Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle)

Abstract

The invention discloses a dual-sliding shaft floatation supporting mechanism of an omnibearing movable AGV (Automatic Guided Vehicle), wherein a Mecanum wheel is fixed on a motor shaft; two annular ball bearings are arranged at two ends of the motor shaft and then are arranged in bearing seats; the two bearing seats are arranged on a bracket by virtue of locating of two locating pins; two sliding shafts are fixed on the bracket by virtue of bolted joint; two sliding linear bearings with flanges are fixed on fixing plates by virtue of screws; two rectangular helical springs are arranged at the lower parts of the sliding shafts; and two sliding shafts penetrate through the two sliding linear bearing with the flanges and are locked up. The dual-sliding shaft floatation supporting mechanism ensures that the Mecanum wheel rotates freely in the vertical direction and floats so as to realize the floatation support in the vertical direction, so that when a road surface is uneven, the Mecanum wheel can not be contacted with the ground and idle or can not idle while being slightly contacted with the ground, and simultaneously the vibration during the Mecanum wheel traveling process can be weakened, and the traveling direction accuracy and movement stability of the AGV can be greatly improved.

Description

technical field [0001] The invention relates to a mechanical structure, in particular to a double sliding shaft floating support mechanism for an omnidirectional mobile AGV. Background technique [0002] In order to obtain better motion stability, ordinary AGV (or automatic transfer vehicle, automatic transport vehicle) adopts a 4-wheel structure, but for a four-wheel AGV, according to the principle of three points to determine a plane, when moving on uneven ground, There is always a wheel that cannot fully touch the ground, which brings difficulties in motion control and leads to unstable motion of the car body. Common AGVs use ordinary inflatable rubber wheels, and the inflated rubber wheels will automatically adjust when they are under pressure to ensure that all four wheels touch the ground. But this just can't be done for the omnidirectional wheel, and dozens of small rollers are housed on the omnidirectional wheel, and these small rollers can't adopt the inflatable ru...

AI Technical Summary

Problems solved by technology

But this cannot be done for the omnidirectional wheel. There are dozens of small rollers on the omnidirectional wheel. These small rollers cannot use inflatable rubber wheels, so it cannot automatically adjust when the ground is uneven.

[0003] The advantage of the four-wheel drive AGV based on omnidirectional wheels is that it can move in all directions on the plane, that is, it can move forward, backward, left, and right, rotate along any point, and walk obliquely at any angle. Compared with this, the advantage of this is that it can move flexibly in a relatively narrow space, and at the same time it can correct the walking deviation more quickly and move to the designated position accurately, but if one wheel does not touch the ground or slightly touches the ground, its direction of motion will change. There will be changes, and this will cause the AGV to deviate from the guide line so that it cannot be corrected in a short time, resulting in violent swings, which is especially difficult to do at high speeds and loads

In addition, due to the structural characteristics of the omnidirectional wheel, the motion of the omnidirectional mobile AGV is worse than that of the non-omnidirectional AGV. floating support mechanism

[0004] In the prior art, the "Multi-wheel train heavy-duty mobile robot AGV" (Chinese invention patent application number 201210107633.3) is disclosed. This invention realizes floating support through two upper and lower leaf springs mounted on the wheels, but the mechanism does not Direction guidance, the wheel will deflect when it is subjected to lateral load, and this will cause the direction of motion to change for the omnidirectional wheel, and at the same time cause the friction between the wheel and the ground to increase, and the movement is blocked or changed.

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