Wheel driving structure, driving steering wheel and AGV capable of rotating in multiple directions

Abstract

The utility model provides a wheel driving structure, a driving steering wheel and an AGV (Automatic Guided Vehicle) capable of rotating in multiple directions, comprising: a vehicle body, in which a driving assembly is fixedly arranged; the supporting frame is rotationally connected with the vehicle body; and the multiple wheels are rotationally connected with the supporting frame, each wheel is connected with the driving assembly through one transmission assembly, and the multiple transmission assemblies are coaxially arranged. The steering wheel has the advantages that the transmission assemblies are driven by the motor to complete power transmission, the transmission assemblies are coaxially arranged, constraint of motor cables is avoided, and 360-degree continuous rotating motion of the steering wheel is achieved.

Description

Technical Field

[0001] The utility model belongs to the field of AGV vehicle control, in particular to a wheel driving structure, a driving steering wheel and a multi-directionally rotatable AGV vehicle. Background Art

[0002] AGV is an automatically controlled unmanned vehicle that can autonomously travel on a spatial path to automatically perform handling tasks. The main driving modes of AGV vehicles are single-wheel drive, differential drive and omnidirectional drive. The existing AGV wheel drive mode mostly uses the traditional wiring method of connecting the motor cable through the center hole of the gear plate on the top of the servo to the AGV body.

[0003] In this method, during the movement of the steering wheel, the cable is subjected to two superimposed stresses, bending and torsion, and there is no protection against bending radius and torsion angle restrictions during the free movement of the cable in space. The cable is easily damaged due to excessive mechanical properties. During the operation of the steering wheel, friction and extrusion are likely to occur between the cable and the moving parts of the steering wheel and the edge of the center hole of the gear plate, shortening the life of the cable. Since multiple cables are not separated from each other, they are easily rubbed and entangled during movement, increasing interference to the data line. Summary of the invention

[0004] In view of this, the present invention aims to propose a wheel driving structure, a driving steering wheel and a multi-directionally rotatable AGV vehicle, in order to solve at least one of the above-mentioned technical problems.

[0005] In order to achieve the above object, the technical solution of the utility model is implemented as follows:

[0006] The first aspect of the utility model provides a wheel driving structure, comprising:

[0007] A vehicle body, wherein a driving assembly is fixedly disposed in the vehicle body;

[0008] A support frame, the support frame being rotatably connected to the vehicle body;

[0009] Wheels, wherein a plurality of wheels are provided, and the plurality of wheels are rotatably connected to the support frame, and each wheel is connected to the driving assembly via a transmission assembly, and the plurality of transmission assemblies are coaxially arranged.

[0010] Further, the transmission assembly includes an outer transmission assembly and an inner transmission assembly, and the inner transmission assembly is installed on the inner side of the outer transmission assembly;

[0011] A driving assembly drives a wheel to rotate through an external transmission assembly;

[0012] Another driving assembly drives another wheel to rotate through an internal transmission assembly.

[0013] Further, the external transmission assembly includes a rotating tube, a driving assembly for driving the rotating tube to rotate, and the lower end of the rotating tube rotates synchronously with a wheel;

[0014] The inner transmission component comprises a rotating shaft, and another driving component is used for driving the rotating shaft to rotate, and the lower end of the rotating shaft rotates synchronously with another wheel.

[0015] Furthermore, the lower ends of the rotating tube and the rotating shaft are each provided with a first bevel gear, the two wheels are each provided with a second bevel gear, the first bevel gear of the rotating tube meshes with the second bevel gear of one wheel, and the first bevel gear of the rotating shaft meshes with the second bevel gear of the other wheel.

[0016] Furthermore, the vehicle body is rotatably connected to the outer transmission component or the inner rotating component, and the support frame is rotatably connected to the outer transmission component or the inner rotating component.

[0017] Furthermore, one driving assembly drives the outer transmission assembly to rotate via gears, and the other driving assembly drives the inner transmission assembly to rotate via gears.

[0018] Furthermore, one driving assembly drives the outer transmission assembly to rotate via a chain, and the other driving assembly drives the inner transmission assembly to rotate via a chain.

[0019] The second aspect of the utility model provides a driving steering wheel for an AGV vehicle, comprising:

[0020] A fixed part, the fixed part is fixedly connected to the AGV body, a plurality of drive components are fixedly arranged in the fixed part, and the plurality of drive components transmit the driving force to the wheels through a plurality of transmission components;

[0021] A steering wheel frame, wherein the steering wheel frame is rotatably connected to the fixed part through the rotating part, and the wheel receives the driving force and releases it;

[0022] The plurality of transmission components are coaxially arranged, and the transmission component and the rotating part are coaxially arranged.

[0023] The third aspect of the utility model provides an AGV vehicle capable of multi-directional rotation, using the driving steering wheel for an AGV vehicle described in the second aspect, comprising:

[0024] A vehicle body, the vehicle body being fixedly connected to a fixing portion of a driving steering wheel of the AGV vehicle;

[0025] The AGV vehicle has at least one driving steering wheel.

[0026] The fourth aspect of the utility model provides an AGV vehicle capable of multi-directional rotation, applying the wheel driving structure described in the first aspect, comprising: a body of the AGV vehicle is connected to a body of the wheel driving structure;

[0027] The driving structural support frame of the wheel serves as the steering wheel frame.

[0028] Compared with the prior art, the driving structure of a wheel described in the utility model has the following beneficial effects:

[0029] The driving structure of a wheel described in the utility model completes power transmission by driving a transmission assembly through a motor, and a plurality of transmission assemblies are coaxially arranged, thus avoiding the constraints of motor cables and realizing 360-degree continuous rotation of the steering wheel.

[0030] The driving structure of a wheel described in the utility model realizes the function of speed reduction and torque increase by reasonably designing the bevel gear ratio without adding an additional speed reduction device. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the accompanying drawings:

[0032] Figure 1 This is a schematic diagram of the overall structure of the driving structure described in the embodiment of the utility model;

[0033] Figure 2 It is a schematic cross-sectional structure diagram of the driving structure described in the embodiment of the utility model.

[0034] Description of reference numerals:

[0035] 1. Vehicle body; 2. Support frame; 3. Wheels; 4. Rotating tube; 5. Rotating shaft; 6. First bevel gear; 7. Second bevel gear; 8. Driving assembly. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0037] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0038] Embodiment 1: A wheel driving structure, comprising:

[0039] A vehicle body, wherein a driving assembly is fixedly disposed in the vehicle body;

[0040] A support frame, the support frame being rotatably connected to the vehicle body;

[0041] Wheels, wherein a plurality of wheels are provided, and the plurality of wheels are rotatably connected to the support frame, and each wheel is connected to the driving assembly via a transmission assembly, and the plurality of transmission assemblies are coaxially arranged.

[0042] The transmission assembly includes an outer transmission assembly and an inner transmission assembly, wherein the inner transmission assembly is installed inside the outer transmission assembly;

[0043] A driving assembly drives a wheel to rotate through an external transmission assembly;

[0044] Another driving assembly drives another wheel to rotate through an internal transmission assembly.

[0045] The external transmission assembly includes a rotating tube, a driving assembly for driving the rotating tube to rotate, and the lower end of the rotating tube rotates synchronously with a wheel;

[0046] The inner transmission component comprises a rotating shaft, and another driving component is used for driving the rotating shaft to rotate, and the lower end of the rotating shaft rotates synchronously with another wheel.

[0047] The upper ends of the rotating tube and the rotating shaft are both provided with driven bevel gears, and the power output ends of the two driving components are both provided with driving bevel gears. The driven bevel gear of the rotating tube is meshed with the driving bevel gear of one driving component, and the driven bevel gear of the rotating shaft is meshed with the driving bevel gear of another driving component.

[0048] The lower ends of the rotating tube and the rotating shaft are both provided with a first bevel gear, and the two wheels are both provided with a second bevel gear. The first bevel gear of the rotating tube meshes with the second bevel gear of one wheel, and the first bevel gear of the rotating shaft meshes with the second bevel gear of the other wheel.

[0049] The vehicle body is rotatably connected to the outer transmission component or the inner rotating component, and the support frame is rotatably connected to the outer transmission component or the inner rotating component.

[0050] The one driving assembly drives the outer transmission assembly to rotate via gears, and the other driving assembly drives the inner transmission assembly to rotate via gears.

[0051] The one driving assembly drives the outer transmission assembly to rotate via a chain, and the other driving assembly drives the inner transmission assembly to rotate via a chain.

[0052] Embodiment 2: A driving steering wheel for an AGV vehicle, comprising:

[0053] A fixed part, the fixed part is fixedly connected to the AGV body, a plurality of drive components are fixedly arranged in the fixed part, and the plurality of drive components transmit the driving force to the wheels through a plurality of transmission components;

[0054] A steering wheel frame, wherein the steering wheel frame is rotatably connected to the fixed part through the rotating part, and the wheel receives the driving force and releases it;

[0055] The plurality of transmission components are coaxially arranged, and the transmission component and the rotating part are coaxially arranged.

[0056] Embodiment 3: A multi-directionally rotatable AGV vehicle, using a driving steering wheel for an AGV vehicle described in Embodiment 2, comprising:

[0057] A vehicle body, the vehicle body being fixedly connected to a fixing portion of a driving steering wheel of the AGV vehicle;

[0058] The AGV vehicle has at least one driving steering wheel.

[0059] Embodiment 4: A multi-directionally rotatable AGV vehicle, using a wheel driving structure described in Embodiment 1, comprising: a body of the AGV vehicle is connected to a body of the wheel driving structure;

[0060] The driving structural support frame of the wheel serves as the steering wheel frame.

[0061] Embodiment 5: The upper ends of the rotating tube and the rotating shaft are both provided with driven flat gears, and the power output ends of the two driving components are both provided with driving flat gears. The driven flat gear of the rotating tube is meshed with the driving flat gear of one driving component, and the driven flat gear of the rotating shaft is meshed with the driving flat gear of another driving component.

[0062] Embodiment 6: The upper ends of the rotating tube and the rotating shaft are both provided with driven flat gears, and the power output ends of the two driving components are both provided with driving flat gears. The driven flat gear of the rotating tube is connected to the driving flat gear of one driving component through a chain, and the driven flat gear of the rotating shaft is connected to the driving flat gear of another driving component through a chain.

[0063] Embodiment 7: The lower ends of the rotating tube and the rotating shaft are both provided with a first bevel gear, the inner side of the wheel frame is rotatably connected to two transverse shafts, and one end of the two transverse shafts adjacent to the rotating tube and the rotating shaft is fixed with a second bevel gear;

[0064] The second bevel gear of one horizontal axis is meshed with the first bevel gear of the rotating tube, and the second bevel gear of the other horizontal axis is meshed with the first bevel gear of the rotating shaft;

[0065] The first flat gear is fixedly arranged at one end of the two transverse shafts away from the rotating tube and the rotating shaft, and the end faces of the two wheels adjacent to the wheel frame are fixedly connected with the second flat gear, and the first flat gear and the second flat gear are connected by a chain;

[0066] A protective shell is fixedly arranged on the end surface of the wheel frame away from the wheel, and the protective shell is wrapped around the outer side of the chain.

[0067] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present utility model.

[0068] In the several embodiments provided in the present application, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the division of the units described above is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The above-mentioned units may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment scheme of the utility model.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model, and they should all be included in the scope of the claims and specification of the utility model.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wheel driving structure, characterized in that: include: A vehicle body, wherein a driving assembly is fixedly disposed in the vehicle body; A support frame, the support frame being rotatably connected to the vehicle body; Wheels, wherein a plurality of wheels are provided, and the plurality of wheels are rotatably connected to the support frame, and each wheel is connected to the driving assembly via a transmission assembly, and the plurality of transmission assemblies are coaxially arranged.

2. A wheel driving structure according to claim 1, characterized in that: The transmission assembly includes an outer transmission assembly and an inner transmission assembly, wherein the inner transmission assembly is installed inside the outer transmission assembly; A driving assembly drives a wheel to rotate through an external transmission assembly; Another driving assembly drives another wheel to rotate through an internal transmission assembly.

3. A wheel driving structure according to claim 2, characterized in that: The external transmission assembly includes a rotating tube, a driving assembly for driving the rotating tube to rotate, and the lower end of the rotating tube rotates synchronously with a wheel; The inner transmission component comprises a rotating shaft, and another driving component is used for driving the rotating shaft to rotate, and the lower end of the rotating shaft rotates synchronously with another wheel.

4. A wheel driving structure according to claim 3, characterized in that: The lower ends of the rotating tube and the rotating shaft are both provided with a first bevel gear, and the two wheels are both provided with a second bevel gear. The first bevel gear of the rotating tube meshes with the second bevel gear of one wheel, and the first bevel gear of the rotating shaft meshes with the second bevel gear of the other wheel.

5. A wheel driving structure according to claim 2, characterized in that: The vehicle body is rotatably connected to the outer transmission component or the inner rotating component, and the support frame is rotatably connected to the outer transmission component or the inner rotating component.

6. A wheel driving structure according to claim 3, characterized in that: The one driving assembly drives the outer transmission assembly to rotate via gears, and the other driving assembly drives the inner transmission assembly to rotate via gears.

7. A wheel driving structure according to claim 3, characterized in that: The one driving assembly drives the outer transmission assembly to rotate via a chain, and the other driving assembly drives the inner transmission assembly to rotate via a chain.

8. A driving steering wheel for an AGV vehicle, characterized in that: include: A fixed part, the fixed part is fixedly connected to the AGV body, a plurality of drive components are fixedly arranged in the fixed part, and the plurality of drive components transmit the driving force to the wheels through a plurality of transmission components; A steering wheel frame, wherein the steering wheel frame is rotatably connected to the fixed part through the rotating part, and the wheel receives the driving force and releases it; The plurality of transmission components are coaxially arranged, and the transmission component and the rotating part are coaxially arranged.

9. An AGV vehicle capable of multi-directional rotation, using the driving steering wheel for an AGV vehicle according to claim 8, characterized in that: include: A vehicle body, the vehicle body being fixedly connected to a fixing portion of a driving steering wheel of the AGV vehicle; The AGV vehicle has at least one driving steering wheel.

10. An AGV vehicle capable of multi-directional rotation, using a wheel driving structure according to any one of claims 1 to 7, characterized in that: include: The body of the AGV vehicle is connected to the body of the driving structure of the wheel; The driving structural support frame of the wheel serves as the steering wheel frame.

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