Omni-directional driving heavy AGV steering control device

Abstract

The invention relates to the technical field of AGV steering, and discloses an omni-directional driving heavy AGV steering control device which comprises a supporting and positioning mechanism, the middle position of the supporting and positioning mechanism is connected with a steering control mechanism, the top end of the steering control mechanism is connected with a lubricating oil supplementing mechanism, and the supporting and positioning mechanism comprises a supporting and positioning frame. By means of the lubricating oil supplementing mechanism, real-time and continuous supplementing of lubricating oil is achieved, a traditional regular shutdown overhaul mode is avoided, and the performance degradation and sudden failure risks caused by lubrication failure are remarkably reduced; according to the mechanism, the operation interruption time can be shortened, so that the production efficiency and the productivity utilization rate are greatly improved, and due to the fact that automatic supplement of lubricating oil is achieved, the omni-directional driving heavy AGV does not need to be frequently shut down for manual lubrication maintenance, and the maintenance cost and the human input are reduced; and through real-time lubrication supplement and low-temperature environment adaptability design, mechanical abrasion of an AGV steering system is effectively reduced, and the service life of equipment is prolonged.

Description

Technical Field

[0001] This invention belongs to the field of AGV steering technology, and specifically relates to an omnidirectional drive heavy-duty AGV steering control device. Background Technology

[0002] Omnidirectional heavy-duty AGVs, as high-load automated guided vehicles with flexible movement capabilities in any direction within a plane (such as lateral translation, in-situ rotation, and diagonal travel), have become core equipment in industrial manufacturing, logistics warehousing, and port transportation due to their superior motion performance and powerful load-bearing capacity. Their core motion mechanism achieves omnidirectional drive through steering wheels, Mecanum wheels, or distributed drive systems. Combined with laser SLAM navigation, multi-sensor fusion obstacle avoidance (LiDAR, vision sensors, ultrasonic sensors, etc.), and intelligent scheduling systems, they can accurately complete the handling of tens to hundreds of tons of goods (such as steel coils, aerospace components, and containers) in confined spaces. Compared to traditional AGVs, their motion flexibility is increased by more than three times, positioning accuracy reaches ±1mm, and they support multi-machine collaborative operation, significantly improving operational efficiency and safety in complex scenarios while reducing labor costs and the risk of human error. They are particularly suitable for the precision handling of ultra-large and ultra-heavy goods such as aircraft engines and rocket components, as well as for scenarios with extremely high space utilization requirements, such as automated production lines and automated warehouses.

[0003] However, existing omnidirectional heavy-duty AGV technology still faces two major challenges in practical applications: Firstly, the conflict between maintenance cycles and operational continuity is prominent. Because heavy-duty AGVs need to withstand high loads for extended periods and frequently start, stop, and turn, their core component, the steering wheel, is prone to performance degradation due to lubrication failure and mechanical wear. Currently, the industry generally adopts a "periodic shutdown for maintenance" strategy, which requires mandatory shutdown for inspection and lubrication oil replacement after each operation. While this model can reduce the risk of sudden failures, it leads to 8-12 hour interruptions per operation, directly causing production capacity losses. Furthermore, untimely maintenance of heavy-duty AGVs can further increase operating costs and safety risks.

[0004] Secondly, insufficient adaptability to ultra-low temperature environments restricts the expansion of application scenarios. In ultra-low temperature scenarios such as cold storage (below -25℃) and polar scientific expeditions, the steering control device of AGV faces severe challenges: low temperature causes the viscosity of lubricating grease to surge, and the lubricating grease cannot be replenished in real time, resulting in a sharp increase in friction at the steering interface, which increases the load on the steering motor by 30%-50%, causing steering lag or even jamming, aggravating wear and producing abnormal noise. As a result, the failure rate of AGV in ultra-low temperature scenarios is more than three times that in normal temperature environments, which seriously limits its large-scale application in fields such as food cold chain and aerospace low temperature testing.

[0005] Therefore, it is necessary to invent an omnidirectional drive heavy-duty AGV steering control device to solve the above problems, which can... Summary of the Invention

[0006] To address the aforementioned problems, this invention provides an omnidirectional drive heavy-duty AGV steering control device to solve the issues raised in the background section.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an omnidirectional drive heavy-duty AGV steering control device, comprising a support and positioning mechanism, a steering control mechanism connected to the middle position of the support and positioning mechanism, and a lubricating oil replenishment mechanism connected to the top of the steering control mechanism, wherein... The support positioning mechanism includes a support positioning frame, a limiting groove is formed in the middle of the support positioning frame, and limiting tubes are connected to both ends of one side of the support positioning frame; The lubricating oil replenishment mechanism includes a support base, a limiting frame, and two lubricating oil storage tanks. The outer wall of the support base is connected to a rotating ring via multiple connecting frames. A limiting tooth block is fixed to one end of the outer wall of each rotating ring. A single-tooth gear is rotatably mounted on the middle of the top of the limiting frame via a limiting platform. A first positioning gear is fixed to the top of the single-tooth gear, and the tooth surface of the first positioning gear meshes with the tooth surface of the limiting tooth block. Positioning screws are rotatably mounted at both ends of the inner wall of the limiting frame. A second positioning gear is fixed to the top of each of the two positioning screws through the limiting platform, and the tooth surfaces of both second positioning gears mesh with the single-tooth gear. A lifting seat is threaded onto one end of the outer wall of each of the two positioning screws. A sealing disc is sequentially connected to one end of each of the two lifting seats via a first lifting rod, a connecting rod, and a second lifting rod. The two sealing discs are respectively inserted into and connected to the inner walls of the two lubricating oil storage tanks. One side of each of the two lubricating oil storage tanks is connected to two limiting tubes.

[0008] Preferably, an electric heating element is fixedly provided at the middle position of the support positioning frame near the limiting groove.

[0009] Preferably, positioning grooves are provided on both sides of the limiting frame, and the two ends of the two lifting seats slide in contact with one side of the inner wall of the four positioning grooves respectively.

[0010] Preferably, the bottom end of the rotating ring is connected to an initial oil discharge limiting mechanism. The initial oil discharge limiting mechanism includes positioning seats fixed to the bottom ends of multiple connecting frames. Positioning rods are inserted through the middle positions of the multiple positioning seats. A return spring is inserted through one end of the outer wall of each of the multiple positioning rods. A movable frame is fixed to one end of each of the multiple positioning rods. A limiting rack is fixed to one side of each of the multiple movable frames. A limiting block is fixed to the other end of each of the multiple positioning rods. The top ends of the multiple movable frames and the top ends of the multiple limiting racks are in sliding contact with the bottom end of the rotating ring.

[0011] Preferably, the support positioning mechanism further includes three mounting brackets fixed to the outer wall of the support positioning frame, and the top of the support positioning frame is connected to a support platform through multiple support columns.

[0012] Preferably, a starting oil discharge control mechanism is connected to the middle position of the supporting positioning mechanism. The starting oil discharge control mechanism includes a positioning ring. The outer wall of the positioning ring is fixedly connected to one side of three mounting brackets via three connecting blocks. A fixing ring is connected to the middle position of the positioning ring via multiple fixing brackets. A first positioning helical toothed ring is rotatably provided at the middle position of the fixing ring. The bottom end of the first positioning helical toothed ring passes through the fixing ring and is fixedly provided with a positioning toothed ring. A fixing seat is fixed at one end of the top of each of the multiple fixing brackets. A control screw is rotatably provided at the middle position of each of the multiple fixing seats. One end of each of the multiple control screws is fixed. The system is equipped with a first positioning helical gear, the tooth surfaces of which mesh with the tooth surfaces of a first positioning helical gear ring. One end of the outer wall of each of the multiple control screws is threaded with a movable seat. A positioning strip is fixedly mounted on the top of each of the multiple fixed frames. The bottom ends of each of the multiple movable seats slide in contact with the fixed frames via the positioning strips. A limiting ring is fixedly mounted on one end of each of the multiple movable seats. An adjusting gear is rotatably mounted on one end of the bottom of the fixed ring, the tooth surface of which meshes with the tooth surface of the positioning gear ring. A reduction motor is fixedly mounted on the top of the fixed ring, and the output end of the reduction motor is fixedly connected to the middle position of the adjusting gear.

[0013] Preferably, the outer wall dimensions of the limiting ring correspond to the inner wall dimensions of the plurality of movable frames.

[0014] Preferably, the steering control mechanism includes a steering control seat, a steering control gear ring fixedly mounted on the top of the steering control seat through a limiting groove, a steering control gear rotatably mounted on one end of the top of the support positioning frame, the tooth surface of the steering control gear meshing with the tooth surface of the steering control gear ring, a limiting seat fixedly mounted on the bottom of the steering control seat, an environmental sensor fixedly mounted on one side of the limiting seat, a steering control wheel rotatably mounted on the middle position of the limiting seat, a second positioning helical gear ring fixedly mounted on one side of the steering control wheel, a fixing groove opened on one side of the limiting seat, a second positioning helical gear rotatably mounted on the middle position of the fixing groove, the tooth surface of the second positioning helical gear meshing with the tooth surface of the second positioning helical gear ring, a speed control gear ring rotatably mounted on the middle position of the top of the steering control gear ring, a speed control gear fixedly mounted on the top of the second positioning helical gear through the steering control seat and the steering control gear ring, the tooth surface of the speed control gear meshing with the tooth surface of the speed control gear ring.

[0015] Preferably, the top of the steering control gear is fixedly mounted with a first driven synchronous pulley through the support platform. The first driven synchronous pulley is connected to a first driving synchronous pulley via a first synchronous belt. A first drive motor is fixedly mounted on one side of the support positioning frame. The output end of the first drive motor is fixedly connected to the middle position of the first driving synchronous pulley. The top of the speed control gear ring is fixedly mounted with a second driven synchronous pulley through the support platform. The outer wall of the second driven synchronous pulley is connected to a second driving synchronous pulley via a second synchronous belt. A second drive motor is fixedly mounted on the other side of the support positioning frame. The output end of the second drive motor is fixedly connected to the middle position of the second driving synchronous pulley.

[0016] Preferably, the electric heating element is electrically connected to an external power source via an ambient sensor, and the first drive motor, the second drive motor, and the geared motor are all electrically connected to an external power source via a remote control switch.

[0017] The technical effects and advantages of this invention are as follows: 1. This invention achieves real-time and continuous lubrication replenishment through a lubrication replenishment mechanism, avoiding the traditional method of periodic shutdown for maintenance and significantly reducing the risk of performance degradation and sudden failures caused by lubrication failure. This mechanism can reduce operation downtime, thereby greatly improving production efficiency and capacity utilization. Since the lubrication replenishment is automatic, the omnidirectional heavy-duty AGV does not need to be stopped frequently for manual lubrication maintenance, reducing maintenance costs and manpower input. Through real-time lubrication replenishment and low-temperature environment adaptability design, the mechanical wear of the AGV steering system is effectively reduced, extending the service life of the equipment. 2. This invention effectively prevents the risk of excessive lubricating oil pumping or leakage through the design of the initial oil discharge limiting mechanism and the initial oil discharge control mechanism, ensuring the safety of AGV operation. It ensures that sufficient lubricating oil is pumped in to assist the AGV's operation each time it starts. During operation, the lubricating oil is pumped in slowly, keeping the AGV in a highly lubricated state at all times, avoiding lubrication failure and mechanical wear that lead to performance degradation. At the same time, in low-temperature environments, the amount of lubricating oil pumped in during operation is increased to adapt to low-temperature environments. 3. This invention integrates an electric heating element near the limiting groove of the support positioning frame and automatically adjusts the temperature through an environmental sensor, effectively preventing steering difficulties caused by a surge in grease viscosity in ultra-low temperature environments. The lubricating oil replenishment mechanism works in conjunction with the electric heating element to ensure that the lubricating oil can still flow smoothly to the steering interface in ultra-low temperature environments, effectively reducing steering lag and jamming, and lowering the failure rate compared to traditional designs.

[0018] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the omnidirectional drive heavy-duty AGV of the present invention; Figure 2 This is a schematic diagram showing the distribution of the support positioning mechanism and the steering control mechanism of the present invention; Figure 3 This is a cross-sectional schematic diagram of the support and positioning mechanism of the present invention; Figure 4 This is a schematic diagram of the steering control mechanism of the present invention; Figure 5 This is a schematic diagram of a portion of the steering control mechanism of the present invention at an angle; Figure 6 This is a schematic diagram of a portion of the steering control mechanism of the present invention from angle two; Figure 7 This is a schematic diagram of a portion of the steering control mechanism of the present invention from three angles; Figure 8 This is a schematic diagram of the support and positioning mechanism of the present invention; Figure 9 This is a schematic diagram showing the distribution of the lubricating oil replenishment mechanism, the initial oil discharge limiting mechanism, and the initial oil discharge control mechanism inside the support positioning frame of the present invention; Figure 10 This is a schematic diagram showing the distribution of the lubricating oil replenishment mechanism, the initial oil discharge limiting mechanism, and the initial oil discharge control mechanism of the present invention; Figure 11 This is a schematic diagram of the lubricating oil replenishment mechanism of the present invention; Figure 12 This is a schematic diagram showing the distribution of the lubricating oil replenishment mechanism of the present invention inside the support positioning frame; Figure 13 This is a schematic diagram of the lubricating oil replenishment mechanism of the present invention; Figure 14 This is a schematic diagram of the lifting and lowering of the sealing disc in the lubricating oil replenishment mechanism of the present invention; Figure 15 This is a schematic diagram of the positioning screw rotation control of the present invention; Figure 16 This is a schematic diagram of the distribution of the initial oil discharge limiting mechanism of the present invention; Figure 17 This is a schematic diagram showing the distribution of the initial oil discharge limiting mechanism and the initial oil discharge control mechanism of the present invention; Figure 18 This is a schematic diagram of the initial oil discharge control mechanism of the present invention; Figure 19 This is a schematic diagram of the driving method in the initial oil discharge control mechanism of the present invention; Figure 20 This is a cross-sectional schematic diagram of the driving method of the initial oil discharge control mechanism of the present invention.

[0021] In the diagram: 1. Support and positioning mechanism; 101. Support and positioning frame; 102. Mounting frame; 103. Support column; 104. Support platform; 105. Limiting tube; 106. Limiting groove; 2. Steering control mechanism; 201. Steering control seat; 202. Steering control gear ring; 203. Steering control gear; 204. First drive motor; 205. First driving synchronous pulley; 206. First driven synchronous pulley; 207. First synchronous belt; 208. Speed ​​control gear ring; 2 09. Speed ​​control gear; 210. Second driven synchronous pulley; 211. Second synchronous belt; 212. Second driving synchronous pulley; 213. Second drive motor; 214. Limit seat; 215. Steering control wheel; 216. Fixing groove; 217. Second positioning helical gear; 218. Second positioning helical gear ring; 219. Environmental sensor; 3. Lubricating oil replenishment mechanism; 301. Support base; 302. Connecting frame; 303. Rotating ring; 304. Limiting tooth block; 305. 306. Lubricating oil storage tank; 307. Limiting frame; 308. Positioning groove; 309. Lifting seat; 310. First lifting rod; 311. Connecting rod; 312. Second lifting rod; 313. Sealing disc; 314. Positioning screw; 315. First positioning gear; 316. Single tooth gear; 317. Second positioning gear; 318. Electric heating element; 401. Limiting platform; 402. Initial oil discharge limiting mechanism; 403. Moving frame; 404. Positioning seat; 405. Limiting rack ; 404, Positioning rod; 405, Return spring; 406, Limiting block; 5, Initial oil discharge control mechanism; 501, Positioning ring; 502, Connecting block; 503, Fixing frame; 504, Fixing ring; 505, Positioning strip; 506, First positioning helical gear ring; 507, First positioning helical gear; 508, Fixing seat; 509, Control screw; 510, Moving seat; 511, Limiting ring; 512, Gear motor; 513, Positioning gear ring; 514, Adjusting gear. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] This invention provides, for example Figure 1-20 The illustrated omnidirectional drive heavy-duty AGV steering control device includes a support and positioning mechanism 1, a steering control mechanism 2 connected to the middle position of the support and positioning mechanism 1, and a lubrication oil replenishment mechanism 3 connected to the top of the steering control mechanism 2. The support positioning mechanism 1 includes a support positioning frame 101, a limiting groove 106 is formed in the middle of the support positioning frame 101, and limiting tubes 105 are connected to both ends of one side of the support positioning frame 101. An electric heating element 317 is fixedly installed at the middle position of the support positioning frame 101 near the limiting groove 106. Under extremely low temperature conditions, the electric heating element 317 fixed on the outside of the limiting groove 106 is heated and controlled by the temperature sensing of the ambient sensor 219, so that the temperature around the limiting groove 106 is controlled to avoid the problem of lubricating oil failure. At the same time, the starting oil discharge control mechanism 5 is controlled by the reduction motor 512 to work and replenish the missing lubricating oil in real time to avoid the problem of steering hazards caused by low temperature. The lubricating oil replenishment mechanism 3 includes a support base 301, a limiting frame 306, and two lubricating oil storage tanks 305. A rotating ring 303 is connected to the outer wall of the support base 301 via multiple connecting frames 302. A limiting tooth block 304 is fixedly installed at one end of the outer wall of the rotating ring 303. A single-tooth gear 315 is rotatably mounted at the middle position of the top of the limiting frame 306 via a limiting platform 318. A first positioning gear 314 is fixedly mounted at the top of the single-tooth gear 315, and the tooth surface of the first positioning gear 314 meshes with the tooth surface of the limiting tooth block 304. Positioning screws 313 are rotatably mounted at both ends of the inner wall of the limiting frame 306, and the tops of both positioning screws 313 pass through the limiting platform 318 and are fixedly mounted with a first positioning screw. Two positioning gears 316, the tooth surfaces of which mesh with single tooth gears 315; one end of the outer wall of each of the two positioning screws 313 is threaded with a lifting seat 308; one end of each of the two lifting seats 308 is connected to a sealing disc 312 via a first lifting rod 309, a connecting rod 310, and a second lifting rod 311; the two sealing discs 312 are respectively inserted into the inner walls of the two lubricating oil storage tanks 305; one side of each of the two lubricating oil storage tanks 305 is connected to two limiting tubes 105; positioning grooves 307 are provided on both sides of the limiting frame 306; the two ends of the two lifting seats 308 are respectively in sliding contact with one side of the inner wall of the four positioning grooves 307; When the omnidirectional heavy-duty AGV starts, the support base 301 fixed to the top of the second driven synchronous wheel 210 drives the rotating ring 303 to rotate synchronously through the connecting frame 302. This causes the limiting tooth block 304 fixed to one side of the rotating ring 303 to intermittently mesh and rotate with the first positioning gear 314. The first positioning gear 314 drives the single tooth gear 315 fixed at the bottom to rotate. The single tooth gear 315 meshes and rotates with two second positioning gears 316 respectively. The two second positioning gears 316 drive two positioning screws 313 to rotate respectively. This causes the lifting seat 308 threaded to the outer wall of the positioning screw 313 to rise and fall along the positioning groove 307. The first lifting rod 309, connecting rod 310, and first positioning screw 309 fixed to one end of the lifting seat 308 are also involved. The two lifting rods 311 stably drive the sealing disc 312 to rise and fall along the inside of the lubricating oil storage tank 305, allowing the lubricating oil inside the lubricating oil storage tank 305 to slowly flow through the limiting pipe 105 into the limiting groove 106. Through the proportional coefficient setting of the rotating ring 303, the first positioning gear 314, the second positioning gear 316, and the single tooth gear 315, the lifting speed of the sealing disc 312 is slow, which facilitates the continuous and slow flow of lubricating oil inside the lubricating oil storage tank 305, avoiding the problems of lubricating oil shortage and excess, reducing the hidden danger of performance degradation of omnidirectional heavy-duty AGV due to lubrication failure and mechanical wear, and adding lubricating oil in real time, avoiding the problem of frequent shutdown and maintenance of omnidirectional heavy-duty AGV, reducing production capacity loss and operational risks.

[0024] In one specific embodiment of the present invention, the bottom end of the rotating ring 303 is connected to the starting oil discharge limiting mechanism 4. The starting oil discharge limiting mechanism 4 includes a positioning seat 402 fixed to the bottom end of multiple connecting frames 302. A positioning rod 404 is inserted through the middle position of each of the multiple positioning seats 402. A return spring 405 is inserted through one end of the outer wall of each of the multiple positioning rods 404. A movable frame 401 is fixed to one end of each of the multiple positioning rods 404. A limiting rack 403 is fixed to one side of each of the multiple movable frames 401. A limiting block 406 is fixed to the other end of each of the multiple positioning rods 404. The top ends of the multiple movable frames 401 and the top ends of the multiple limiting racks 403 are in sliding contact with the bottom end of the rotating ring 303. When the limiting ring 511 does not exert any squeezing force on the movable frame 401, the positioning rod 404 fixed to one side of the movable frame 401 is inserted and connected to the positioning seat 402. Through the elastic deformation of the return spring 405 inserted into the outer wall of the positioning rod 404 and the limiting block 406, the movable frame 401 drives the limiting rack 403 to retract inward in the natural state, so that the rotation speed of the first positioning gear 314 is controlled, avoiding the hidden danger of excessive pumping of lubricating oil.

[0025] As a specific embodiment of the present invention, the support positioning mechanism 1 further includes three mounting brackets 102 fixed to the outer wall of the support positioning frame 101, and the top of the support positioning frame 101 is connected to a support platform 104 through multiple support columns 103.

[0026] In one specific embodiment of the present invention, a starting oil discharge control mechanism 5 is connected to the middle position of the supporting positioning mechanism 1. The starting oil discharge control mechanism 5 includes a positioning ring 501. The outer wall of the positioning ring 501 is fixedly connected to one side of three mounting brackets 102 respectively through three connecting blocks 502. A fixing ring 504 is connected to the middle position of the positioning ring 501 through multiple fixing brackets 503. A first positioning helical toothed ring 506 is rotatably provided at the middle position of the fixing ring 504. The bottom end of the first positioning helical toothed ring 506 passes through the fixing ring 504 and is fixedly provided with a positioning toothed ring 513. A fixing seat 508 is fixedly provided at one end of the top of each of the multiple fixing brackets 503. A control screw 509 is rotatably provided at the middle position of each of the multiple fixing seats 508. One end of each of the multiple control screws 509 is... A first positioning helical gear 507 is fixedly connected. The tooth surfaces of multiple first positioning helical gears 507 mesh with the tooth surfaces of first positioning helical gear rings 506. One end of the outer wall of multiple control screws 509 is threaded with a movable seat 510. The top of multiple fixed frames 503 is fixedly provided with a positioning strip 505. The bottom end of multiple movable seats 510 slides in contact with the fixed frame 503 through the positioning strip 505. One end of multiple movable seats 510 is fixedly provided with a limit ring 511. One end of the bottom of the fixed ring 504 is rotatably provided with an adjusting gear 514. The tooth surface of the adjusting gear 514 meshes with the tooth surface of the positioning gear ring 513. The top of the fixed ring 504 is fixedly provided with a reduction motor 512. The output end of the reduction motor 512 is fixedly connected to the middle position of the adjusting gear 514. The outer wall dimensions of the limiting ring 511 correspond to the inner wall dimensions of the multiple movable frames 401 respectively; The output end of the reduction motor 512, fixed to one end of the top of the fixed ring 504, drives the adjusting gear 514 to rotate. This causes the tooth surface of the adjusting gear 514 to mesh with the positioning gear ring 513, which in turn passes through the fixed ring 504 and drives the first positioning helical gear ring 506 to rotate. This causes the first positioning helical gear 507, meshing with the tooth surface of the first positioning helical gear ring 506, to rotate. Through the positioning of the fixed seat 508, one end of the first positioning helical gear 507 passes through the fixed seat 508 and drives the control screw 509 to rotate. This causes the movable seat 510, threaded onto the outer wall of the control screw 509, to slide along the fixed frame 503 and the positioning strip 505. This causes the limiting ring 511, fixed to one end of the movable seat 510, to move outwards. When the limiting ring 511 reaches its end, it just presses against and moves the movable frame 401. When the corresponding position is reached, the limiting rack 403 fixed on one side of the moving frame 401 moves to the same outer position as the limiting tooth block 304. Since the outer wall size of the limiting ring 511 matches the inner wall size of the moving frame 401, multiple moving frames 401 rotate along the outer wall of multiple limiting rings 511, making it easy for the first positioning gear 314 to mesh with the tooth surface of the limiting rack 403. This causes the rotation speed of the first positioning gear 314 to increase sharply, and at the same time, the lifting speed of the sealing disc 312 along the inside of the lubricating oil storage tank 305 is increased, which facilitates the rapid output of lubricating oil inside the lubricating oil storage tank 305. This mechanism is set when the omnidirectional drive heavy AGV is first started, so that the newly started omnidirectional drive heavy AGV is fully lubricated, avoiding the hidden dangers of lubricating failure caused by lubricating oil drying due to stoppage and mechanical wear leading to performance degradation.

[0027] In one specific embodiment of the present invention, the steering control mechanism 2 includes a steering control seat 201. A steering control gear ring 202 is fixedly mounted on the top of the steering control seat 201 through a limiting groove 106. A steering control gear 203 is rotatably mounted on one end of the top of the supporting positioning frame 101. The tooth surface of the steering control gear 203 meshes with the tooth surface of the steering control gear ring 202. A limiting seat 214 is fixedly mounted on the bottom of the steering control seat 201. An environmental sensor 219 is fixedly mounted on one side of the limiting seat 214. A steering control wheel 215 is rotatably mounted at the middle position of the limiting seat 214. A second positioning helical gear ring 218 is fixedly provided on one side of the limiting seat 214. A fixing groove 216 is provided on one side of the limiting seat 214. A second positioning helical gear 217 is rotatably provided at the middle position of the fixing groove 216. The tooth surface of the second positioning helical gear 217 meshes with the tooth surface of the second positioning helical gear ring 218. A speed control gear ring 208 is rotatably provided at the middle position of the top of the steering control gear ring 202. The top of the second positioning helical gear 217 passes through the steering control seat 201 and the steering control gear ring 202 and a speed control gear 209 is fixedly provided. The tooth surface of the speed control gear 209 meshes with the tooth surface of the speed control gear ring 208. The top of the steering control gear 203 passes through the support platform 104 and is fixedly provided with a first driven synchronous pulley 206. The first driven synchronous pulley 206 is connected to a first driving synchronous pulley 205 through a first synchronous belt 207. A first drive motor 204 is fixedly provided on one side of the support positioning frame 101. The output end of the first drive motor 204 is fixedly connected to the middle position of the first driving synchronous pulley 205. The top of the speed control gear ring 208 passes through the support platform 104 and is fixedly provided with a second driven synchronous pulley 210. The outer wall of the second driven synchronous pulley 210 is connected to a second driving synchronous pulley 212 through a second synchronous belt 211. A second drive motor 213 is fixedly provided on the other side of the support positioning frame 101. The output end of the second drive motor 213 is fixedly connected to the middle position of the second driving synchronous pulley 212. The omnidirectional heavy-duty AGV steering control device is stably installed at the steering drive position at the bottom of the omnidirectional heavy-duty AGV via a support positioning frame 101 and three mounting brackets 102. The output of the first drive motor 204, fixed to one side of the support positioning frame 101, drives the first active synchronous pulley 205 to rotate. Through the transmission connection of the first active synchronous pulley 205, the first synchronous belt 207, and the first driven synchronous pulley 206, the steering control gear 203 fixed at the bottom of the first driven synchronous pulley 206 meshes with the tooth surface of the steering control gear ring 202, causing the steering control gear ring 202 to rotate along the limiting groove 106 in the support positioning frame 101, thus rotating the steering control seat 201. This, in turn, causes the limiting seat 214 fixed at the bottom of the steering control seat 201 to drive the steering control wheel 215 to perform angle control. The second drive motor 213, fixed on the other side of the support positioning frame 101, drives the second active synchronous wheel 212 to rotate. Through the transmission connection of the second active synchronous wheel 212, the second synchronous belt 211, and the second driven synchronous wheel 210, the second driven synchronous wheel 210 passes through the support platform 104 and drives the speed control gear ring 208 to rotate. The tooth surface of the speed control gear ring 208 meshes with the tooth surface of the speed control gear 209, so that the speed control gear 209 passes through the steering control gear ring 202 and the steering control seat 201 and drives the second positioning helical gear 217 to rotate. The tooth surface of the second positioning helical gear 217 meshes with the tooth surface of the second positioning helical gear ring 218, so that the rotation speed of the steering control wheel 215 is controlled, which facilitates the omnidirectional drive of the heavy-duty AGV.

[0028] In one specific embodiment of the present invention, the electric heating element 317 is electrically connected to an external power source through an ambient sensor 219, and the first drive motor 204, the second drive motor 213, and the geared motor 512 are all electrically connected to an external power source through a remote control switch.

[0029] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A steering control device for an omnidirectional heavy-duty AGV, comprising a support and positioning mechanism (1), characterized in that: The middle position of the support positioning mechanism (1) is connected to the steering control mechanism (2), and the top of the steering control mechanism (2) is connected to the lubricating oil replenishment mechanism (3). The support positioning mechanism (1) includes a support positioning frame (101), a limiting groove (106) is provided in the middle position of the support positioning frame (101), and limiting tubes (105) are connected to both ends of one side of the support positioning frame (101). The lubricating oil replenishment mechanism (3) includes a support base (301), a limiting frame (306), and two lubricating oil storage tanks (305). The outer wall of the support base (301) is connected to a rotating ring (303) via multiple connecting frames (302). A limiting tooth block (304) is fixedly provided at one end of the outer wall of the rotating ring (303). A single tooth gear (315) is rotatably provided at the middle position of the top of the limiting frame (306) via a limiting platform (318). A first positioning gear (314) is fixedly provided at the top of the single tooth gear (315). The tooth surface of the first positioning gear (314) meshes with the tooth surface of the limiting tooth block (304). Positioning screws are rotatably provided at both ends of the inner wall of the limiting frame (306). 313), the top ends of the two positioning screws (313) are fixedly provided with second positioning gears (316) through the limiting platform (318). The tooth surfaces of the two second positioning gears (316) mesh with the single tooth gear (315). One end of the outer wall of the two positioning screws (313) is threaded with a lifting seat (308). One end of the two lifting seats (308) is connected to a sealing plate (312) in sequence through the first lifting rod (309), the connecting rod (310) and the second lifting rod (311). The two sealing plates (312) are respectively inserted and connected to the inner walls of the two lubricating oil storage tanks (305). One side of the two lubricating oil storage tanks (305) is respectively connected to the two limiting tubes (105).

2. The omnidirectional drive heavy-duty AGV steering control device according to claim 1, characterized in that: An electric heating element (317) is fixedly provided at the middle position of the support positioning frame (101) near the limiting groove (106).

3. The omnidirectional drive heavy-duty AGV steering control device according to claim 1, characterized in that: The limiting frame (306) has positioning grooves (307) on both sides, and the two ends of the two lifting seats (308) slide in contact with one side of the inner wall of the four positioning grooves (307).

4. The omnidirectional drive heavy-duty AGV steering control device according to claim 2, characterized in that: The bottom end of the rotating ring (303) is connected to the starting oil discharge limiting mechanism (4). The starting oil discharge limiting mechanism (4) includes a positioning seat (402) fixed to the bottom end of multiple connecting frames (302). A positioning rod (404) is inserted through the middle position of each of the multiple positioning seats (402). A return spring (405) is inserted through one end of the outer wall of each of the multiple positioning rods (404). A movable frame (401) is fixed to one end of each of the multiple positioning rods (404). A limiting rack (403) is fixed to one side of each of the multiple movable frames (401). A limiting block (406) is fixed to the other end of each of the multiple positioning rods (404). The top ends of the multiple movable frames (401) and the top ends of the multiple limiting racks (403) are in sliding contact with the bottom end of the rotating ring (303).

5. The omnidirectional drive heavy-duty AGV steering control device according to claim 1, characterized in that: The support positioning mechanism (1) also includes three mounting brackets (102) fixed to the outer wall of the support positioning frame (101), and the top of the support positioning frame (101) is connected to a support platform (104) through multiple support columns (103).

6. The omnidirectional drive heavy-duty AGV steering control device according to claim 4, characterized in that: The supporting positioning mechanism (1) is connected to the middle position of the starting oil discharge control mechanism (5). The starting oil discharge control mechanism (5) includes a positioning ring (501). The outer wall of the positioning ring (501) is fixedly connected to one side of the three mounting brackets (102) through three connecting blocks (502). The middle position of the positioning ring (501) is connected to a fixing ring (504) through multiple fixing brackets (503). The middle position of the fixing ring (504) is rotatably provided with a first positioning helical tooth ring (506). The bottom end of the first positioning helical tooth ring (506) passes through the fixing ring (504) and is fixedly provided with a positioning tooth ring (513). One end of the top of each of the multiple fixing brackets (503) is fixedly provided with a fixing seat (508). The middle position of each of the multiple fixing seats (508) is rotatably provided with a control screw (509). One end of each of the multiple control screws (509) is fixedly connected to a first... The positioning helical gear (507) has multiple first positioning helical gears (507) whose tooth surfaces mesh with the tooth surfaces of the first positioning helical gear ring (506). One end of the outer wall of multiple control screws (509) is threaded with a movable seat (510). The top of multiple fixed frames (503) is fixedly provided with a positioning strip (505). The bottom end of multiple movable seats (510) is in sliding contact with the fixed frame (503) through the positioning strip (505). One end of multiple movable seats (510) is fixedly provided with a limiting ring (511). One end of the bottom of the fixed ring (504) is rotatably provided with an adjusting gear (514). The tooth surface of the adjusting gear (514) meshes with the tooth surface of the positioning gear ring (513). The top of the fixed ring (504) is fixedly provided with a reduction motor (512). The output end of the reduction motor (512) is fixedly connected to the middle position of the adjusting gear (514).

7. The omnidirectional drive heavy-duty AGV steering control device according to claim 6, characterized in that: The outer wall dimensions of the limiting ring (511) correspond to the inner wall dimensions of the multiple movable frames (401).

8. The omnidirectional drive heavy-duty AGV steering control device according to claim 6, characterized in that: The steering control mechanism (2) includes a steering control seat (201). A steering control gear ring (202) is fixedly mounted on the top of the steering control seat (201) through a limiting groove (106). A steering control gear (203) is rotatably mounted on one end of the top of the support positioning frame (101). The tooth surface of the steering control gear (203) meshes with the tooth surface of the steering control gear ring (202). A limiting seat (214) is fixedly mounted on the bottom end of the steering control seat (201). An environmental sensor (219) is fixedly mounted on one side of the limiting seat (214). A steering control wheel (215) is rotatably mounted on the middle position of the limiting seat (214). A steering control wheel (215) is fixed on one side of the limiting seat (214). A second positioning helical gear ring (218) is provided. A fixing groove (216) is provided on one side of the limiting seat (214). A second positioning helical gear (217) is rotatably provided at the middle position of the fixing groove (216). The tooth surface of the second positioning helical gear (217) meshes with the tooth surface of the second positioning helical gear ring (218). A speed control gear ring (208) is rotatably provided at the middle position of the top of the steering control gear ring (202). A speed control gear (209) is fixedly provided at the top end of the second positioning helical gear (217) through the steering control seat (201) and the steering control gear ring (202). The tooth surface of the speed control gear (209) meshes with the tooth surface of the speed control gear ring (208).

9. A steering control device for an omnidirectional heavy-duty AGV according to claim 8, characterized in that: The top of the steering control gear (203) is fixedly mounted on the support platform (104) with a first driven synchronous pulley (206). The first driven synchronous pulley (206) is connected to the first driving synchronous pulley (205) via the first synchronous belt (207). The first drive motor (204) is fixedly mounted on one side of the support positioning frame (101). The output end of the first drive motor (204) is fixedly connected to the middle position of the first driving synchronous pulley (205). The top of the speed control gear ring (208) is fixedly mounted on the support platform (104) with a second driven synchronous pulley (210). The outer wall of the second driven synchronous pulley (210) is connected to the second driving synchronous pulley (212) via the second synchronous belt (211). The second drive motor (213) is fixedly mounted on the other side of the support positioning frame (101). The output end of the second drive motor (213) is fixedly connected to the middle position of the second driving synchronous pulley (212).

10. A steering control device for an omnidirectional heavy-duty AGV according to claim 9, characterized in that: The electric heating element (317) is electrically connected to an external power source through an ambient sensor (219), and the first drive motor (204), the second drive motor (213), and the geared motor (512) are all electrically connected to an external power source through a remote control switch.

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