Mecanum wheel suspension mechanism with lifting function and AGV (Automatic Guided Vehicle) with mechanism

Abstract

The invention relates to the technical field of suspension mechanisms, and discloses a Mecanum wheel suspension mechanism with a lifting function, which comprises a swing arm assembly, and the swing arm assembly is connected with a lifting assembly and a Mecanum wheel driving assembly; the driving end of the Mecanum wheel driving assembly is connected with the Mecanum wheel and used for driving the Mecanum wheel to rotate, and the Mecanum wheel driving assembly is arranged on one side of the swing arm assembly through the transmission supporting assembly; the movable end of the lifting assembly is rotationally connected with the swing arm assembly through a rotary connecting device. The suspension mechanism provided by the invention has a lifting function, so that the whole AGV can be lifted, the AGV does not need to be independently designed with a lifting mechanism, the internal space of the AGV is saved, and the size of the AGV can be made to be more compact.

Description

Technical Field

[0001] The invention relates to the technical field of suspension mechanisms, and in particular to a Mecanum wheel suspension mechanism with a lifting function and an AGV with the mechanism. Background Art

[0002] Mecanum wheeled vehicles are particularly suitable for occasions with narrow spaces and high positioning accuracy requirements due to their high movement flexibility and fine-tuning capabilities. They can replace traditional AGV vehicles and provide more flexible and efficient application value.

[0003] AGV achieves omnidirectional movement through the combination of multiple Mecanum wheels and the friction of the ground. It is very important to ensure that each Mecanum wheel can touch the ground and make the ground force relatively uniform. The road surface where AGV runs has some ups and downs, so the Mecanum wheels need to be installed on the vehicle body through a suspension mechanism, and cannot be directly rigidly installed on the vehicle body.

[0004] However, the existing suspension mechanism does not have a lifting function. In actual use, a lifting mechanism needs to be separately designed in the AGV to achieve the overall lifting of the AGV, which results in a large size of the AGV. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the prior art and to propose a Mecanum wheel suspension mechanism with a lifting function.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A Mecanum wheel suspension mechanism with a lifting function comprises a swing arm assembly, wherein the swing arm assembly connects the lifting assembly and the Mecanum wheel drive assembly;

[0008] The driving end of the Mecanum wheel driving assembly is connected to the Mecanum wheel for driving the Mecanum wheel to rotate, and the Mecanum wheel driving assembly is arranged on one side of the swing arm assembly through the transmission support assembly;

[0009] The movable end of the lifting assembly is rotatably connected to the swing arm assembly through a rotatable connection device.

[0010] Preferably, the Mecanum wheel drive assembly includes a motor and a reducer, the output shaft of the motor is connected to the input hole of the reducer, the output shaft of the reducer movably passes through the transmission support assembly, and is connected to the center hole of the Mecanum wheel through the transmission shaft.

[0011] Preferably, the transmission support assembly includes a bearing seat cylinder, two bearings, an inner bearing end cover, two sealing rings, an outer bearing end cover, and a retaining ring. The two bearings are respectively arranged at both ends of the bearing seat cylinder, the transmission shaft passes through the two bearing inner rings, and is rotatably connected to the bearing seat cylinder through the bearings. The two sealing rings are respectively embedded in the two ends of the bearing seat cylinder and are both arranged on the corresponding outsides of the bearings. The inner bearing end cover is arranged on the inner end face of the bearing seat cylinder, and the outer bearing end cover is arranged on the outside of the bearing seat cylinder. The inner bearing end cover and the outer bearing end cover respectively block the two sealing rings to prevent the sealing rings from axial displacement. At the same time, the sealing rings play a role of dustproof sealing.

[0012] Preferably, the lifting assembly includes a mounting plate, a guide shaft, a guide sleeve, a guide support seat and a hydraulic cylinder. The lifting assembly is installed on the AGV body through the mounting plate. The four guide shafts are arranged below the mounting plate. The four guide shafts respectively pass through the corresponding guide sleeves, and the guide sleeves are arranged above the guide support seat. The guide support seat is arranged on the upper end surface of the cylinder body of the hydraulic cylinder. The end of the piston rod of the hydraulic cylinder is provided with an external thread, which forms a threaded connection with the internal thread on the mounting plate. The side of the hydraulic cylinder body is provided with a hinge shaft, which is used for the hinged connection between the lifting assembly and the swing arm assembly.

[0013] Preferably, two oil pipe joints are provided at the end of the piston rod of the hydraulic cylinder, and the upper and lower pipelines of the hydraulic cylinder lead to the upper oil chamber and the lower oil chamber of the hydraulic cylinder respectively through the two oil pipe joints, making the oil pipe routing more convenient.

[0014] Preferably, the swing arm assembly includes a swing arm, an articulated sleeve, and a sleeve pressure cover. The articulated sleeve is arranged in the middle position of the swing arm and is sleeved on the articulated shaft on the side of the hydraulic cylinder body. The sleeve pressure cover presses the articulated sleeve from above and is fixedly connected to the swing arm by screws.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The suspension mechanism of the present invention has a lifting function, which can lift the AGV as a whole. The AGV does not need to design a lifting mechanism separately, which saves the internal space of the AGV and makes the size of the AGV more compact.

[0017] The AGV with this mechanism can achieve posture adjustment with six degrees of freedom, and can carry out precise docking with six degrees of freedom by carrying the workpiece on the AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional schematic diagram of a Mecanum wheel suspension mechanism with a lifting function proposed by the present invention;

[0019] Figure 2 An exploded schematic diagram of the Mecanum wheel suspension mechanism with lifting function proposed by the present invention;

[0020] Figure 3 An exploded schematic diagram of a lifting component of a Mecanum wheel suspension mechanism with a lifting function proposed by the present invention;

[0021] Figure 4 A front view of a lifting component of a Mecanum wheel suspension mechanism with a lifting function proposed by the present invention;

[0022] Figure 5 A side view of a hydraulic cylinder of a Mecanum wheel suspension mechanism with a lifting function proposed by the present invention;

[0023] Figure 6 A top cross-sectional view of a Mecanum wheel drive assembly of a Mecanum wheel suspension mechanism with a lifting function proposed by the present invention;

[0024] Figure 7 An exploded schematic diagram of a Mecanum wheel drive assembly of a Mecanum wheel suspension mechanism with a lifting function proposed by the present invention;

[0025] Figure 8 A three-dimensional schematic diagram of a swing arm assembly of a Mecanum wheel suspension mechanism with a lifting function proposed by the present invention;

[0026] Fig. 9 This is a schematic diagram of the AGV implementation state of the Mecanum wheel suspension mechanism with lifting function proposed by the present invention.

[0027] In the figure: 1. Mecanum wheel drive assembly; 11. Motor; 12. Reducer; 13. Transmission support assembly; 131. Bearing seat cylinder; 132. Tapered roller bearing; 133. Transmission shaft; 134. Inner bearing end cover; 135. Seal ring; 136. Outer bearing end cover; 137. Lock nut; 138. Retaining ring; 14. Mecanum wheel; 15. Shaft end retaining ring; 16. Key; 2. Lifting assembly; 21. Mounting plate; 22. Guide shaft; 23. Guide sleeve; 24. Guide support seat; 25. Hydraulic cylinder; 251. Articulated shaft; 252. Oil pipe joint; 3. Swing arm assembly; 31. Swing arm; 32. Articulated shaft sleeve; 33. Shaft sleeve gland; 4. AGV body. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] Reference Figure 1-4A Mecanum wheel 14 suspension mechanism with a lifting function, the Mecanum wheel 14 suspension mechanism comprises two sets of Mecanum wheel drive components 1, a lifting component 2, and a swing arm component 3, the lifting component 2 is arranged in the middle position of the swing arm component 3, connected by a hinge structure, and the Mecanum wheel drive components 1 are arranged at both ends of the swing arm component 3, and are fixedly connected by screws;

[0030] The Mecanum wheel drive assembly 1 is used to drive the Mecanum wheel 14 to rotate and provide power for the AGV operation, including a motor 11, a reducer 12, a transmission support assembly 13, a Mecanum wheel 14, a shaft end retaining ring 15, and a key 16. The motor 11 and the reducer 12 are connected by screws, and the output shaft of the motor 11 is inserted into the input hole of the reducer 12. The reducer 12 and the transmission support assembly 13 are connected by screws. The output shaft of the reducer 12 is inserted into the input hole of the transmission support assembly 13, and the transmission shaft 133 is inserted into the center hole of the Mecanum wheel 14 and connected by the key 16. The shaft end retaining ring 15 is arranged on the outside of the Mecanum wheel 14 and is installed at the end of the transmission shaft 133 by screws to prevent the Mecanum wheel 14 from axial movement. The rotational motion of the motor 11 drives the Mecanum wheel 14 to rotate through the reducer 12 and the transmission support assembly 13 in turn, and can realize forward and reverse rotation. The rotation speed and rotation angle are accurately controlled. The transmission support assembly 13 plays the role of transmitting motion and torque and improving radial supporting force, including a bearing seat cylinder 131, a tapered roller bearing 132, a transmission shaft 133, an inner bearing end cover 134, a sealing ring 135, an outer bearing end cover 136, a locking nut 137, and a retaining ring 138. Two bearings are respectively arranged at both ends of the bearing seat cylinder 131, and the transmission shaft 133 passes through two bearing inner rings. Two sealing rings 135 are respectively embedded at both ends of the bearing seat cylinder 131 and arranged on the outside of the bearing. The inner bearing end cover 134 is arranged on the inner end surface of the bearing seat cylinder 131, and the outer bearing end cover 136 is arranged on the outside of the bearing seat cylinder 131. The inner bearing end cover 134 and the outer bearing end cover 136 block the sealing ring 135 to prevent the sealing ring 135 from axial displacement. The sealing ring 135 plays the role of dustproof sealing;

[0031] The lifting assembly 2 has a lifting function, including a mounting plate 21, a guide shaft 22, a guide sleeve 23, a guide support seat 24, and a hydraulic cylinder 25. The four guide shafts 22 are arranged below the mounting plate 21 and are fixedly connected by screws. The four guide shafts 22 each pass through four guide sleeves 23. The guide sleeve 23 is arranged above the guide support seat 24 and is fixedly connected by screws. The guide support seat 24 is arranged on the upper end surface of the cylinder body of the hydraulic cylinder 25 and is fixedly connected by screws. The end of the piston rod of the hydraulic cylinder 25 is provided with an external thread, and is threadedly connected with the internal thread on the mounting plate 21. Two hinge shafts 251 are provided on the side of the cylinder body of the hydraulic cylinder 25 for hinged connection between the lifting assembly 2 and the swing arm assembly 3. An oil pipe joint 252 is provided at the end of the piston rod of the hydraulic cylinder 25. The upper and lower pipelines of the hydraulic cylinder 25 are respectively connected to the upper oil chamber and the lower oil chamber of the hydraulic cylinder 25 through the two oil pipe joints 252, and the oil pipe routing is more convenient.

[0032] The swing arm assembly 3 is used to connect the Mecanum wheel drive assembly 1 and the lifting assembly 2, and to make the Mecanum wheel drive assembly 1 rotate around the hinge shaft 251 on the side of the hydraulic cylinder 25 cylinder body, so as to adapt to the ups and downs of the ground, and includes a swing arm 31, an articulated shaft sleeve 32, and a shaft sleeve pressure cover 33. The articulated shaft sleeve 32 is arranged in the middle position of the swing arm 31 and is sleeved on the articulated shaft 251 on the side of the hydraulic cylinder 25 cylinder body. The shaft sleeve pressure cover 33 presses the articulated shaft sleeve 32 from above and is fixedly connected to the swing arm 31 by screws;

[0033] AGV is usually equipped with four groups of such suspension mechanisms, and more groups can also be set in multiples of two. The suspension mechanism is fixedly connected to the AGV body 4 through the mounting plate 21. The AGV with such suspension mechanism can realize six-degree-of-freedom posture adjustment of the table top, and can realize translation in the X direction, translation in the Y direction, and rotation around the Z axis by accurately controlling the steering and speed of each Mecanum wheel 14. The synchronous lifting of the suspension mechanisms can realize lifting in the Z direction, and when there is a height difference between the suspension mechanisms on the left and right sides, rolling around the X axis can be realized, and when there is a height difference between the front and rear suspension mechanisms, pitching around the Y axis can be realized.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A Mecanum wheel suspension mechanism with lifting function, characterized in that: It includes a swing arm assembly, wherein the swing arm assembly is connected to the lifting assembly and the Mecanum wheel drive assembly; The driving end of the Mecanum wheel driving assembly is connected to the Mecanum wheel for driving the Mecanum wheel to rotate, and the Mecanum wheel driving assembly is arranged on one side of the swing arm assembly through the transmission support assembly; The movable end of the lifting assembly is rotatably connected to the swing arm assembly via a rotatable connection device; The lifting assembly includes a mounting plate, a guide shaft, a guide sleeve, a guide support seat and a hydraulic cylinder. The lifting assembly is installed on the AGV body through the mounting plate. The four guide shafts are arranged below the mounting plate. The four guide shafts respectively pass through the corresponding guide sleeves, and the guide sleeves are arranged above the guide support seat. The guide support seat is arranged on the upper end surface of the cylinder body of the hydraulic cylinder. The end of the piston rod of the hydraulic cylinder is provided with an external thread, which forms a threaded connection with the internal thread on the mounting plate. The side of the hydraulic cylinder body is provided with a hinge shaft for the hinged connection between the lifting assembly and the swing arm assembly.

2. The Mecanum wheel suspension mechanism with lifting function according to claim 1, characterized in that: The Mecanum wheel drive assembly includes a motor and a reducer, wherein the output shaft of the motor is connected to the input hole of the reducer, the output shaft of the reducer movably penetrates the transmission support assembly, and is connected to the center hole of the Mecanum wheel through the transmission shaft.

3. The Mecanum wheel suspension mechanism with lifting function according to claim 2, characterized in that: The transmission support assembly includes a bearing seat cylinder, two bearings, an inner bearing end cover, two sealing rings, an outer bearing end cover, and a retaining ring. The two bearings are respectively arranged at both ends of the bearing seat cylinder, the transmission shaft passes through the two bearing inner rings, and is rotatably connected to the bearing seat cylinder through the bearings. The two sealing rings are respectively embedded in the two ends of the bearing seat cylinder and are both arranged on the corresponding outsides of the bearings. The inner bearing end cover is arranged on the inner end face of the bearing seat cylinder, and the outer bearing end cover is arranged on the outside of the bearing seat cylinder. The inner bearing end cover and the outer bearing end cover respectively block the two sealing rings to prevent the sealing rings from axial displacement. At the same time, the sealing rings play a role of dustproof sealing.

4. The Mecanum wheel suspension mechanism with lifting function according to claim 1, characterized in that: The piston rod end of the hydraulic cylinder is provided with two oil pipe joints, and the upper and lower pipelines of the hydraulic cylinder are respectively connected to the upper oil chamber and the lower oil chamber of the hydraulic cylinder through the two oil pipe joints, so that the oil pipe routing is more convenient.

5. The Mecanum wheel suspension mechanism with lifting function according to claim 1, characterized in that: The swing arm assembly includes a swing arm, an articulated shaft sleeve, and a shaft sleeve pressure cover. The articulated shaft sleeve is arranged in the middle position of the swing arm and is sleeved on the articulated shaft on the side of the hydraulic cylinder body. The shaft sleeve pressure cover presses the articulated shaft sleeve from above and is fixedly connected to the swing arm by screws.

6. An AGV, using the Mecanum wheel suspension mechanism with lifting function as claimed in any one of claims 1 to 5, characterized in that: There are multiple groups of AGVs, and they increase in multiples of 2. The suspension mechanism is fixedly connected to the AGV body through a mounting plate. The AGV with this suspension mechanism can achieve six-degree-of-freedom posture adjustment of the table top, and achieve translation in the X direction, translation in the Y direction, and rotation around the Z axis by precisely controlling the steering and speed of each Mecanum wheel.

7. An AGV according to claim 6, characterized in that: The AGV is provided with 4 sets of the suspension mechanisms, which rise and fall synchronously in the Z direction, roll around the X axis when there is a height difference between the suspension mechanisms on the left and right sides, and pitch around the Y axis when there is a height difference between the front and rear suspension mechanisms.

Images