are both installed on the upper end surface of the first mounting base 210, and both the first motor 250 and the second motor 220 are servo motors, so that the first moving wheel 246 can walk and turn. It is more precise and sensitive to further ensure the accurate handling of goods by forklifts.
- the driving universal wheel 300 includes a second mounting seat, a third motor, a fourth gear, a second outer ring gear, and a second moving wheel pivotally connected to the second mounting seat;
- the base is pivotally connected to the chassis structure 100, the second outer gear ring is fixed on the second mounting base, the third motor is mounted on the second mounting base on the chassis structure 100, and the fourth gear is mounted on the drive shaft of the third motor And meshes with the second outer ring gear.
- the third motor drives the second moving wheel to realize the steering action.
- the second outer gear ring is fixed above the second mounting seat, the second mounting seat is provided with a through hole communicating with the central hole of the second outer gear ring, and an interference fit is provided in the through hole of the second mounting seat
- the bearing inner ring has a connecting shaft with interference fit, and the connecting shaft is vertically fixed on the base. At this time, the rotation of the third motor can complete the steering operation of the second mounting base and the second movable wheel on the second mounting base.
- the beneficial effects of the chassis based on the combination of the steering wheel and the active universal wheel in the omnidirectional forklift AGV include, for example:
- the steering wheel on the rear end of the chassis, it is ensured that the movable wheel on the steering wheel and the ground can always be in a rolling friction state, and relative sliding will not occur to affect the movement of the forklift.
- the present application provides two active universal wheels at the front end of the chassis, and both the movable wheels on the active universal wheels and the movable wheels on the steering wheel can actively steer to complete the steering operation of the forklift, and the steering operation at this time Including the in-situ 360° steering of the forklift, enabling the forklift to complete handling operations in a narrower space with high flexibility.
- the steering wheel and the two active universal wheels in an isosceles triangle distribution, when the chassis based on the combination of the steering wheel and the active universal wheel needs to be driven in the omnidirectional forklift AGV, the angle of rotation of the two active universal wheels is the same That is, it is convenient to adjust the two active universal wheels.
- the straight-line walking function of the forklift can be stably completed, which ensures the handling efficiency of the forklift.
- the present application provides a chassis based on the combination of steering wheels and active universal wheels in an omnidirectional forklift AGV, which relieves the forklift in the prior art from being prone to be unable to perform stable straight-line walking because the walking speeds of the two steering wheels cannot be guaranteed to be completely consistent.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
Description
Claims (15)
- 一种全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,包括底盘结构(100)、一个舵轮(200)以及两个主动万向轮(300);所述舵轮(200)安装在所述底盘结构(100)的后端,两个所述主动万向轮(300)安装在所述底盘结构(100)的后端,所述舵轮(200)和两个所述主动万向轮(300)呈等腰三角形分布。
- 根据权利要求1所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述舵轮(200)和所述两个主动万向轮(300)均通过螺栓与底座刚性连接。
- 根据权利要求1或2所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,还包括两个从动万向轮(400),两个所述从动万向轮(400)安装在所述底盘结构(100)的前端并分设在所述舵轮(200)的两侧。
- 根据权利要求1至3中任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述两个从动万向轮舵轮(400)与底座弹性连接。
- 根据权利要求1至4中任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,还包括缓冲组件,所述缓冲组件包括固定板以及数量相同的弹簧(500)、安装架(110)和导杆(600);所述从动万向轮(400)安装在所述固定板上,所述安装架(110)与所述底盘结构(100)固定连接,所述固定板设有与所述安装架(110)数量相同的第一通孔,所述安装架(110)设有第二通孔,所述弹簧(500)位于所述固定板和所述安装架(110)之间,所述 导杆(600)依次穿过所述第一通孔、所述弹簧(500)和所述第二通孔,所述导杆(600)两端螺纹连接有螺母。
- 根据权利要求5所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述弹簧(500)、所述安装架(110)和所述导杆(600)共设有四组,四个所述第一通孔呈正方形分布设置。
- 根据权利要求1至6中任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述舵轮(200)包括第一安装座(210)、第一电机(250)、第一齿轮、第一外齿圈(230)以及移动轮组件(240);所述第一安装座(210)设有两端开口的第一容置腔,所述第一外齿圈(230)枢接在所述第一安装座(210)的第一容置腔内,所述第一电机(220)安装在所述第一安装座(210)上并与所述第一齿轮驱动连接,所述第一齿轮与所述第一外齿圈(230)啮合,所述移动轮组件(240)与所述第一外齿圈(230)固定连接。
- 根据权利要求7所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述舵轮(200)是通过所述第一安装座(210)与底座固定连接来完成在底座的安装,所述第一齿轮位于所述第一容置腔内。
- 根据权利要求7或8所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述第一外齿圈(230)与下方的所述移动轮组件(240)固定连接,所述移动轮组件(240)封闭所述第一安装座(210)的下端开口。
- 根据权利要求7至9中任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述第一电机(250)为伺服电机并竖直安装在所述第一安装座(210)的上端面。
- 根据权利要求7至10中任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述移动轮组件(240)包括支架(241)、第二电机(220)、第二齿轮(242)、第三齿轮(243)、第一锥齿轮(244)、第二锥齿轮(245)和第一移动轮(246);所述支架(241)和所述第一外齿圈(230)固定连接,所述第二电机(220)竖直安装在所述第一安装座(210)上并与所述第二齿轮(242)驱动连接,所述第三齿轮(243)枢接在所述支架(241)上并与所述第二齿轮(242)啮合,所述第一锥齿轮(244)与所述第三齿轮(243)同轴固定,所述第一移动轮(246)枢接在所述支架(241)上,所述第二锥齿轮(245)与所述第一移动轮(246)同轴固定并与所述第一锥齿轮(244)啮合。
- 根据权利要求11所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述支架(241)上半部分设有容纳所述第二齿轮(242)、所述第三齿轮(243)和所述第一锥齿轮(244)的第二容置腔,所述第一移动轮(246)和所述第二锥齿轮(245)整体枢接在所述支架(241)的下半部分。
- 根据权利要求11或12所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述第二电机(220)为伺服电机并竖直安装在所述第一安装座(210)的上端面,且所述第二电机(220)的中轴线与所述第一安装座(210)的中轴线重合。
- 根据权利要求1-10任一项所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述主动万向轮(300)包括第二安装座、第三电机、第四齿轮、第二外齿圈以及枢接在第二安装座上的第二移动轮;所述第二安装座枢接在所述底盘结构(100)上,所述第二外齿圈固定在所述第二安装座上,所述第三电机安装在所述底盘结构 (100)上的所述第二安装座上,所述第四齿轮安装在所述第三电机的驱动轴上并与所述第二外齿圈啮合,通过所述第四齿轮与所述第二外齿圈啮合,所述第三电机带动所述第二移动轮实现转向动作。。
- 根据权利要求14所述的全向叉车AGV中基于舵轮与主动万向轮组合的底盘,其特征在于,所述第二外齿圈固定在所述第二安装座的上方,所述第二安装座设有与所述第二外齿圈中心孔连通的通孔,在所述第二安装座的通孔内过盈配合有轴承,所述轴承内圈过盈配合有连接轴,所述连接轴竖直固定在底座上。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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CN201910427775.XA CN110040195A (zh) | 2019-05-20 | 2019-05-20 | 全向叉车agv中基于舵轮与主动万向轮组合的底盘 |
CN201910427775.X | 2019-05-20 |
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WO2020233018A1 true WO2020233018A1 (zh) | 2020-11-26 |
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PCT/CN2019/118210 WO2020233018A1 (zh) | 2019-05-20 | 2019-11-13 | 全向叉车agv中基于舵轮与主动万向轮组合的底盘 |
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CN115056889A (zh) * | 2022-07-22 | 2022-09-16 | 法睿兰达科技(武汉)有限公司 | 一种重载型agv驱动机构 |
CN117901952A (zh) * | 2024-03-19 | 2024-04-19 | 宁波舜宇贝尔机器人有限公司 | 一种柔性agv用底盘结构 |
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CN110040195A (zh) * | 2019-05-20 | 2019-07-23 | 山东洛杰斯特物流科技有限公司 | 全向叉车agv中基于舵轮与主动万向轮组合的底盘 |
CN111606248A (zh) * | 2020-05-19 | 2020-09-01 | 浙江工业大学 | 一种全向叉车agv装置 |
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